CN205964321U - Prop formula that jumps step climbing robot's synchronous telex control structure of multiaxis in succession - Google Patents
Prop formula that jumps step climbing robot's synchronous telex control structure of multiaxis in succession Download PDFInfo
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- CN205964321U CN205964321U CN201620500819.9U CN201620500819U CN205964321U CN 205964321 U CN205964321 U CN 205964321U CN 201620500819 U CN201620500819 U CN 201620500819U CN 205964321 U CN205964321 U CN 205964321U
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Abstract
The utility model discloses a prop formula that jumps step climbing robot's synchronous telex control structure of multiaxis in succession, including two sets of power gear motor, two sets of parallactic angle encode in step sensor and multiaxis synchro control drive circuit, prop the formula that jumps step climbing robot's preceding, back vaulting pole axle in succession and be connected with two sets of power gear motor respectively, two sets of parallactic angles encode in step the sensor set up respectively prop in succession the formula that jumps step climbing robot preceding, afterwards the vaulting pole is epaxial, two sets of parallactic angles are encoded the sensor in step and all are connected with multiaxis synchro control drive circuit, multiaxis synchro control drive circuit connects respectively and controls two sets of power gear motor. The utility model discloses a before synchronous driving mechanism come to guarantee, remain throughout between the vaulting pole of back soon to, swing angle synchronous consistency, guaranteed to prop in succession the safe and stable gesture of taking off and land in step around the formula that the jumps step climbing robot.
Description
Technical field
The utility model is related to a kind of step climbing mechanism, relates in particular to a kind of continuous jump formula step that supports and climbs machine
The multi-axial Simultaneous Flying by wire structure of people.
Background technology
On September 9th, 2015, the whole world old-age group career field important international non-government organization -- the world helps
Always can issue entitled《2015 global programs for the elderlys observe index》Report.Report, the whole world 60 years old and above population are about
9.01 hundred million, account for world population 12.3%.It is up to 16.5% to this ratio of the year two thousand thirty.It is old in the world that report claims China at present
Age, most populous country had 2.09 hundred million, and the physical disabilities causing additionally, due to various disasters and disease also increase year by year.And take turns
Chair is the elderly and the requisite walking-replacing tool of physical disabilities, common wheelchair can only level walking it is impossible to going up or down stairway.For
Solve this problem and work out the intelligent wheelchair with climbing function, predominantly crawler type and star wheel type in the market, its
Shortcoming is security and stability difference and going up or down stairway has to other people and assists.Although this is also crawler type and star wheel type wheelchair is practical new
Type patent is a lot, but really implements and promote little main cause.Therefore, some are also had to contemplate a kind of design leg foot
The omniazimuthal horizontal attitude stair climbing robot of formula and no-radius turn to, climb building method.But due to its complex structure, translational speed
Slowly, poor to the adaptivity of different shoulder heights, also fail to be promoted.
Such as, entitled " omniazimuthal horizontal attitude stair climbing robot and no-radius turn to, climb building method ", Application No.
The earlier application of " CN201310285367.8 ", " the utility model provides a kind of omniazimuthal horizontal to describe such feature
Attitude stair climbing robot, including following table and the upper table surface that is positioned above, is provided with the lower section of following table and drives its lifting
At least two groups following table elevating mechanisms, are provided with, in the lower section of upper table surface, at least four groups upper table surface elevating mechanisms driving its lifting,
It is characterized in that：Following table and upper table surface stagger before and after in the horizontal direction, be provided with support and turn between following table and upper table surface
Dynamic plate, support rotating plate bottom is provided with rectilinear movement unit, the bottom of rectilinear movement unit on following table, on upper table surface
It is provided with rotating mechanism, rotating mechanism is fixedly connected with support rotating plate." by foregoing description as can be seen that whole climbing mechanism and
Method of creeping is all very complicated, and leg foot is many, whole drive connection is loaded down with trivial details leads to translational speed slow, and the self adaptation to different stair
Property is poor, and security reliability cannot ensure.Therefore this utility model impracticable.
