"自动爬楼搬运机器人设计及电路控制研究"

d and infirm are climbing the stairs as before, now they also want to move heavy objects, so this topic is about designing an automatic climbing stairs truck. This paper first introduces the research status of climbing stairs robots and the problems that need to be solved. According to the research purpose and main content, the car is designed from two aspects. Firstly, the car must meet the requirements of climbing stairs. We chose deformable wheels for the front wheels to move the car, and the rear wheels are mainly used for the rotation of the planetary wheels. At the same time, we need a great amount of power to climb the stairs. We also chose a high-power electric motor to provide power to the car through a worm and worm gear. In addition, we adjusted the basket of the car so that the goods are always on the horizontal plane when the car climbs the stairs. Secondly, we need to design the car's circuit. We use a microcontroller, and there are four ultrasonic ranging devices in front of the car. When the car climbs stairs, the deformable wheels and motor drive shaft are controlled to rotate the car up the stairs, the car's steering angle is adjusted, and the basket of the car always remains horizontal. Keywords: deformable wheels, planetary wheels, center of gravity adjustment, microcontroller.