阶梯攀爬服务智能机器人重心调节系统设计

Design of Gravity Center Regulation System of Stair Climbing Intelligent Service Robot

针对日常生活中未安装电梯的低楼层货物搬运问题,设计了一种阶梯攀爬服务智能机器人。重心系统是机器人实现爬楼梯动作的关键装置,设计的攀爬机器人采用重心调节系统,调节机器人的重心处于变形轮和后轮之间,使4个车轮在平地行进和攀爬楼梯时受力均匀。当机器人攀爬阶梯时,通过舵机带动连杆,使重心向前轮方向转移,增大前轮的抓地力,减少后轮受力,提高攀爬和搬运的平稳性。物理样机在实际台阶地形中进行了攀爬实验,实践验证了设计的机器人重心调节系统能够很好地解决机器人在平地、阶梯等不同环境下的行走及货物搬运问题。

Aiming at the cargo handling problem of the low floors uninstalled the elevator in the daily life, it is necessary to design an intelligent service robot to climb ladder. The gravity center regu- lating system is the key device of the robot to climb the stairs. It used the designing robot can adjust the center of gravity of robot between the deformation wheels and the rear wheels and keep the force u- niform of four wheels in the plains and climbing the stairs. When the robot climbing stairs, the center of gravity transfers to front wheel direction by the servo rotating a certain angle to drive connecting rod, increasing the grip of the front wheels, reducing rear wheel stress to improve the stability of climbing and handling. The stair climbing test of physical prototype is completed in the actual terrain. The designed gravity center regulating system of climbing robot can solve the robot walking and the cargo handling problems on the plains, the ladder and in different environments is verified by practice.