Again such as, Chinese patent notification number discloses a kind of electric stair climbing robot for CN 104925162 B, including：Climb
Building board, this climbing machine platform is vertically arranged with two grooves；The bottom of climbing machine platform is symmetrically arranged with two oil motors, arbitrary oil horse
The force-output shaft reaching all is connected with a leading screw, and leading screw is installed on climbing machine platform；In the middle of two leading screws, each leading screw all runs through one
Oil cylinder, has the internal thread being adapted with described leading screw in oil cylinder, oil cylinder constitutes screw-driven pair with leading screw；The top of described oil cylinder
Portion is fixedly connected with a clutch, and clutch is located inside groove, and the top of clutch is placed with manned plate, and oil cylinder passes through clutch
Device drives manned plate to move；Wherein, two oil cylinders pass through the flexible of piston rod with the realization of alternating movement in front and back upstairs.But it is this
Structure when climbing building, crank, there is potential safety hazard.
The applicant has applied for a kind of continuous support jump formula step climbing robot, needs all the time between wherein forward and backward strut
Keep rotation direction, swing angle synchronous consistent it is ensured that before and after wheelchair vehicle body synchronous landing safety and steady attitude.Thereby ensure that supportting in front and back
The synchronously consistent mechanism's design of bar rotation direction, swing angle, is just particularly important.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of the many of continuous support jump formula step climbing robot
Axle synchronization Flying by wire structure, so that continuously support jump formula step climbing robot during climbing, between forward and backward strut all the time
Keep rotation direction, swing angle synchronous consistent it is ensured that before and after wheelchair vehicle body synchronous landing safety and steady attitude.
To achieve these goals, the technical solution of the utility model is as follows：
The multi-axial Simultaneous Flying by wire structure of continuous support jump formula step climbing robot is moved it is characterised in that including two groups
Power reducing motor, two groups of angle synchronization code sensors and multi-axis synchronized control drive circuit；Continuous support jump formula step climbing
The forward and backward strut axle of robot respectively with two groups of dynamic retarding motor connections, two groups of angle synchronization code sensors are respectively provided with
In the forward and backward strut axle of continuous support jump formula step climbing robot, two groups of angle synchronization code sensors are all and multi-axial Simultaneous
Drive circuit is controlled to connect, multi-axis synchronized control drive circuit connects respectively and controls two groups of dynamic retarding motors.
Forward and backward strut, under the driving of forward and backward dynamic retarding motor, moves in a circle with forward and backward strut axle respectively, with
When the parallactic angle coding information that is given by the angle synchronization code sensor in strut axle, be respectively sent to multi-axis synchronized control
Drive circuit, feeds back to forward and backward dynamic retarding motor again after processing through multi-axis synchronized control drive circuit, makes corresponding rotating speed
Adjustment, makes forward and backward strut angle synchronization.
The utility model to ensure to remain rotation direction, swing angle synchronous between forward and backward strut using synchronous drive mechanism
Cause it is ensured that continuously supportting the safety and steady attitude of synchronous landing before and after jump formula step climbing robot.
Feature of the present utility model see the detailed description of this case schema and following preferable embodiment and obtains clear
Ground understands.
Brief description
Fig. 1 is the schematic diagram continuously supportting jump formula step climbing robot.
Fig. 2 is the schematic diagram of supporting frame.
Fig. 3 is the other direction schematic diagram continuously supportting jump formula step climbing robot.
Fig. 4 is the schematic diagram continuously supportting jump formula step climbing robot.
Fig. 5 be continuously support jump formula step climbing robot climb step when view.
Fig. 6 be continuously support jump formula step climbing robot climb step when view.
Fig. 7 be continuously support jump formula step climbing robot climb step when view.
Fig. 8 be continuously support jump formula step climbing robot climb step when view.
Fig. 9 be continuously support jump formula step climbing robot climb step when view.
Figure 10 be continuously support jump formula step climbing robot climb step when view.
Figure 11 is the principle schematic of synchronous drive mechanism.
