Obstacle-climbing device

Four-bar linkage-based stair-climbing device with a flexible fit structure

This technology is an obstacle-climbing device that uses a four-bar linkage mechanism to drive rotating legs to overcome obstacles. It features a flexible fit structure on the bottom of the legs, allowing for variable contact area and reaction force depending on the dimensions of the stairs.

Existing crank-leg or tracked robots are designed for specific stair dimensions, which limits their ability to navigate stairs of varying sizes.

This technology incorporates a flexible fit on the bottom of the legs, featuring multiple supporters spaced between the upper and lower bases. The spacing and tilt angles of these supporters are differentiated by region, allowing them to deform variably upon contact. It can be applied to indoor delivery robots and disaster response robots, ensuring stable climbing performance even in environments with irregular stair dimensions.

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Key Features:

• A pair of rotating legs located on both sides of the body, capable of relative rotation with respect to the body
• A support leg provided on the bottom of the body and arranged parallel to the rotating legs, and a leg drive unit that rotates the pair of rotating legs
• A flexible fit provided on the bottom of at least one of the rotating legs or the support leg
• A plurality of supporters connecting the upper base and the lower base, arranged at predetermined intervals