CN2677253Y - Device capable of automatic walking and up-down stairs - Google Patents
Device capable of automatic walking and up-down stairs Download PDFInfo
- Publication number
- CN2677253Y CN2677253Y CN 03250894 CN03250894U CN2677253Y CN 2677253 Y CN2677253 Y CN 2677253Y CN 03250894 CN03250894 CN 03250894 CN 03250894 U CN03250894 U CN 03250894U CN 2677253 Y CN2677253 Y CN 2677253Y
- Authority
- CN
- China
- Prior art keywords
- support
- arm
- cross
- main
- main support
- 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
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model provides a device capable of automatic walking and up-down stairs, comprising a structural framework, wheels, a motor, a power equipment, a drive circuit and storage batteries. Wherein, the structural framework is composed of a main support(10), an auxiliary support (20) and a bearing frame (30). The bearing frame is arranged in the auxiliary support, and the auxiliary support is sheathed in the main support. The geometric boundaries of the main support and the auxiliary support are both cuboids. The inner side of the main support and the outer side of the auxiliary support are connected adopt horizontal and sliding connection. The main support and the auxiliary support are respectively provided with four supporting legs with the same controlled collapsing length and two lines of horizontal track slots. The bearing frame is provided with four lines of rolling wheels (31), which are respectively fallen in the track slots. The main support and the auxiliary support are connected through a support telescopic mechanism (6). The travel mechanism(7) of the bearing frame is arranged in the structural framework. The travel mechanism is provided with the electric control system (50) of a micro controller, a sensor and a control switch. The micro controller controls the action of the device.
Description
Technical field the utility model relates to a kind of automated machine device, particularly relates to a kind of also device of energy up/down steps of walking automatically.
Background technology is installed wheel on structural framing car is quotidian, have add actuating device after, when plane and little surface slope, can walk automatically, but its up/down steps automatically.Up/down steps will face very big difficulty if desired.In the existing data, still find no a kind of device and can make self and suppressed by vector reach the effect of up/down steps with vertical and horizontal mode alternating movement reposefully, this device can be walked automatically on the level land or during little surface slope.
Utility model content technical problem underlying to be solved in the utility model is, a kind of automatic walking of new structure and the device of energy up/down steps are provided, make it can rely on wheel to walk automatically on the level land or during little surface slope, when running into step, rely on the opening to receive and reach self and suppressed by vector of flexible and structural framing of supporting leg with the vertical effect that reaches up/down steps with the horizontal mode alternating movement.
The utility model solves its technical problem underlying and realizes by the following technical solutions.Device according to a kind of automatic walking that the utility model proposes and energy up/down steps, have structural framing and be installed in the wheel on the framework, the motor of wheels, power plant, be contained in motor in the cabin and sensor driving circuit, the storage battery of the energy is provided, its structural framing is made of main support, assistant support and carrier, and carrier falls to being contained in the assistant support, and assistant support is sleeved in the main support, secondary front leg strut is outside the main support framework, and secondary rear support leg is in the main support framework; Each is connected and composed main support and assistant support by two pairs of side stands; Each is paid, and side stand is connected a front leg strut by cross-arm level on cross-arm under the side and the side and a rear support leg constitutes; The geometrical boundary of main support and assistant support is cuboid, the height of main front leg strut, main rear support leg, secondary front leg strut and secondary rear support leg all equates, and under the main support side on cross-arm, the main support side under cross-arm, the assistant support side on cross-arm and the assistant support side length of cross-arm all equate; Between two pairs of side stands of formation assistant support, be connected with cross-arm under the secondary back with the preceding cross-arm down of a pair respectively again; Constitute between two pairs of side stands of main support, more respectively with before the master down cross-arm and main back down cross-arm be connected, the rear portion is also with upward cross-arm connection after; The lower edge of cross-arm is higher than the main preceding upper edge of cross-arm down under the assistant support side; Adopt horizontal slip to be connected between the inboard of main support and the outside of assistant support; The top of main support and the top of assistant support are in same level height; Main support and assistant support respectively have four supporting legs, and every supporting leg can both controlled elongation and withdrawal, and the collapsing length of eight supporting legs all equates; Main support respectively is equipped with the two row horizontal rail grooves parallel with cross-arm under the side with assistant support; The both sides of carrier respectively have a flank, and flank is above cross-arm on the side of major and minor support; Carrier is equipped with four row scroll wheels, drops on respectively in main support rail groove and the assistant support rail groove, and possesses the ability of rolling along rail groove; Be connected with the support telescoping mechanism between main support and the assistant support; Carrier travel mechanism is housed in the structural framing; Have the electric-control system that contains microcontroller, sensor and the master cock of carrying out control action; The action of microprocessor control device.
The utility model solves its technical matters and can also adopt following technical measures further to realize.The scantling of structure of aforementioned main support and assistant support has following relation respectively: after supporting leg stretches out extreme length, be not less than 36 degree from the distance between the solstics that lower edge to the supporting leg of wheel stretches out and the shortest exterior boundary between secondary front leg strut and the main rear support leg apart from the corner cut anyway of length ratio.That is: establishing from the distance between the solstics that lower edge to the supporting leg of wheel stretches out is Y, and the shortest exterior boundary between secondary front leg strut and the main rear support leg is X apart from length, then satisfies following formula between Y and the X
arc?tg(Y/X)≥36°
Such ratio mainly is to satisfy in China's construction trade the design standard of relevant dwelling house stair, dwelling house stair and other step of making device of the present utility model to adapt to reach these reference conditions.
The utility model solves its technical matters and can also adopt following technical measures further to realize.Aforesaid main support rail groove is separately fixed at the top of cross-arm under main preceding cross-arm down and the main back; The assistant support rail groove is separately fixed at the top of cross-arm under secondary preceding cross-arm down and the secondary back; Four row scroll wheels are fixed on the bottom of carrier.
The utility model solves its technical matters and can also adopt following technical measures further to realize.Aforesaid main support rail groove and assistant support rail groove are installed on the main support side top of cross-arm on the cross-arm and assistant support side respectively; Scroll wheel is installed in the bottom of flank respectively, and two row scroll wheels are equipped with in the below of every flank, and outside scroll wheel drops in the main support rail groove, and inboard scroll wheel drops in the assistant support rail groove.
The utility model solves its technical matters and can also adopt following technical measures further to realize.Aforesaid sensor is mounted in the preceding detector below the secondary preceding cross-arm down and is installed in the back detector below the cross-arm under the secondary back; Master cock comprises system switching and detector switch; System switching is installed in the position that is easy to user's operation on the structural framing; Detector switch be mounted in secondary before down the cross-arm below anti-collision switch, be installed in main travel switch on the main support rail groove and the secondary travel switch on the assistant support rail groove; The signal input electric-control system of sensor and detector switch, the output signal of electric-control system moves and the action of carrier travel mechanism by flexible, the support telescoping mechanism of driving circuit control supporting leg.
The utility model solves its technical matters and can also adopt following technical measures further to realize.Aforesaid carrier contains carrying platform, cabin and base plate; It is the action that relies on carrier travel mechanism that carrier moves forward; Driving circuit, storage battery, electric-control system are installed in the cabin.
The utility model solves its technical matters and can also adopt following technical measures further to realize.Aforesaid horizontal slip connects can adopt various ways, and one of them is the dovetail furrow mode, and dovetail groove is equipped with in two inboards of main support, and the dovetail tongue is equipped with in two outsides of assistant support.
The utility model solves its technical matters and can also adopt following technical measures further to realize.The action of aforesaid microprocessor control device is an information of utilizing sensor and master cock input, program by the microcontroller inherence is sent action command, pass through driving circuit, make supporting leg, support telescoping mechanism and carrier travel mechanism successive relay trip in a certain order, finish the process of up/down steps.
The utility model compared with prior art has tangible advantage and beneficial effect.By above technical scheme as can be known, device provided by the utility model can be finished the action of up/down steps automatically, and what adopt is the mode of motion that vertical lift and parallel motion combine, and this is a kind of as safe as a house and pulsation-free motion process for the object that is carried.When carrying platform is designed to seat, people for those moving difficulties, this device can help their safety and up/down steps cosily, particularly can satisfy stair size and gradient situation according to the residence building of production-release design, those old, weak, sick, residual persons that live upstairs need not other people be helped and can oneself arrive outdoor activities, perhaps freely going shopping, as seen is a new and innovative, progressive, practical new design in fact.
