CN203391892U - Peristaltic intelligent stair climbing device - Google Patents
Peristaltic intelligent stair climbing device Download PDFInfo
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- CN203391892U CN203391892U CN201320448426.4U CN201320448426U CN203391892U CN 203391892 U CN203391892 U CN 203391892U CN 201320448426 U CN201320448426 U CN 201320448426U CN 203391892 U CN203391892 U CN 203391892U
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- aftercarriage
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Abstract
The utility model discloses a peristaltic intelligent stair climbing device which comprises a front vehicle, driving motors, a front vehicle container, a pipeline, a gantry, a pump, a rear vehicle container, a lifting motor, a rear vehicle, a rear vehicle brake apparatus, a front vehicle brake apparatus, gear drive systems and wheels. Both the front vehicle and the rear vehicle are double-layer vehicles, lifting modules are arranged on upper layers of the front vehicle and the rear vehicle, the driving motors are arranged on lower layers of the front vehicle and the rear vehicle, the front vehicle brake apparatus and the corresponding gear drive system are arranged on the lower layer of the front vehicle, and the rear vehicle brake apparatus and the corresponding gear drive system are arranged on the lower layer of the rear vehicle; a gravity center adjusting module is arranged on the rear vehicle container, and the rear vehicle container is connected with the front vehicle container by the pipeline; the pump is arranged at the upper end of the front vehicle container. The peristaltic intelligent stair climbing device has the advantages that the peristaltic intelligent stair climbing device is simple in structure, wide in applicability and stable in stair climbing, and can be used for carrying objects or persons when advancing on flat grounds, climbing stairs and going down the stairs, and the problem of instability of an existing stair climbing device can be solved.
Description
Technical field
The utility model relates to a kind of intelligence of the segmentation creeping motion type principle based on Gravity changer and climbs building device, belongs to intelligent machine field, is specially creeping motion type intelligence and climbs building device.
Background technology
At present both at home and abroad the common building device of climbing has crawler type, organizes wheeled, step wise etc., but all exists weight large, motion underaction, the defect such as stationarity is poor.
Track type climbing-building principle of device is similar to crawler belt armored motor car, adopts at present the stair climbing wheelchair of this type of mechanism more.Compare and adopt wheels formula mechanism cart for travelling up or down stairs, it adopts more continuous walking manner, and driving efficiency is higher.The straight-line motion that the center of gravity of wheelchair always parallels along the line with stairway step edge in stair activity process.
Wheels Shi Pa building device can be divided into two wheels formulas, three wheels formulas and four-wheel group formula by the number of using steamboat in wheels.The stairs climbing device of wheels Shi Pa building device consists of several steamboats that are evenly distributed on " Y " shape tie-rod.Each steamboat not only can but also can revolve round the sun around center shaft along with tie-rod together around axis rotation separately.Thereby when level walking each steamboat from then while climbing building each steamboat revolve round the sun together and realize the function of stair climbing.
The legged building device of climbing imitates the action that the mankind climb building, and outward appearance can be considered legged type robot and adopts many pedipulators to replace the principle that building is climbed in lifting, supporting chair.The level of first heavy burden being raised again in the time of upstairs moves forward and so repeats these two processes until climbed a flight of stairs.
Although above-mentioned, climb building device and have good development at home and abroad, but still there are various defects, during as large in crawler type weight, motion underaction ,Pa building, at stair edge, cause huge pressure, to stair, have certain damage and level land to use suffered resistance larger, and it is inconvenient to turn; The action radius of wheels Shi Pa building device is wide, motion flexibly, but stationarity is not high during stair activity, center of gravity big rise and fall meeting does not feel well occupant; And step wise is very high to the requirement of controlling, control part more complicated and when level walking motion amplitude little and slow in one's movements.
Utility model content
The technical matters that the utility model solves is to provide a kind of creeping motion type intelligence to climb building device, to solve the problem proposing in above-mentioned background technology.
