CN206218050U - A kind of stair climbing robot - Google Patents
A kind of stair climbing robot Download PDFInfo
- Publication number
- CN206218050U CN206218050U CN201621302618.4U CN201621302618U CN206218050U CN 206218050 U CN206218050 U CN 206218050U CN 201621302618 U CN201621302618 U CN 201621302618U CN 206218050 U CN206218050 U CN 206218050U
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- CN
- China
- Prior art keywords
- contiguous block
- fixed plate
- leading screw
- line slideway
- stair climbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of stair climbing robot, including fixed plate, the corner of fixed plate is mounted on the support bar that height can be adjusted, it is arranged with line slideway a and line slideway b in fixed plate in parallel, the guide-rail coupling member of rectilinear movement is provided with through line slideway a and line slideway b, the bottom of fixed plate is provided with the nut contiguous block a being connected with guide-rail coupling member, it is connected with nut contiguous block a and drives it along line slideway a and line slideway b drive devices for linear motion, the lowering or hoisting gear for making fixed plate move up and down is also associated with nut contiguous block a.The utility model is set to height-adjustable type by by supporting leg and sleeve, can adapt to the step of different height and width；Using the single, double rotating to leading screw, realize that the front and rear of support section moves up and down；By four height of supporting leg before and after adjustment, you can walked freely on level land；By the setting of handrail, the carrying in floor gap goods can be realized.
Description
Technical field
The utility model belongs to mechanical device technical field, and in particular to a kind of stair climbing robot.
Background technology
People are frequently encountered the situation for needing weight to be brought up to stair, traditional method base in daily life and production
Originally it is to be carried by manpower, but when weight is overweight, be short of hands or when floor is higher, carries work and be difficult to complete.
Therefore people have invented various Stair climbing devices to overcome this problem, guarantee personal safety, and improve work situation, improve work effect
Rate, divides according to the mode for climbing building, and Stair climbing device is broadly divided into wheeled, crawler type and leg formula.
Stationarity is high during wheeled Stair climbing device stair activity, center of gravity big rise and fall, and device volume is larger, it is difficult to general
Used on logical residence stairs；Track type climbing-building installation weight is big, cause huge at stair edge when moving underaction, climbing building
Stair are had certain damage by pressure, and level land when using suffered resistance it is larger, these problems limit it in daily life
Promote the use of；Compared with first two, legged Stair climbing device imitates the action that animal creeps, and can be considered leg formula crawling machine
People, is replaced using a plurality of pedipulator and lifts, supports seat to climb the principle in building, and barycentre steadiness, motion are flexible, suitable different when climbing building
The stair of size, therefore future of the legged mobile robot in terms of building is climbed is more wide.However, existing leg formula stair climbing robot is general
Store-through is the shortcomings of complex structure, dumb action, crank.
Utility model content
The purpose of this utility model is to provide a kind of stair climbing robot, solves leg formula Stair climbing device structure of the prior art
Complicated problem.
The technical scheme that the utility model is used is：A kind of stair climbing robot, including fixed plate, the corner of fixed plate are equal
The support bar that height can be adjusted is installed, line slideway a and line slideway b is arranged with fixed plate in parallel, is led through straight line
Rail a and line slideway b are provided with the guide-rail coupling member of rectilinear movement, and the bottom of fixed plate is provided with and connects with guide-rail coupling member
The nut contiguous block a for connecing, is connected with nut contiguous block a and drives it along line slideway a and line slideway b drives for linear motion
Dynamic device, is also associated with the lowering or hoisting gear for making fixed plate move up and down on nut contiguous block a.
The characteristics of the utility model, also resides in：
Drive device includes being arranged on the unidirectional leading screw of fixed plate bottom, and unidirectional leading screw is matched somebody with somebody through nut contiguous block a with it
Connection is closed, one end of unidirectional leading screw is connected with motor a.
Lowering or hoisting gear includes the two-way leading screw on nut contiguous block a that is connected, and two-way leading screw is arranged on unidirectional leading screw
Lower section and perpendicular with unidirectional leading screw；Both sides on two-way leading screw positioned at nut contiguous block a are separately installed with nut contiguous block b
And nut contiguous block c, the trace a that can be rotated is hinged with nut contiguous block b, being hinged with nut contiguous block c to turn
Dynamic trace b, nut contiguous block b are connected with one end of trace a, and nut contiguous block c is connected with one end of trace b, even
The other end of lever a and the other end of trace b are hinged with contiguous block, and contiguous block bottom is connected with support block；Two-way leading screw
One end bevel gear b is installed, motor b is installed on guide-rail coupling member, be connected with motor b by motor b drive rotate cone
Gear a, bevel gear a is meshed with bevel gear b.
