The invention discloses a novel composite wheel leg type stair climbing robot and a stair climbing method thereof. The novel composite wheel leg type stair climbing robot comprises a vehicle body capable of bearing loads, front wheels with driving capacity, main wheels with self-balancing driving capacity, tail wheels with lifting capacity and telescopic wheel legs. The front wheel is connected with the vehicle body through a length-adjustable front wheel bracket; the wheel legs are provided with driving arms, the driving arms are connected with the servo motors, the servo motors are fixed to the vehicle body and used for driving the wheel legs to stretch out and draw back, and the main wheels are installed at the tail sections of the wheel legs and can freely rotate; the tail wheel is a driven universal wheel, and lifting in the height direction can be achieved through a lifting mechanism. According to the stair-climbing robot, actions such as linear motion, steering, ascending stair-climbing, descending stair-climbing and rough road walking of the stair-climbing robot are achieved by adjusting mutual cooperation of the front wheels, the main wheels, the tail wheels and the wheel legs, the balance performance and the stability performance in the stair-climbing process are kept, and the stair-climbing robot has the advantages of being flexible in motion, high in weight ratio, high in adaptability and low in cost.

    本发明公开了一种新型复合轮腿式爬楼机器人及其爬楼方法,包括可承载负载的车身、具有驱动能力的前轮、具有自平衡驱动能力的主轮、具有升降能力的尾轮以及可以伸缩的轮腿;所述前轮通过可调整长度的前轮支架与车身连接;所述轮腿具有驱动臂,且驱动臂与伺服电机连接,所述伺服电机固定在车身上,用于驱动轮腿伸缩,所述主轮安装在轮腿末段,可自由转动;所述尾轮为从动万向轮,通过升降机构可实现高度方向的升降。本发明的爬楼机器人,通过调节前轮、主轮、尾轮和轮腿相互配合,实现爬楼机器人直线运动、转向、上行爬楼、下行爬楼、崎岖路面行走等动作,保持爬楼过程的平衡性能和稳定性能,具有运动灵巧、负重比高、适应性强和成本低的优点。


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    Title :

    Novel composite wheel leg type stair climbing robot and stair climbing method thereof


    Additional title:

    一种新型复合轮腿式爬楼机器人及其爬楼方法


    Contributors:
    LIU DANDAN (author) / YIN WEI (author) / LU JUNJIE (author) / JI HAONAN (author) / ZHONG KUN (author) / WANG BINYU (author) / ZHANG XINYAN (author) / WEI DANDAN (author)

    Publication date :

    2024-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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