The technical matters that the utility model solves realizes by the following technical solutions:
Creeping motion type intelligence is climbed building device, comprises front vehicle body, drive motor, front truck container, pipeline, door frame, the pump housing, aftercarriage container, lifting motor, aftercarriage, rear car brake gear, hand lever brake device, drive system model, wheel; Described door frame comprises inner side door frame, outside door frame; Described front vehicle body and aftercarriage are two-layer car body, and rising module is all equipped with on upper strata, and drive motor is all equipped with in lower floor, and front truck brake gear and gear train assembly are equipped with in front vehicle body lower floor, and rear brake device and gear train assembly are equipped with in aftercarriage lower floor; On described aftercarriage container, center of gravity adjustment module is housed, aftercarriage container is connected with front vehicle body container by pipeline, realizes center of gravity and regulates; Described front vehicle body container upper end is equipped with the pump housing; Described lifting motor, by driving messenger chain to pull inner side door frame and outside door frame to produce relative sliding, is realized and is risen or decline; Described outside door frame is fixed on rear end, aftercarriage upper strata; Described inner side door frame is connected with front vehicle body by bracket.
Further, described front vehicle body and aftercarriage adopt the synchronous four wheel drive of motor, and each car body is driven by two drive motor.
Further, in described front vehicle body container and aftercarriage container, regulator solution is housed.
Beneficial effect
The utility model is simple in structure, and applicability Guang，Pa building is steady, can advance and stair activity loading or manned for level land, has improved the fugitiveness of in the past climbing building device.
Accompanying drawing explanation
Fig. 1 is the utility model front vehicle body initial condition upstairs;
Fig. 2 is the utility model front vehicle body propradation;
Fig. 3 is the utility model front vehicle body rising halted state;
Fig. 4 is the utility model aftercarriage propradation;
Fig. 5 is the utility model constructional drawing;
Fig. 6 portal-framed structure schematic diagram;
Fig. 7 is this power driven schematic diagram.
The specific embodiment
In order to make of the present utility modelly to realize technological means, creation characteristic, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
As shown in Fig. 1-7, creeping motion type intelligence is climbed building device, comprises front vehicle body 1, drive motor 2, front truck container 3, pipeline 4, door frame 5, the pump housing 6, aftercarriage container 7, lifting motor 8, aftercarriage 9, rear car brake gear 11, hand lever brake device 12, drive system model 18, wheel 10; Described door frame comprises inner side door frame 15, outside door frame 16; Described front vehicle body 1 and aftercarriage 9 are two-layer car body, rising module is all equipped with on upper strata, drive motor 2 is all equipped with in lower floor, and front truck brake gear 12 and gear train assembly 18 are equipped with in front vehicle body 1 lower floor, and rear brake device 11 and gear train assembly 18 are equipped with in aftercarriage 9 lower floors; On described aftercarriage container 7, center of gravity adjustment module is housed, aftercarriage container 7 is connected with front vehicle body container 3 by pipeline 4, realizes center of gravity and regulates; The pump housing is equipped with in described front vehicle body container 3 upper ends; Described lifting motor 8, by driving messenger chain 13 to pull inner side door frame and outside door frame to produce relative sliding, is realized and is risen or decline; Described outside door frame 16 is fixed on aftercarriage 9 rear ends, upper strata; Described inner side door frame 15 is connected with front vehicle body 1 by bracket 17.
Further, described front vehicle body 1 and aftercarriage 7 adopt the synchronous four wheel drive of motor, and each car body is driven by two drive motor 2.
Further, in described front vehicle body container 3 and aftercarriage container 7, regulator solution is housed.
The utility model operation logic: rising or decline function have been worked in coordination with by front vehicle body 1, aftercarriage 9, door frame 5 and lifting motor 8: lifting motor 8 drives moving inner side door frame 15 and the outside door frame 16 generation relative slidings of pulling of messenger chains 13, realizes and rises and decline; Outside door frame 16 is fixed on aftercarriage 9 rear ends, upper strata, inner side door frame 15 is threaded connection form by bracket 17 with front vehicle body 1 and is connected, when inner side door frame 15 is on outer door frame 16 guide pass during relative sliding, can drive aftercarriage 9 with respect to rising or the descending motion of front vehicle body, the distance that each run rises or declines is controlled by microprocessor, can regulate according to actual environment.
Drive part is by drive motor 2, and gear train assembly 18 and wheel 10 form, and the relatively independent drive motor 2 of each car body drives car load to advance or steps back under the control of microcontroller; Function of regulating center of gravity has been worked in coordination with by the pump housing 6 and subsidiary pipeline 4 thereof, respectively has a container on front vehicle body 1 and aftercarriage 9, in front vehicle body container 3 upper ends, lays the pump housing 6, and adjustable moving liquid in container relative position during work, to adjust the center of gravity of car body.Apart from identification module, can automatically identify the last step distance of dolly distance, feeding back to has treater to control it after treater to carry out each step action.
The utility model climbing process:
The first step: when front vehicle body 1 is positioned at next stage step, by rang sensor perception the place ahead step, when car body is during apart from next step appropriate location, the pump housing 6 is started working, the interior liquid of front vehicle body container 3 is all pumped in aftercarriage container 7, make car load center of gravity rearmounted, then front vehicle body 1 rises to desired height;
Second step: drive motor 2 drives car load to advance to appropriate location;
The 3rd step, the pump housing 6 is started working, and liquid in aftercarriage container 7 is all pumped in front vehicle body container 3, and after making car load center of gravity preposition, lifting motor 8 drives messenger chain to drive aftercarriage 9 to rise to and the same high position of front vehicle body 1;
The 4th step: drive motor 2 drives car load to enter upper class step completely, device decline principle is to above-mentioned similar, and device stops relying on front truck brake gear 10 and rear car brake gear 11 to control.
More than show and described groundwork of the present utility model and principal character and advantage of the present utility model.The technical personnel of the industry should be understood; the utility model is not restricted to the described embodiments; that in above-described embodiment and specification sheets, describes just illustrates principle of the present utility model; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.Claimed scope of the present utility model is defined by appending claims and equivalent thereof.
Claims (3)
1. creeping motion type intelligence is climbed building device, it is characterized in that, comprises front vehicle body, drive motor, front truck container, pipeline, door frame, the pump housing, aftercarriage container, lifting motor, aftercarriage, rear car brake gear, hand lever brake device, drive system model, wheel; Described door frame comprises inner side door frame, outside door frame; Described front vehicle body and aftercarriage are two-layer car body, and rising module is all equipped with on upper strata, and drive motor is all equipped with in lower floor, and front truck brake gear and gear train assembly are equipped with in front vehicle body lower floor, and rear brake device and gear train assembly are equipped with in aftercarriage lower floor; On described aftercarriage container, center of gravity adjustment module is housed, aftercarriage container is connected with front vehicle body container by pipeline; Described front vehicle body container upper end is equipped with the pump housing; Described lifting motor pulls inner side door frame and outside door frame by messenger chain, and inner side door frame and outside door frame can slide mutually; Described outside door frame is fixed on rear end, aftercarriage upper strata; Described inner side door frame is connected with front vehicle body by bracket.
2. creeping motion type intelligence according to claim 1 is climbed building device, it is characterized in that, described front vehicle body and aftercarriage adopt the synchronous four wheel drive of motor, and each car body is equipped with two drive motor.
3. creeping motion type intelligence according to claim 1 is climbed building device, it is characterized in that, in described front vehicle body container and aftercarriage container, regulator solution is housed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320448426.4U CN203391892U (en) | 2013-07-26 | 2013-07-26 | Peristaltic intelligent stair climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320448426.4U CN203391892U (en) | 2013-07-26 | 2013-07-26 | Peristaltic intelligent stair climbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203391892U true CN203391892U (en) | 2014-01-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320448426.4U Expired - Fee Related CN203391892U (en) | 2013-07-26 | 2013-07-26 | Peristaltic intelligent stair climbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203391892U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882778A (en) * | 2014-12-22 | 2016-08-24 | 孙欣 | Rescue obstacle-crossing walking vehicle |
| CN105946939A (en) * | 2014-12-22 | 2016-09-21 | 孙欣 | Stair and land amphibious barrier-free transport vehicle |
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
| CN106741298A (en) * | 2016-12-10 | 2017-05-31 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring dual drive moving trolley |
-
2013
- 2013-07-26 CN CN201320448426.4U patent/CN203391892U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882778A (en) * | 2014-12-22 | 2016-08-24 | 孙欣 | Rescue obstacle-crossing walking vehicle |
| CN105946939A (en) * | 2014-12-22 | 2016-09-21 | 孙欣 | Stair and land amphibious barrier-free transport vehicle |
| CN105946942A (en) * | 2014-12-22 | 2016-09-21 | 孙欣 | Platform car suitable for obstacle-crossing walking of robot |
| CN105966446A (en) * | 2014-12-22 | 2016-09-28 | 孙欣 | Transport cart capable of walking on steps |
| CN106741298A (en) * | 2016-12-10 | 2017-05-31 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring dual drive moving trolley |
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140115 Termination date: 20140726 |
|
| EXPY | Termination of patent right or utility model |