The upper surface corner of fixed plate is mounted on sleeve, and cartridges sides are provided with screw, and support bar is through sleeve and passes through
Holding screw in cartridges sides screw is fixed.
Upper surface one end of fixed plate is provided with handrail.
The bottom of each support bar is mounted on roller.
The upper surface of fixed plate is provided with objective table.
The beneficial effects of the utility model are：Stair climbing robot of the present utility model, it is simple structure, easy to operate, pass through
Four supporting legs and sleeve are set to Height Adjustable form, the step of different height and width is can adapt to；Using list
To the rotating of leading screw and two-way leading screw, realize that the front and rear of support section moves up and down, simple structure, it is easy to promote the use of；It is logical
Cross four height of supporting leg before and after adjustment, you can walked freely on level land；By the setting of handrail, can realize in building
The carrying of interlayer goods.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of stair climbing robot of the utility model；
Fig. 2 is the structural representation of drive device and lowering or hoisting gear in a kind of stair climbing robot of the utility model；
Fig. 3 is a kind of main structure diagram of stair climbing robot of the utility model；
Fig. 4 is a kind of backsight structural representation of stair climbing robot of the utility model；
Fig. 5 is a kind of working state figure of stair climbing robot of the utility model.
In figure, 1. sleeve, 2. line slideway a, 3. line slideway b, 4. motor a, 5. motor b, 6. bevel gear a, 7. bores tooth
B is taken turns, 8. nut contiguous block a, 9. nut contiguous block b, 10. nut contiguous block c, 11. trace a, 12. trace b, 13. is two-way
Leading screw, 14. unidirectional leading screws, 15. support blocks, 16. control cabinets, 17. handrails, 18. support bars, 19. rollers, 20. fixed plates, 21.
Guide-rail coupling member, 22. objective tables, 23. contiguous blocks.
Specific embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
A kind of stair climbing robot of the present utility model, as shown in figure 1, including fixed plate 20, the corner of fixed plate 20 is pacified
Equipped with the support bar 18 that can adjust of height, line slideway a2 and line slideway b3 is arranged with fixed plate 20 in parallel, through straight
Line guide rail a2 and line slideway b3 are provided with the guide-rail coupling member 21 of rectilinear movement, and the bottom of fixed plate 20 is provided with and leads
The nut contiguous block a8 of the connection of rail connector 21, is connected with nut contiguous block a8 and drives it along line slideway a2 and line slideway
Drive device b3 for linear motion, is also associated with the lifting dress for making fixed plate 20 move up and down on nut contiguous block a8
Put.
Drive device includes being arranged on the unidirectional leading screw 14 of the bottom of fixed plate 20, and unidirectional leading screw 14 passes through nut contiguous block a8
It is connected with it, one end of unidirectional leading screw 14 is connected with motor a4.
As shown in Fig. 2 lowering or hoisting gear includes the be connected two-way leading screw 13 on nut contiguous block a8, two-way leading screw 13
Installed in the lower section of unidirectional leading screw 14 and perpendicular with unidirectional leading screw 14；Positioned at the both sides of nut contiguous block a8 on two-way leading screw 13
Nut contiguous block b9 and nut contiguous block c10 is separately installed with, the trace a11 that can be rotated is hinged with nut contiguous block b9
(it is hinged particular by an ear mount, ear mount one end is affixed with nut contiguous block b9, the ear mount other end and trace a11
It is hinged), one end of the trace b12 that can be rotated, nut contiguous block b9 and trace a11 are hinged with nut contiguous block c10
Connection, nut contiguous block c10 is connected with one end of trace b12, the other end of trace a11 and the other end of trace b12
It is hinged with contiguous block 23, the bottom of contiguous block 23 is connected with support block 15；One end of two-way leading screw 13 is provided with bevel gear b7, leads
Motor b5 is installed on rail connector 21, be connected with motor b5 by motor b5 drive rotate bevel gear a6, bevel gear a6 with
Bevel gear b7 is meshed.
As shown in Figure 3, Figure 4, the upper surface corner of fixed plate 20 is mounted on sleeve 1, and the side of sleeve 1 is provided with screw, branch
Strut 18 is fixed through sleeve 1 and by the holding screw in the side screw of sleeve 1；Upper surface one end of fixed plate 20
It is provided with handrail 17；The bottom of each support bar 18 is mounted on roller 19, has textured height on the wheel rim of roller 19
The rubber layer of coefficient of friction, to ensure that robot will not skid during step is climbed.The upper surface of fixed plate 20 is set
There is objective table 22；The upper surface of fixed plate 20 is also equipped with control cabinet 16.
