The invention relates to the technical field of robots, and particularly discloses a man and object carrying platform capable of stably going up and down stairs and a control method of the man and object carrying platform. The robot comprises a double-output-shaft motor, a parallelogram double-connecting-rod obstacle crossing mechanism and a synchronizing device, and a double-connecting-rod mechanism is composed of an inner connecting rod and an outer connecting rod with the phase difference of 180 degrees; round small teeth are arranged at the tail ends of the outer connecting rods to self-adaptively clamp the edge of the step, and the synchronizing device forcibly rotates the front and rear transmission shafts in the same phase through chains and gears. Through the design of the L-shaped connecting rods and the combination of an elastic piece leveling mechanism, the man-carrying and object-carrying platform keeps a horizontal state in real time in the process of going upstairs and downstairs. According to the scheme, the fluctuation of the gravity center is remarkably reduced, through cooperation of structural light weight and dynamic control, the robot has the characteristics of high load-carrying capacity, low energy consumption and interference resistance, is suitable for multiple scenes such as old-age nursing, disabled helping, logistics carrying and disaster rescue, and effectively solves the problems of slipping, rollover and platform shaking during stair obstacle crossing of a traditional robot.

    本发明涉及机器人技术领域,具体公开了一种稳定上下楼梯的载人载物平台及其控制方法,所述机器人包括双出轴电机、平行四边形双连杆越障机构、同步装置,其中双连杆机构由相位差180度的内连杆和外连杆构成,外连杆末端设圆形小齿以自适应卡合台阶边缘,同步装置通过链条与齿轮强制前后传动轴同相位旋转。通过L型连杆设计结合弹性件调平机制,载人载物平台在上下楼梯过程中实时保持水平状态。本方案显著降低重心起伏,通过结构轻量化与动态控制协同,兼具高载重能力、低能耗及抗干扰特性,适用于养老助残、物流搬运及灾害救援等多场景,有效解决了传统机器人楼梯越障时的打滑、侧翻及平台抖动问题。


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    Titel :

    People and object carrying platform capable of stably going up and down stairs and control method thereof


    Weitere Titelangaben:

    稳定上下楼梯的载人载物平台及其控制方法


    Beteiligte:
    PENG HONGJUN (Autor:in) / XU DINGLI (Autor:in) / LI PENG (Autor:in) / ZHOU WENXIN (Autor:in) / FANG CAN (Autor:in) / WANG YUJUN (Autor:in)

    Erscheinungsdatum :

    30.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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