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•
17 Sep 2019
TL;DR: In this article, a stair climbing cleaning robot is presented, which is composed of a frame, a PLC control mechanism, a motor, a driving mechanism, steering mechanism, an arm rest mechanism, cleaning mechanism and a buffer mechanism.
Abstract: The invention discloses a stair climbing cleaning robot. The stair climbing cleaning robot is composed of a frame, a PLC control mechanism, a motor, a driving mechanism, a steering mechanism, an arm rest mechanism, a cleaning mechanism and a buffer mechanism. The PLC control mechanism, the motor and the arm rest mechanism are mounted on the upper surface of the frame, the driving mechanism and the buffer mechanism are mounted on the lower portion of the frame, the steering mechanism is longitudinally mounted on the side portion of the frame, the cleaning mechanism is adjacent to the steering mechanism to be arranged on the side portion of the frame and connected with the arm rest mechanism, and an air pressure box and a storage battery are further arranged on the frame. The driving mechanism and the steering mechanism of the stair climbing cleaning robot are in charge of completing a robot advancing task, the cleaning mechanism completes a sweeping task, the arm rest mechanism completes a station determining task, the problem of overturning of the cleaning robot when the cleaning robot climbs down stairs is avoided, and the stair climbing cleaning robot has self-motion, self-coordination and self-adaptation capacity, is suitable for working in static structuralized environments, and is an environment-friendly, healthy and intelligent service robot.
01 Jan 2014
TL;DR: In this article, a simple contact wrench space method using a linear combination of contact wrenches was used to predict stability with four-point contact on a vertical ladder, and an extension of the presented method was proposed to address the limitations of the linear combination.
Abstract: The field of Humanoid robotics research has often struggled to find a unique niche that is not better served by other forms of robot. Unlike more traditional industrials robots with a specific purpose, a humanoid robot is not necessarily optimized for any particular task, due to the complexity and balance issues of being bipedal. However, the versatility of a humanoid robot may be ideal for applications such as search and rescue. Disaster sites with chemical, biological, or radiation contamination mean that human rescue workers may face untenable risk. Using a humanoid robot in these dangerous circumstances could make emergency response faster and save human lives. Despite the many successes of existing mobile robots in search and rescue, stair and ladder climbing remains a challenging task due to their form. To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end-effectors. This dissertation implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.%%%%Ph.D., Mechanical Engineering and Mechanics – Drexel University, 2014
Patent•
14 Oct 2015
TL;DR: A simple stair-climbing hand buggy with a long oval track wheel is described in this paper, which is capable of walking up and down stairs and belongs to a carrier.
Abstract: The invention discloses a simple stair-climbing hand buggy, relates to a hand buggy capable of freely walking up and down stairs and belongs to a carrier. A common hand buggy cannot walk up and down stairs, and a ratchet wheel trolley cannot walk up and down stairs continuously and is not convenient to use. The hand buggy can walk up and down stairs conveniently. According to the hand buggy, the two sides of the common hand buggy are each additionally provided with a long oval track wheel; when the hand buggy is pulled on the ground, two wheels at the back of the hand buggy walk down to the ground and bear loads; when the hand buggy walks on stairs, the oval track wheels bear loads and slide along the stairs, and therefore the hand buggy can walk up and down stairs conveniently. The hand buggy is mainly used for transporting heavy articles by walking up and down stairs or transporting articles needing to be manually transported in scenic spots.
Patent•
19 Jun 2018
TL;DR: In this article, a crawler-type stair climbing wheelchair with a seat balancing device is described, where the front end or back end of the crawler chassis makes contact with the wheelchair rack so that the position switch is triggered to make the seat cylinder under the seat body perform corresponding actions, and therefore the seat is kept in the stable state, and the safety and a user is improved.
Abstract: The invention discloses a crawler-type stair climbing wheelchair with a seat balancing device. The crawler-type stair climbing wheelchair comprises a crawler chassis and further comprises a seat body,a seat cylinder, a supporting frame, a position switch and a wheelchair rack of a frame type mechanism; the seat body and the wheelchair rack are rotationally connected, the front end of a piston rodof the seat cylinder is fixed to the bottom face of the seat body on one side of a rotating shaft, the position switch comprises contacts and position switch bodies, the front end and the back end ofthe crawler chassis are each provided with one contact, the corresponding position switch bodies are arranged at the positions where the contacts are located when the wheelchair rack is inclined whenthe corresponding crawler chassis is in the stair climbing state and the downstairs state, and the position switch controls the process and the return stroke of the seat cylinder separately. The front end or the back end of the crawler chassis makes contact with the wheelchair rack so that the position switch is triggered to make the seat cylinder under the seat body perform corresponding actions, and therefore the seat is kept in the stable state, and the safety and a user is improved.