The course of work of the present utility model is：
As shown in figure 5, stair climbing robot of the present utility model climbs step can be divided into three phases：First stage, according to platform
The height of rank, will above two support bars 18 rise to the same eminence of step, robot is pushed to, while, it is necessary to being control
Room is input into the height and width of step；Second stage, starts motor b5, drives two-way leading screw 13 to rotate, and then drive support block
15 by the height of uplifting device jack-up to next stage step, (support block 15 is using face is wide, heavier-weight steel are whole to ensure
Device stability during exercise), then motor b5 stops, and starts motor a4, drives unidirectional leading screw 14 to rotate, by device toward platform
Sent on terrace, motor a4 stops afterwards, motor b5 reverse turns withdraw support block 15, then motor b5 stops, motor a4 turns
It is dynamic, by support meanss toward moving on the table top of next stage, circulate successively, to the last one-level step；Phase III, when whole dress
Put after being completed task upstairs, be just placed into the identical of support bar 18 below highly two support bars 18 above.
It is provided with fixed plate 20 in control cabinet 16, control cabinet 16 and is provided with controller, controller is arranged on control including dress
The controlling switch module on main controller, motor control module, power module and handrail in case 16, main controller is directly and switching molding
Block, motor control module and power module are connected, and motor a4 and motor b5 are connected with motor control module.The controller is mainly right
The working condition of motor is controlled, and controls two intermittent movements of stepper motor (motor a4 and motor b5), main controller
After receiving switching signal, so as to send control signal to motor control module, and then controlled motor working condition.
Before stair climbing, above two height of support bar 18 are adjusted, be allowed to contour with step, then will climb building by manpower
Robot is pushed away forward, is shifted onto and is affixed place with next stage step；Next stage, during Ji Pa buildings, set in the input of control device
The height and width of standby middle input step, start brake apparatus, and motor b5 starts turn, stair climbing robot is lifted, and lifts
The height for rising is concordant with next stage step, is then stopped, and then motor a4 starts turn, by stair climbing robot forward
Push away, the position shifted onto is just to be affixed with next stage step, is then stopped, and motor b5 starts reverse turn again, by support block
15 shrink back, and then the height of contraction is stopped also just above the height of step, and motor a4 starts reverse turn again, will
Whole support block 15 is sent on the table top of next stage step, so far, is climbed building process and is completed, and is exactly afterwards the reality gone round and begun again
The existing climbing machine climbs the whole process in building；Until climbing machine to be sent to the afterbody of step, the branch packed up before building will be climbed
Strut 18 is put back to again, with two height and positions of support bar below with high, is just completed to this and whole climbs building process.
Claims (7)
1. a kind of stair climbing robot, it is characterised in that including fixed plate (20), the corner of fixed plate (20) is mounted on height energy
The support bar (18) of enough regulations, is arranged with line slideway a (2) and line slideway b (3) in parallel, through straight line in fixed plate (20)
Guide rail a (2) and line slideway b (3) are provided with the guide-rail coupling member (21) of rectilinear movement, and the bottom of fixed plate (20) is set
There is nut contiguous block a (8) being connected with guide-rail coupling member (21), be connected with nut contiguous block a (8) and drive it along line slideway
A (2) and line slideway b (3) drive devices for linear motion, are also associated with for making fixed plate on nut contiguous block a (8)
(20) lowering or hoisting gear for moving up and down.
2. a kind of stair climbing robot according to claim 1, it is characterised in that the drive device includes being arranged on fixation
The unidirectional leading screw (14) of plate (20) bottom, unidirectional leading screw (14) is connected through the nut contiguous block a (8) with it, unidirectionally
One end of leading screw (14) is connected with motor a (4).
3. a kind of stair climbing robot according to claim 2, it is characterised in that the lowering or hoisting gear includes being connected and exists
Two-way leading screw (13) on the nut contiguous block a (8), two-way leading screw (13) installed in the lower section of the unidirectional leading screw (14) and
It is perpendicular with unidirectional leading screw (14)；On two-way leading screw (13) nut connection is separately installed with positioned at the both sides of nut contiguous block a (8)
Block b (9) and nut contiguous block c (10), are hinged with the trace a (11) that can be rotated, nut connection on nut contiguous block b (9)
The trace b (12) that can be rotated is hinged with block c (10), nut contiguous block b (9) is connected with one end of trace a (11), spiral shell
Female contiguous block c (10) is connected with one end of trace b (12), the other end of trace a (11) and the other end of trace b (12)
It is hinged with contiguous block (23), contiguous block (23) bottom is connected with support block (15)；Install one end of the two-way leading screw (13)
There is bevel gear b (7), motor b (5) is installed on the guide-rail coupling member (21), be connected with motor b (5) and driven by motor b (5)
The dynamic bevel gear a (6) for rotating, bevel gear a (6) are meshed with the bevel gear b (7).
4. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that the fixed plate (20)
Upper surface corner is mounted on sleeve (1), and sleeve (1) side is provided with screw, and the support bar (18) is through sleeve (1) and passes through
Holding screw in the screw of sleeve (1) side is fixed.
5. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that the fixed plate (20)
Upper surface one end is provided with handrail (17).
6. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that described each support bar
(18) bottom is mounted on roller (19).
7. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that the fixed plate (20)
Upper surface is provided with objective table (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621302618.4U CN206218050U (en) | 2016-11-30 | 2016-11-30 | A kind of stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621302618.4U CN206218050U (en) | 2016-11-30 | 2016-11-30 | A kind of stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206218050U true CN206218050U (en) | 2017-06-06 |
Family
ID=58786655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621302618.4U Expired - Fee Related CN206218050U (en) | 2016-11-30 | 2016-11-30 | A kind of stair climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206218050U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639179A (en) * | 2018-06-21 | 2018-10-12 | 天津师范大学 | A kind of upper device downstairs and method of going downstairs thereon based on electric telescopic rod |
| CN109050191A (en) * | 2018-08-31 | 2018-12-21 | 华南理工大学 | A kind of wheel group lifting device using Bidirectional-screw |
| CN109515546A (en) * | 2018-12-17 | 2019-03-26 | 文浩 | A kind of horizontal attitude loading stair climbing robot of wheel-leg combined type |
| CN109850029A (en) * | 2019-02-28 | 2019-06-07 | 深圳大学 | A kind of stair climbing robot and its stair climbing control method |
| CN110329383A (en) * | 2019-06-25 | 2019-10-15 | 广东博智林机器人有限公司 | Climbing device and robot |
| CN110338709A (en) * | 2019-06-25 | 2019-10-18 | 广东博智林机器人有限公司 | The traveling method of running gear, clean robot and clean robot |
| CN110525538A (en) * | 2019-08-16 | 2019-12-03 | 武汉理工大学 | A kind of Stair climbing device |
| CN111345949A (en) * | 2020-01-07 | 2020-06-30 | 重庆大学 | Automatic stair climbing device, control method and wheelchair |
| CN111572618A (en) * | 2020-06-05 | 2020-08-25 | 印玉英 | Electric control carrying equipment for barreled water transportation |
| CN113104478A (en) * | 2021-04-14 | 2021-07-13 | 国网河北省电力有限公司保定供电分公司 | Transport appurtenance that goes upstairs |
| CN113788086A (en) * | 2021-10-14 | 2021-12-14 | 国家电网有限公司 | Storage battery transfer device for transformer substation |
-
2016
- 2016-11-30 CN CN201621302618.4U patent/CN206218050U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639179A (en) * | 2018-06-21 | 2018-10-12 | 天津师范大学 | A kind of upper device downstairs and method of going downstairs thereon based on electric telescopic rod |
| CN109050191A (en) * | 2018-08-31 | 2018-12-21 | 华南理工大学 | A kind of wheel group lifting device using Bidirectional-screw |
| CN109515546B (en) * | 2018-12-17 | 2023-09-05 | 武汉朗毅机器人有限公司 | Wheel-leg combined horizontal attitude object carrying stair climbing robot |
| CN109515546A (en) * | 2018-12-17 | 2019-03-26 | 文浩 | A kind of horizontal attitude loading stair climbing robot of wheel-leg combined type |
| CN109850029A (en) * | 2019-02-28 | 2019-06-07 | 深圳大学 | A kind of stair climbing robot and its stair climbing control method |
| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN110329383A (en) * | 2019-06-25 | 2019-10-15 | 广东博智林机器人有限公司 | Climbing device and robot |
| CN110338709A (en) * | 2019-06-25 | 2019-10-18 | 广东博智林机器人有限公司 | The traveling method of running gear, clean robot and clean robot |
| CN110525538A (en) * | 2019-08-16 | 2019-12-03 | 武汉理工大学 | A kind of Stair climbing device |
| CN111345949B (en) * | 2020-01-07 | 2020-12-22 | 重庆大学 | Automatic stair climbing device, control method and wheelchair |
| CN111345949A (en) * | 2020-01-07 | 2020-06-30 | 重庆大学 | Automatic stair climbing device, control method and wheelchair |
| CN111572618A (en) * | 2020-06-05 | 2020-08-25 | 印玉英 | Electric control carrying equipment for barreled water transportation |
| CN113104478A (en) * | 2021-04-14 | 2021-07-13 | 国网河北省电力有限公司保定供电分公司 | Transport appurtenance that goes upstairs |
| CN113104478B (en) * | 2021-04-14 | 2023-03-31 | 国网河北省电力有限公司保定供电分公司 | Auxiliary tool for carrying upstairs |
| CN113788086A (en) * | 2021-10-14 | 2021-12-14 | 国家电网有限公司 | Storage battery transfer device for transformer substation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20171130 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |