The invention relates to a direct-acting four-foot guide rail stair-climbing robot device which comprises a main plate, a main clamping jaw assembly, an auxiliary clamping jaw assembly, an auxiliary clamping jaw lifting assembly, a walking assembly and a manipulator . The main clamping jaw assembly is composed of a left main arm, a right main arm and main L-shaped clamping jaws at the top ends of the main arms; the auxiliary clamping jaw assembly is composed of two auxiliary arms arranged on the inner sides of the two main arms in an up-down sliding mode and auxiliary L-shaped clamping jaws at the top ends of the auxiliary arms. The auxiliary clamping jaw lifting assembly is arranged on the main plate and drives the two auxiliary arms to move up and down. The walking assembly is arranged at the bottom of the main plate and used for driving the device to move in front of the ladder; the manipulator is arranged on the back of the mainboard; the main L-shaped clamping jaws and the auxiliary L-shaped clamping jaws are driven by a clamping jaw telescopic driving mechanism to stretch out and draw back. Compared with the prior art, the vertical ladder can be stably climbed, and the motion gait of the robot does not need to be simulated through a large number of experiments; by means of improvement, clamping in the climbing process can be avoided, and the clamping jaws can be prevented from being disengaged.
本发明涉及一种直动式四足导轨爬楼梯机器人装置,包括主板、主卡爪组件、副卡爪组件、副卡爪升降组件、行走组件和机械手,其中:主卡爪组件由一左一右设置与主板正面的两个主臂以及其顶端的主L型卡爪组成;副卡爪组件由可上下滑动地设置于两个主臂内侧的两个副臂以及其顶端的副L型卡爪组成;副卡爪升降组件设置于主板上,带动两个副臂上下运动;行走组件设置于主板底部,用于带动装置移动到爬梯前;机械手设置于主板背面;主L型卡爪和副L型卡爪通过卡爪伸缩驱动机构带动实现伸缩。与现有技术相比,本发明可以平稳地爬垂直梯,不必通过大量实验去模拟机器人的运动步态;通过改进可以避免攀爬过程中被卡住,并可避免卡爪脱离。
Direct-acting four-foot guide rail stair-climbing robot device
一种直动式四足导轨爬楼梯机器人装置
2021-04-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Guide rail type stair climbing and old people helping shared robot
European Patent Office | 2023
|