The invention relates to a grappling hook assisted crawler-type stair climbing robot. The robot comprises a rack, a seat mechanism, crawler wheel mechanisms, a lifting mechanism and grappling hook mechanisms. The seat mechanism is arranged on the upper portion of the rack, the crawler wheel mechanisms are connected to the two sides of the lower portion of the rack through the damping springs, theupper end of the lifting mechanism is fixedly connected to the lower portion of the rack, and the grappling hook mechanisms are arranged on the two sides of the lower end of the lifting mechanism. When the robot climbs stairs, the grappling hook mechanisms stretch through the lifting mechanism to make contact with the stairs, the grappling hook mechanisms and the crawler wheel mechanisms jointly drive the robot to climb stairs, and when the robot runs on the flat ground, the grappling hook mechanisms retracts through the lifting mechanism to get away from the ground, and the crawler wheel mechanisms drive the robot to move. The grappling hook mechanisms are used for overcoming the defects of insufficient stair climbing power and easy stair edge abrasion of the crawler belt, the stair climbing performance of the nursing machine is effectively improved, and the robot has the advantages of safety, reliability, stability, comfort, economy, practicability and the like.

Grappling hook assisted crawler-type stair climbing robot

The utility model relates to a flexible power wheel set mechanism of a wheel chair for climbing stairs, which belongs to a stair climbing traveling gear of a special transport machine or a living facility for the disabled. The flexible power wheel set mechanism comprises a machine body, a plurality of groups of flexible damping power wheel sets and a chain mechanism, wherein the machine body is fixedly connected with a rack of the wheel chair and is provided with a turnup front part, the plurality of groups of flexible damping power wheel sets are respectively arranged at the two sides of the lower end of the machine body, the chain mechanism is used for supplying power to the wheel set mechanism, and the chain mechanism is connected with a power mechanism of the wheel chair. Each flexible damping power wheel set comprises a V-shaped damping mechanism, four small power wheels, two pieces of bearing pedestal connecting plates, a small wheel shaft, a load-bearing shaft and a grooved pulley, wherein the four small power wheels are pairwise coaxial, and the two pieces of bearing pedestal connecting plates are connected by an upper reinforcing plate and a lower reinforcing plate. The small wheels of the flexible power wheel set mechanism can be fully assembled to the stairs so as to achieve a larger contact area, so that the wheel chair has higher reliability and can climb the stairs more smoothly, and the insufficient frictional force of a crawler mechanism for climbing the stairs and the influence on the comfortableness of a user by the overlarge vibration of planet wheels can be effectively avoided. The flexible power wheel set mechanism can be effectively applied to a chassis of various types of wheel chairs.

Xiaobo Liu

Papers

Flexible power wheel set mechanism of wheel chair for climbing stairs