Topic
Stair climbing
About: Stair climbing is a research topic. Over the lifetime, 1610 publications have been published within this topic receiving 30504 citations.
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Patent•
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10 Dec 2019
TL;DR: In this paper, a stair climbing robot is composed of a liftable supporting mechanism with the front-back distance difference, and the robot is driven by the wheel sets to horizontally move front and back, the two lifting mechanisms alternately support and horizontally move, continuous lifting or descending of multiple steps can be stably, rapidly and efficiently achieved, and a function of going upstairs and downstairs is achieved.
Abstract: The utility model provides a stair climbing robot, which is driven by two groups of supporting mechanisms to do stair climbing motion relative to a machine body under the driving of supporting drivingwheels, supporting driven wheels and a lifting mechanism, or the supporting driving wheels and chassis driving wheels are driven by a motor to do horizontal plane motion relative to the ground. The utility model provides a stair climbing robot. The stair climbing robot is composed of a liftable supporting mechanism with the front-back distance difference. When the supporting mechanism descends, the robot is lifted at the same time, the lifted robot is driven by the wheel sets to horizontally move front and back, the two lifting mechanisms alternately support and horizontally move, continuouslifting or descending of multiple steps can be stably, rapidly and efficiently achieved, and the function of going upstairs and downstairs is achieved.
2 citations
Patent•
08 Jan 2014
TL;DR: In this article, a crawler type stair climbing barrow is characterized in which the joint of the front end and the rear end of the frame is also provided with a transition wheel, and the crawler support plate is fixedly arranged on the frame to be contacted with the crawlers.
Abstract: The utility model relates to a crawler type stair climbing barrow, which comprises a frame, wherein the frame is divided into a front section and a rear section, the front section is upwards warped, the frame is provided with a walking system and a handrail, the walking system comprises a first power system, a drive wheel, a crawler, a driven wheel and a tensioning wheel, and the drive wheel and the driven wheel are arranged at the front end and the rear end of the frame respectively, and are transmitted by the crawler The crawler type stair climbing barrow is characterized in that the joint of the front end and the rear end of the frame is also provided with a transition wheel, a crawler support plate is arranged between the drive wheel and the transition wheel and/or between the transition wheel and the driven wheel, and the crawler support plate is fixedly arranged on the frame to be contacted with the crawler The crawler type stair climbing barrow has the beneficial effects that dual purposes of stairs and level roads are realized while the service life of the crawler is greatly prolonged, the application range of the stair climbing barrow is enlarged, greater convenience is brought for a user, and the barrow is safe and reliable
2 citations
Patent•
27 Feb 2013
TL;DR: In this article, a stair climbing subsidiary wheel is proposed for the utility model of a trolley on stairs, which consists of a driving wheel, a support, a driving shaft and a closed caterpillar track.
Abstract: The utility model relates to a stair climbing subsidiary wheel which comprises a driving wheel, a support, a driven wheel I, a driven wheel II, a driving shaft, a driven shaft I, a driven shaft II and a caterpillar track. The driving wheel serves as a wheel axle of a trolley. The driving shaft is arranged on the driving wheel. The support is mounted on the driving shaft. The driven shaft I and the driven shaft II are respectively mounted on the support. The driven wheel I and the driven wheel II are respectively mounted on the driven shaft I and the driven shaft II. The closed caterpillar track is arranged on the periphery of the driving wheel, the driven wheel I and the driven wheel II in an enclosing mode. The stair climbing subsidiary wheel has the advantages of achieving unhindered traveling of the trolley on stairs.
2 citations
Patent•
06 Jul 2016
TL;DR: A double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and a method for going upstairs and downstairs is described in this article, where the wheelchair body comprises a wheelchair body, two big traveling wheels, a caterpillar band stair climbing mechanism and a big wheel swing arm mechanism.
Abstract: The invention discloses a double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and a method for going upstairs and downstairs.The stair climbing wheelchair comprises a wheelchair body, two big traveling wheels, a caterpillar band stair climbing mechanism and a big wheel swing arm mechanism; the caterpillar band stair climbing mechanism comprises double caterpillar band mechanisms, and the caterpillar band mechanism at each side comprises a mechanism front segment, a mechanism rear segment and a rubber caterpillar band, wherein the mechanism front segment and the mechanism rear segment are hinged through a bearing axle into a whole mechanism for installing the rubber caterpillar band.After the caterpillar band stair climbing mechanism is folded on the flat ground, the outer sides of the caterpillar bands are supported by supporting bearings, the caterpillar bands are in a slightly slack state, which is beneficial for prolonging service life of the caterpillar bands, and the step that at ordinary times, when the caterpillar bands are not used for going upstairs and downstairs for a long time, a caterpillar band tensioning mechanism is adjusted repeatedly to remove tension force on the caterpillar bands is omitted.
2 citations
Posted Content•
TL;DR: Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper and a stable spinning gait is proposed to change the orientation of the body.
Abstract: Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use of the leg workspace to prepare the robot for the movement Next, swing leg and body trajectories are planned for a successful stair- climbing gait Afterwards, a stable spinning gait is proposed to change the orientation of the body We simulate our gait planning algorithms on a model of quadruped robot The results show that the robot is able to climb up stairs, rotate about its yaw axis, and climb down stairs while its stability is guaranteed
2 citations