一种轮履复合式爬楼梯机器人

Wheel-track Combined Stair Climbing Robot

综合分析国内外现存辅助机器人工作的应用范围,针对狭小空间内难以进行人工搬运的场所,提出一种将麦克纳姆轮与履带组合成轮履复合改进式结构设计方案。根据麦克纳姆轮的全地形灵活性与自由机动性,达到在狭小空间机器操作灵活、简易完成任务的目的。结合履带的平稳性与通过性功能,并设计前后辅助顶杆机构,利用辅助顶杆机构的伸缩作用实现攀爬过程中重心的调节,保证机器人在上下攀爬楼梯时保持安全平稳,从而实现机器完全取代较复杂环境中人工搬运的过程。经过仿真模拟计算及加工实物进行实体操作后,结果表明该方案可行,可为特殊环境下爬楼梯机器人的设计提供参考。

A Comprehensively analyze the application scope of the existing auxiliary robot work at home and abroad,and propose a composite improved structure design scheme that combines the mecanum wheel and the track to the wheel track for the place where it is difficult to carry it manually in a narrow space.According to the all-terrain flexibility and free maneuverability of the mecanum wheel,the purpose of machine operation in a small space is flexible and easy to complete the task.Combining the stability and passing function of the track,and designing the front and rear auxiliary jack mechanism,the telescopic effect of the auxiliary jack mechanism is used to adjust the center of gravity during the climbing process to ensure that the robot remains safe and stable when climbing the stairs.The machine can completely replace the manual handling process in a more complex environment.After the simulation calculation and the physical operation of the processed objects,the results show that the scheme is feasible.It can provide reference for the design of stair climbing robot in special environment.