CN207030685U - A kind of intelligent machine arm for stair activity of helping others - Google Patents
A kind of intelligent machine arm for stair activity of helping others Download PDFInfo
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- CN207030685U CN207030685U CN201720971827.6U CN201720971827U CN207030685U CN 207030685 U CN207030685 U CN 207030685U CN 201720971827 U CN201720971827 U CN 201720971827U CN 207030685 U CN207030685 U CN 207030685U
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- arm
- slideway
- helping
- climbing
- stair activity
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Abstract
A kind of intelligent machine arm for stair activity of helping others is the utility model is related to, including：Slideway, rack, worm and gear gearbox, main drive gear, step gear group, auxiliary pulley group, controller, handrail, pedal, it is characterised in that also include：Mechanical arm, servo speed changing climbing all-in-one, infrared internal loopback position sensor, gravity sensor, X-type support frame, it can ask someone above to go downstairs, ask goods, support single rack to hold in the palm on the elderly's scooter and special cycle for disabled people downstairs, solve the problems, such as that present storied building elevator involves great expense, belong to a kind of Intelligent Service manipulator field and elevators field.
Description
Technical field
The utility model is related to a kind of intelligent machine arm for stair activity of helping others, belong to Intelligent Service manipulator field and
Elevators field.
Background technology
In elevators field in terms of the major class point, can be divided at present three major types the first be vertical lift elevator, second
Escalator, be referred to as by expert the third elevator Chinese invention be segmented relay elevator, along corridor by wall one
Side moves up and down.The invention of the third elevator, alleviate the problem of old-fashioned public housing fills elevator difficulty.It is old-fashioned in order to further alleviate
Public housing fills the problem of elevator difficulty, it is contemplated that being helped using puma manipulator technology on people downstairs, manipulator is in industrial system
Utilization popularize very much, service manipulator start late at home, really with manipulator help people on downstairs in elevator
Field is not seen also.Found through patent retrieval, China Patent No. 20151004276.4, the applying date is on 2 8th, 2015, specially
A kind of entitled rail mounted stairway elevator of profit, which disclose a kind of special stair activity of the rail mounted installed on corridor and sets
It is standby.Equipment includes：Track, main U-shaped wheel group, the U-shaped wheel group of auxiliary, rack, worm and gear gearbox, motor, seat, safety tongs etc.
Part.The weak point of the structure has：Complicated in mechanical structure installation is inconvenient, as driven plate dolly hold up hang over along
Corridor on the track of wall side installation by moving, moreover the project by expert with being referred to as crying point for the third elevator Chinese invention
Segmentation relay elevator duplicates.Also somewhat expensive 17000 yuans every layer or so of price.
The content of the invention
A kind of intelligent machine arm for stair activity of helping others is the utility model is related to, including：Slideway, rack, main transmission tooth
Wheel, step gear group, auxiliary pulley group, worm and gear gearbox, controller, handrail, pedal, it is characterised in that also include：Machine
Tool arm, servo speed changing climbing all-in-one, infrared internal loopback position sensor, gravity sensor, X-type support frame；The cunning
By two channel-section steels, maximum relative width is more than the worm and gear change of servo speed changing climbing all-in-one relatively, between two channel-section steel grooves in road
Fast case, two channel-section steel tops are formed by connecting with Interal fixation, slideway walks built with least one rack for step gear along slideway
Enter mobile use；The mechanical arm includes：Large arm, telescopic small arm, palm, special steering wheel；The telescopic small arm is stretched by electronic
Contracting bar substitutes conventional mechanical arm, can so be applicable the different occasion of corridor height；The servo speed changing climbing all-in-one bag
Include：Servomotor, anti-skidding worm and gear gearbox, main drive gear, climbing step gear group, auxiliary pulley group, suspension machinery
The pedestal of arm, the succinct small volume of all-in-one machine structure is convenient for installation and maintenance, and its connected mode is：Slideway suspension is fixed on X-type branch
On support, support support is placed on stair both sides, or other method is fixed on the top of corridor, due to being supported using X-type
Frame structure exquisiteness is firm, without adding the devices such as any bolt to fasten in original corridor, as long as being placed on can on stair,
The structure of corridor is not destroyed, so just solving dress elevator yet or installing other elevators, it is necessary to the problem of various examination and approval procedures
Problem.Servo speed changing is climbed, and stepping is mobile, drives again on the rack of slideway by driving gear and step gear group for all-in-one
Passive auxiliary wheel group synchronous slide on slideway, and servo speed changing climbing all-in-one is driven along corridor top by controller
Slope moved, the pedestal of the suspension mechanical arm of the top of manipulator large arm and servo speed changing climbing all-in-one is connected,
The other end of large arm and the upper end of telescopic small arm are connected, and the other end of telescopic small arm is connected with palm wrist-joint, Mei Geguan
Section position is fitted with special steering wheel, and the orderly execution of manipulator under program helps to act needed for people's stair activity.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that on the both sides of the mechanical arm
It is also equipped with adjusting the handrail of angle.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the controller passes through lead-out terminal
Group H, I, J, K are connected servo speed changing climbing all-in-one and 3 steering wheels on mechanical arm by wire respectively, are watched by programme-control
Take speed change climbing all-in-one gear rotational speed and the special steering wheel coordination in each joint of direction change and mechanical arm.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the infrared internal loopback position passes
Sensor is arranged on the both ends of slideway, by wire connection controller input subgroup B, for detecting stair activity signal in place, rises
To stair activity location control.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the people that can stand is provided with the palm
Pedal.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the gravity sensor is arranged on and stepped on
It is in place either with or without people on the pedal for detecting identification palm by wire connection controller input subgroup A in plate.
A kind of intelligent machine arm of the stair activity of helping others, it is characterised in that when without using when hand refer to by retraction
After making button or waiting a moment, the SCM program meeting control machinery arm in controller is automatically retracted at the top of ceiling, no
Take limited stairway spaces.
Described controller by detection signal input subgroup A, B, C, D, F, G, single-chip microcomputer, relay extension output circuit,
Output end subgroup H, I, J, K are formed, and input subgroup is the infrared internal loopback position sensor weight on signal and pedal in place
Force sensor signals carry out judgement processing, are gone upstairs stepping by program second, outputing signal to climbing all-in-one according to result
Or downstairs mobile and output action is instructed to each special steering wheel on mechanical arm, makes mechanical arm coordination on request.
Beneficial effect
Advantages of the present invention：
1. novel in design, simple for structure, material purchases manufacture easy for installation, practical easily popularization.2. from technological layer
Solves the problems, such as old-fashioned public housing dress elevator difficulty with cost aspect.3. the power source of executing agency's climbing all-in-one, mechanical arm is all
It is that 24V low-voltage power supplies are safe and reliable.
Effect：Gone downstairs on asking someone, bracket chair, support goods, support single rack can also ask the elderly's scooter and disabled person special
Car.When without using when hand can be automatically retracted at the top of ceiling by retraction order button or wait a moment, be not take up limited
Stairway spaces, the 4th kind of elevator is can be described as, because moving up and down traveling along ceiling also referred to as high ladder.Cost performance
Height, only 5000 yuans or so of every layer of manufacturing expense.
Brief description of the drawings
Fig. 1 helps others the intelligent machine arm schematic diagram of stair activity.
Fig. 2 mechanical arm schematic diagrames.
Fig. 3 climbing all-in-one schematic diagrames.
Fig. 4 slideway schematic diagrames.
Fig. 5 X-type support frame configuration schematic diagrams.
Fig. 6 prepares manned schematic diagram.
Fig. 7 controller electrical principle block diagrams.
The manned displaying schematic diagrames of Fig. 8.
Embodiment
Explanation illustrates embodiment below in conjunction with the accompanying drawings：A kind of intelligent machine arm for stair activity of helping others, including：
Slideway 1, rack 24, worm and gear gearbox 17, main drive gear 18, step gear group 19, auxiliary pulley group 20, controller
28th, handrail 6, pedal 8, it is characterised in that also include：Mechanical arm 3, servo speed changing climbing all-in-one 2, infrared internal loopback position
Put sensor 10, gravity sensor 11, X-type support frame 25；The slideway 1 is by two specification 10# channel-section steels are relative, two, channel-section steel is recessed
Portion's relative width is more than the worm and gear gearbox of servo speed changing climbing all-in-one, and mutual gap is 0.1mm, two channel-section steel tops are used
Interal fixation thick 4mm is formed by connecting, slideway 1 built with least one rack 24, for step gear group 19 along with corridor top
The slideway movement of portion slope same slope；The mechanical arm 3 includes：Large arm 4, telescopic small arm 5, palm 7, power 80W it is special
With steering wheel 9；The telescopic small arm 5 is to substitute conventional mechanical arm by power 60W electric expansion bars, can so be applicable corridor height
Low different occasion；The servo speed changing climbing all-in-one 2 includes：Power 120W servomotors 16, anti-skidding worm and gear speed change
Case 17, main drive gear 18, climbing step gear group 19, auxiliary pulley group 20, the pedestal 21 for hanging mechanical arm, servo speed changing
Other parts are all embedded in slideway in addition to the opening that climbing all-in-one 2 is stretched out below slideway except hanging the pedestal 21 of mechanical arm
Interior, its connected mode is：The suspension of slideway 1 is fixed on the top of X-type support frame 25, and support 25 is supported on the both sides of stair 27, due to adopting
It is firm with X-type supporting structure exquisiteness, without adding the devices such as any bolt to fasten in original corridor, as long as being placed on stair 27
Can, the structure of corridor is not destroyed, servo speed changing climbing all-in-one 2 is by driving gear 18 and step gear group 19 in cunning
Stepping is mobile on the stationary rack 24 in road 1, drives passive auxiliary wheel group 20 synchronous slide on slideway 1 again, and passes through control
Device 28 drives servo speed changing all-in-one 2 of climbing 26 to be moved along slideway 1 at the top of corridor with slope same slope, plays side
Help others the effect of stair activity, the top of manipulator large arm 4 and the pedestal of the suspension mechanical arm of servo speed changing climbing all-in-one 2
21 connections, the other end of large arm 4 are connected with the upper end of telescopic small arm 5, the other end and the wrist-joint of palm 7 of telescopic small arm 5
Connection, each joint position are fitted with special steering wheel 9, and the orderly execution of manipulator under program helps people's stair activity
Required action.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that on the both sides of the mechanical arm 5
It is also equipped with adjusting the handrail 6 of angle.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the controller 28 passes through output end
Subgroup H, I, J, K are connected servo speed changing climbing all-in-one 2 and the special steering wheel 9 of mechanical arm 3 by wire respectively, pass through program control
The coordination of servo speed changing climbing all-in-one gear rotational speed and the special steering wheel 9 of direction change and 3 each joint of mechanical arm processed.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the infrared internal loopback position passes
Sensor 10 is arranged on the both ends of slideway 1, by the input subgroup B of wire connection controller 28, for detecting stair activity in place
Signal, play stair activity location control.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that be provided with the people that can stand on the palm 7
Pedal 8.
The intelligent machine arm of a kind of stair activity of helping others, it is characterised in that the gravity sensor 11 is arranged on
In pedal 8, by the input subgroup A of wire connection controller 28, exist on the pedal 8 for detecting identification palm 7 either with or without people
Position.
The special steering wheel of manipulator joint is follow-on, and the transmission of original gear shift is exactly improved to turbine and worm
Gear, described modified steering wheel are that security needs have power failure position lock function, are to aid in people's stair activity machinery
The special steering wheel of arm.
Described controller 28 exports electricity by detection signal input subgroup A, B, C, D, F, G, single-chip microcomputer, relay extension
Road, output end subgroup H, I, J, K composition, effect one is that have not on signal and pedal 8 in place to inspecting manipuator arm stair activity
Someone's signal is handled, second, according to the result output driving energy to climbing all-in-one 2 go upstairs on request stepping or
Person is mobile downstairs, output action is instructed to each special steering wheel 9, makes the coordination on request of mechanical arm 3.
With reference to accompanying drawing 8, under the control of controller 28, when someone wants the used time, as long as needed by order button 12 upstairs
Or downstairs order button 13, command signal is connected to C the or D terminal groups of controller 28 by wire, by controller
SCM program processing, result is instructed by output end subgroup H, I, J, K output action gives each executing agency special steering wheel 9,
Make the coordination on request of mechanical arm 3, mechanical arm 3 can then prepare according to action the step of procedure stipulation to suitable position
Help downstairs to see Fig. 6 on people, when people in need of help sets foot on pedal 8, gravity sensor 11 be housed on pedal, when weight is more than 10
Kilogram when sensor sensing be input to single-chip microcomputer to signal and handled, servo climbing all-in-one 2 will be upper according to what is pressed in advance
The instruction of building or downstairs button performs action, action executing in place when, close to infrared proximity inductive pick-up during distance 2.5cm
The single-chip microcomputer processing of 10 signal input controllers 28, servo climbing all-in-one 2 stopping action, when nobody uses, hand is by retraction
Button 14, mechanical arm 3 can be retracted at the top of ceiling automatically sees Fig. 1, is not take up limited stairway spaces.When running into urgent feelings
During condition, press the device systems of scram button 15 and then rest on maintenance state.
The case study on implementation of the present invention, is not imposed any restrictions to the present invention, every substantive to the above according to the technology of the present invention
The case of implementation makees any simple modification, change and the change of equivalent structure, belongs to the protection of technical solution of the present invention
In the range of.
Claims (6)
1. a kind of intelligent machine arm for stair activity of helping others, including：Slideway（1）, rack（24）, main drive gear（18）, step
Enter gear train（19）Auxiliary pulley group（20）, worm and gear gearbox（17）, controller（28）, handrail（6）, pedal（8）, it is special
Sign is also to include：Mechanical arm（3）, servo speed changing climbing all-in-one（2）, infrared internal loopback position sensor（10）, again
Force snesor（11）, X-type support frame（25）；The slideway（1）By two channel-section steels（22）Relatively, width is more than between channel-section steel groove
Servo speed changing climbing all-in-one（2）Width, two channel-section steels（22）Top steel plate（23）It is formed by fixedly connecting, slideway（1）It is built-in
There is at least one rack（24）；The mechanical arm（3）Including：Large arm（4）, telescopic small arm（5）, palm（7）, special steering wheel
（9）；The telescopic small arm（5）For electric expansion bar；The servo speed changing climbing all-in-one includes：Servomotor（16）, it is anti-skidding
Worm and gear gearbox（17）, main drive gear（18）, climbing step gear group（19）, auxiliary pulley group（20）, suspension machinery
The pedestal of arm（21）, its connected mode is：Slideway（1）Suspension is fixed on X-type support frame（25）On, X-type support frame is supported on
Stair (27) both sides, servo speed changing climbing all-in-one（2）Pass through travelling gear（18）Passing power gives step gear group（19）
Stepping is moved on the rack of slideway, then drives auxiliary wheel group（20）The synchronous slide on slideway, and pass through controller（28）Drive
Dynamic servo speed changing climbing all-in-one（2）Along slideway（1）Moved, mechanical arm（3）Large arm（4）Top and servo become
Speed climbing all-in-one（2）Hang the pedestal of manipulator（21）Connection, the other end and telescopic small arm of large arm（5）Upper end connection,
Telescopic small arm（5）The other end and palm（7）Wrist-joint connects, and each joint position is fitted with steering wheel（9）.
A kind of 2. intelligent machine arm for stair activity of helping others according to claim 1, it is characterised in that the mechanical arm
（3）On handrail is installed（6）.
A kind of 3. intelligent machine arm for stair activity of helping others according to claim 1, it is characterised in that the controller
（28）Including output end subgroup and input subgroup, lead-out terminal group connects servo speed changing climbing all-in-one respectively（2）With machinery
Arm（3）On 3 steering wheels.
4. a kind of intelligent machine arm for stair activity of helping others according to claim 1, it is characterised in that described infrared spontaneous
From receipts position sensor（10）Installed in the both ends of slideway, by wire connection controller（28）Input subgroup B.
A kind of 5. intelligent machine arm for stair activity of helping others according to claim 1, it is characterised in that the gravity sensitive
Device（11）Installed in pedal（8）It is interior, controller is connected to by wire（28）Input subgroup A.
A kind of 6. intelligent machine arm for stair activity of helping others according to claim 1, it is characterised in that the palm（7）
On pedal is installed（8）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720971827.6U CN207030685U (en) | 2017-08-06 | 2017-08-06 | A kind of intelligent machine arm for stair activity of helping others |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720971827.6U CN207030685U (en) | 2017-08-06 | 2017-08-06 | A kind of intelligent machine arm for stair activity of helping others |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207030685U true CN207030685U (en) | 2018-02-23 |
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ID=61474764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720971827.6U Expired - Fee Related CN207030685U (en) | 2017-08-06 | 2017-08-06 | A kind of intelligent machine arm for stair activity of helping others |
Country Status (1)
| Country | Link |
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| CN (1) | CN207030685U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720967A (en) * | 2019-02-27 | 2019-05-07 | 上海电子工业学校 | One kind climbing building system |
| CN109775523A (en) * | 2019-02-27 | 2019-05-21 | 上海电子工业学校 | One kind climbing building mobility system |
| CN114408706A (en) * | 2022-01-27 | 2022-04-29 | 南京冠大机电有限公司 | Intelligent operation control system and control method for corridor track elevator |
-
2017
- 2017-08-06 CN CN201720971827.6U patent/CN207030685U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720967A (en) * | 2019-02-27 | 2019-05-07 | 上海电子工业学校 | One kind climbing building system |
| CN109775523A (en) * | 2019-02-27 | 2019-05-21 | 上海电子工业学校 | One kind climbing building mobility system |
| CN109775523B (en) * | 2019-02-27 | 2023-09-29 | 上海电子信息职业技术学院 | Stair climbing and riding instead of walk system |
| CN114408706A (en) * | 2022-01-27 | 2022-04-29 | 南京冠大机电有限公司 | Intelligent operation control system and control method for corridor track elevator |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20190806 |