Label in each accompanying drawing is expressed as follows：
1 wheel seat support, 2 supporting frames, 3 controllers, 4 Level tune electric putters, 5 displacement electric putters, 6 platform in balance connecting rods, 7
Forward horizontal stand connecting rod, 8 back balance connecting rods, power drive wheel before 9, power drive wheel after 10,11 front struts, 12 rear poles, 13, circular arc
Transition structure, 14 arc transition structures, 15 multi-axis synchronized control drive circuits, 16 move horizontally electric putter, 17 pedals, before 18
Dynamic retarding motor, dynamic retarding motor, 20 front strut parallactic angle encoders, 21 rear pole parallactic angle encoders, 22 front overhang sides after 19
Beam, 23 rear overhang curb girders, 24 front strut axles, 25 rear pole axles, ultrasonic range finder before 26, ultrasonic range finder after 27,28
Front steering side frame crossbeam, main shaft after 29.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, under
Face is expanded on further the utility model in conjunction with specific embodiments.
In description of the present utility model, term " left end, right-hand member, front end, rear end, left side, right side, inwardly, outwards " etc.
Describe and limit just for the sake of convenient, and it is not intended that to restriction of the present utility model.
Referring to Fig. 1-4, the utility model discloses a kind of continuous support jump formula step climbing robot, including supporting frame 2
With the support platform being arranged on supporting frame；Support platform can be used for placing articles it is also possible in order to sit people.The present embodiment
Taking sit people as a example, support platform is a wheel seat support 1.
Wheel seat support 1 includes cushion, backrest and handrail, and wheel seat support 1 passes through the setting that guide rail or slide block can move forward and backward
On supporting frame 2, and wheel seat support 1 and its movable electric putter 16 that moves horizontally of driving are connected.When user needs to sit
When above, electric putter 16 can be moved horizontally by regulation, driven wheel seat support 1 moves forward, and convenient use person sits down.
Supporting frame 2 includes back and front supporting linkage unit, back and front supporting linkage unit respectively with forward and backward outstanding curb girder (22,
23) one end connects, and the other end of forward and backward outstanding curb girder (22,23) is hinged；Also set between back and front supporting linkage unit
It is equipped with displacement electric putter 5, forward and backward outstanding curb girder (22,23) forms triangle support body with displacement electric putter 5, by displacement electric putter 5
Stretching motion change forward and backward power drive wheel wheelspan, to adapt to stair ladder step by step away from.
Front support linkage unit includes 24, two front struts 11 being separately positioned on front strut axle 24 two ends of front strut axle；
Rear support linkage unit includes 25, two rear poles 12 being separately positioned on rear pole axle 25 two ends of rear pole axle.Back and front supporting
Connected by synchronous drive mechanism between linkage unit；Referring to Figure 11, synchronous drive mechanism includes two groups respectively in order to drive two
The forward and backward dynamic retarding motor (18,19) that individual strut axle rotates, two groups of angle synchronization being separately positioned in two strut axles are compiled
Code sensor (20,21) and multi-axis synchronized control drive circuit 15；Two groups of angle synchronization code sensors (20,21) all with
Multi-axis synchronized control drive circuit 15 connects, and multi-axis synchronized control drive circuit 15 connects respectively and controls two groups of dynamic retarding electricity
Machine (18,19).Forward and backward strut (11,12) under the driving of forward and backward dynamic retarding motor (18,19), around strut axle (24,
25) move in a circle, pass through the parallactic angle coding information that the angle synchronization code sensor (20,21) in strut axle provides simultaneously,
It is respectively sent to multi-axis synchronized control drive circuit 15, after processing through multi-axis synchronized control drive circuit 15, drive through A road anti-
Dynamic retarding motor 19 after feeding, makes corresponding adjustment of rotational speed, gives front dynamic retarding motor 18 through B road drive feedback, makees
Go out corresponding adjustment of rotational speed, reach the purpose of forward and backward strut angle synchronization.The front end of forward and backward strut (11,12) is circular arc mistake
Cross structure (13,14).
After two, power drive wheel 10 is arranged on rear main shaft 29, and rear main shaft 29 is connected on rear pole axle 25 by bearing；
Two front power drive wheels 9 are arranged on front steering side frame crossbeam 28, and front steering side frame crossbeam 28 connects front strut by bearing
On axle 24.Power drive wheel 10, front power drive wheel 9 are respectively by independent motor control afterwards.And front strut 11 length is more than
The diameter of front power drive wheel 9；Rear pole 12 length is more than the diameter of rear power drive wheel 10.
Ultrasonic range finder 26 before being provided with front steering side frame crossbeam 28, ultrasonic after rear main shaft 29 is provided with
Range finder 27.Front ultrasonic range finder 26, rear ultrasonic range finder 27 hang down in order to detect power drive wheel and step
The spacing in vertical ladder face.In addition, it is necessary to it is noted that support platform (wheel seat support 1) is provided with and front steering side frame crossbeam 28 between
Platform in balance connecting rod 6, drives support platform to be synchronized with the movement with front steering side frame crossbeam 28 by platform in balance connecting rod 6；Front steering
Forward horizontal stand connecting rod 7 is passed sequentially through, back balance connecting rod 8 is connected, by forward horizontal stand connecting rod 7 He between side frame crossbeam 28 and rear main shaft 29
Back balance connecting rod 8 drives front steering side frame crossbeam 28 to be synchronized with the movement with rear main shaft 29.During seat pose adjustment, platform is put down
Weighing apparatus connecting rod 6, forward horizontal stand connecting rod 7, back balance connecting rod 8 are acted on by linkage, by ultrasonic distance before under front steering side frame crossbeam 28
Detector 26 adjust vertical to tread vertical with step, by the rear ultrasonic range finder 27 on main shaft after wheelchair adjust to
Tread vertical with step is vertical.
It is provided with pedal 17 on front steering side frame crossbeam 28.
It is additionally provided with to adjust the Level tune electric putter 4 of support platform angle between wheel seat support 1 and supporting frame；Logical
Crossing Level tune electric putter 4 can be with the angle of inclination of left regulation wheel seat support 1.Inclination angle sensing is provided with Level tune electric putter 4
Device, realizes auto-control, and that is, during climbing, the angle between supporting frame 2 and wheel seat support 1 is being continually changing, and inclination angle passes
Sensor transmits this information to control device, and control device controls Level tune electric putter 4 to do stretching motion, to ensure to take turns seat support
1 remains horizontality.
Controller 3 of the present utility model is arranged in the right handrail of wheel seat support 1, with convenient use person's operation.
Use process of the present utility model is as follows：
The climbing of first and second stage rank：Beforehand through adjust displacement electric putter 5 to change forward and backward power drive wheel (9,
10) wheelspan, to adapt to the width of step surface.The continuous jump formula step climbing robot that supports is controlled to retreat, on rear main shaft 29
Rear ultrasonic range finder 27 start automatic detection, during to suitable distance, controlled by control system and continuous support jump formula step
Climbing robot stops, and continuous support jump formula step climbing robot is in climbs building SBR.Rear pole axle 25 rotates, after drive
Strut 12 overturns supreme single order step, and rear pole axle 25 is rotated further, in step surface under the reaction force of rear pole 12, back brace
Bar 12 is slowly erect and is propped up, and rear pole axle 25, rear power drive wheel 10 are gradually increasing, until rear pole 12 is hung down with step surface
Directly, now rear power drive wheel 10 is liftoff；Then rear pole axle 25 is rotated further, and rear pole 12 tilts backwards, rear pole axle 25,
Power drive wheel 10 is gradually reduced afterwards, until rear power drive wheel 10 lands, rear power drive wheel 10 completes the first stage rank
Climb.Then, using identical principle, rear power drive wheel 10 drives continuous support jump formula step climbing robot to retreat, and passes through
The positioning of ultrasonic range finder 27 afterwards, then climbed, rear power drive wheel 10 completes climbing of second-order step.Now,
The front power drive wheel 10 of continuous support jump formula step climbing robot near the first stage rank and prepares the first stage rank of climbing.
Referring to Fig. 5-10, the climbing of intermediate step：The continuous jump formula step climbing robot that supports is controlled to retreat, positioned at rear main shaft
Rear ultrasonic range finder 27 on 29 starts automatic detection, during to suitable distance, controls continuous support jump formula by control system
Step climbing robot stops, and continuous support jump formula step climbing robot is in climbs building SBR.Rear pole axle 25 rotates, band
Dynamic rear pole 12 overturns supreme single order step, and rear pole axle 25 is rotated further, in step surface under the reaction force of rear pole 12,
Rear pole 12 is slowly erect and is propped up, and rear pole axle 25, rear power drive wheel 10 are gradually increasing, until rear pole 12 and step surface
Vertically, now rear power drive wheel 10 is liftoff；Then rear pole axle 25 is rotated further, and rear pole 12 tilts backwards, rear pole axle
25th, rear power drive wheel 10 is gradually reduced, until rear power drive wheel 10 lands, rear power drive wheel 10 completes single order step
Climb.In the same manner, in this process, synchronously, front strut axle 24 and rear pole axle 25 synchronous axial system, front strut 11 overturns supreme
Single order step, front strut axle 24 is rotated further, and in step surface under the reaction force of front strut 11, front strut 11 slowly erects support
Get up, front strut axle 24, front power drive wheel 9 are gradually increasing, until front strut 11 is vertical with step surface, now front power drive
Take turns 9 liftoff；Then front strut axle 24 is rotated further, and front strut 11 tilts backwards, and front strut axle 24, front power drive wheel 9 are gradually
Decline, until front power drive wheel 9 lands；Complete the climbing of single order step.
In front power drive wheel 9 step through last two when, rear pole axle 25, rear pole 12 no longer move, using phase
Same principle, front strut axle 24, front strut 11 drive front power drive wheel 9 to complete to climb.
Of the present utility model general principle, principal character and of the present utility model advantage have been shown and described above.One's own profession
The technical staff of industry it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply principle of the present utility model, on the premise of without departing from the utility model spirit and scope, the utility model also has respectively
Plant changes and improvements, these changes and improvements both fall within the range of claimed the utility model.The utility model requires
Protection domain defined by appending claims and its equivalent.
Claims (1)
1. the multi-axial Simultaneous Flying by wire structure of continuous support jump formula step climbing robot is it is characterised in that include two groups of power
Reducing motor, two groups of angle synchronization code sensors and multi-axis synchronized control drive circuit；Continuous support jump formula step climbing machine
The forward and backward strut axle of device people respectively with two groups of dynamic retarding motor connections, two groups of angle synchronization code sensors are separately positioned on
In the forward and backward strut axle of continuous support jump formula step climbing robot, two groups of angle synchronization code sensors all with multi-axial Simultaneous control
Drive circuit processed connects, and multi-axis synchronized control drive circuit connects respectively and controls two groups of dynamic retarding motors；Forward and backward strut axle
Being rotated by two groups of dynamic retarding motors respectively, simultaneously the angle synchronization code sensor in forward and backward strut axle be given
Parallactic angle coding information, be respectively sent to multi-axis synchronized control drive circuit, through multi-axis synchronized control drive circuit process after again
Feed back to forward and backward dynamic retarding motor, make corresponding adjustment of rotational speed, make forward and backward strut axle synchronous axial system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620500819.9U CN205964321U (en) | 2016-05-27 | 2016-05-27 | Prop formula that jumps step climbing robot's synchronous telex control structure of multiaxis in succession |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620500819.9U CN205964321U (en) | 2016-05-27 | 2016-05-27 | Prop formula that jumps step climbing robot's synchronous telex control structure of multiaxis in succession |
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| Publication Number | Publication Date |
|---|---|
| CN205964321U true CN205964321U (en) | 2017-02-22 |
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| CN201620500819.9U Active CN205964321U (en) | 2016-05-27 | 2016-05-27 | Prop formula that jumps step climbing robot's synchronous telex control structure of multiaxis in succession |
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| CN (1) | CN205964321U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214447A (en) * | 2018-01-05 | 2018-06-29 | 何镜连 | Intelligent robot mobile platform |
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2016
- 2016-05-27 CN CN201620500819.9U patent/CN205964321U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214447A (en) * | 2018-01-05 | 2018-06-29 | 何镜连 | Intelligent robot mobile platform |
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| GR01 | Patent grant |