The specific embodiment of the present utility model is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Fig. 1 is main support structure stereoscopic figure of the present utility model.
Fig. 2 is assistant support structure stereoscopic figure of the present utility model.
Fig. 3 is that assistant support of the present utility model is sleeved on the structural perspective in the main support.
Fig. 4 is the main support structure stereoscopic figure that rail groove is equipped with in bottom of the present utility model.
Fig. 5 is the assistant support structure stereoscopic figure that rail groove is equipped with in bottom of the present utility model.
Fig. 6 is that assistant support that rail groove is equipped with in the bottom is sleeved on the structural perspective in the main support.
Fig. 7 A is the front elevation that the carrier of scroll wheel is equipped with in the bottom.
Fig. 7 B is the lateral plan that the carrier of scroll wheel is equipped with in the bottom.
Fig. 7 C is the birds-eye view that the carrier of scroll wheel is equipped with in the bottom.
Fig. 8 A is the front elevation that the carrier of scroll wheel is housed under the flank.
Fig. 8 B is the lateral plan that the carrier of scroll wheel is housed under the flank.
Fig. 8 C is the birds-eye view that the carrier of scroll wheel is housed under the flank.
Fig. 9 A is the front elevation of the present utility model that scroll wheel is equipped with in the bottom.
Fig. 9 B is the lateral plan of the present utility model that scroll wheel is equipped with in the bottom.
Figure 10 A is the front elevation of the present utility model that scroll wheel is equipped with on top.
Figure 10 B is the lateral plan of the present utility model that scroll wheel is equipped with on top.
Figure 11 is the of the present utility model no carrier birds-eye view that rail groove is equipped with on top.
Figure 12 is the supreme cross-arm birds-eye view of of the present utility model no carrier that rail groove is equipped with in the bottom.
Figure 13 is a hydraulic scheme.
Figure 14 is the electric system schematic diagram.
Among the figure: 1. motor 2. electric machine supports 3. cushion blocks
4. wheel shaft 6. support telescoping mechanisms 7. carrier travel mechanisms
8. wheel 9. is assisted cross-arms
10. cross-arm under the cross-arms 12. main backs under before main support 11. masters
13. main front leg strut 14. main rear support leg 15. dovetail grooves
16. cross-arm on the cross-arm 18. main support sides under the main support rail groove 17. main support sides
19. cross-arm on the back
20. assistant support 21. secondary preceding cross-arms down 22. secondary backs are cross-arm down
23. secondary front leg strut 24. secondary rear support leg 25. dovetail tongues
26. cross-arm on the cross-arm 28. assistant support sides under the assistant support rail groove 27. assistant support sides
30. carrier 31. scroll wheels 32. cabins
33. carrying platform 34. base plates 35. wheel supports
39. flank
40. hydraulic efficiency pressure system 45. Hydraulic Pumps 46. filters
47. fuel tank 48. straight ejector half by pass valve 49. check valves
403. high pressure relay 404. low pressure relays 411. main leg three-position four-way valves
412. main leg hydraulic lock 4111. main foreleg switch valve 4112. main back leg switch valves
421. secondary leg three-position four-way valve 422. secondary leg hydraulic lock
The valve 441. carrier movements of valve 431. support stretches
50. electric-control system 51. microcontrollers
521. preceding detector 522. back detector 53. anti-collision switch
541. main travel switch 542. secondary travel switch 55. driving circuits
551. motor-drive circuit 552. control Driver Circuit 56. storage batterys
57.A/D change-over circuit 581. source switchs 582. mode switchs
The specific embodiment is below in conjunction with accompanying drawing and preferred embodiment, to according to the automatic walking that the utility model proposes and device and its specific embodiment of up/down steps method, structure, feature and effect thereof that can up/down steps, describe in detail as after.
See also Fig. 1, Fig. 2, shown in Figure 3, the installation that assistant support 20 is sleeved in the main support 10 concerns by clearly expression among the figure: secondary front leg strut 23 is outside main support 10 frameworks, secondary rear support leg 24 is in main support 10 frameworks, cross-arm 11 is lower than cross-arm 27 under the assistant support side under before main, at grade, secondary rear support leg 24 have in main support 10 autonomous before cross-arm 11 mobile space between the cross-arm 12 to the main back down.Each supporting leg is all selected the double acting single-piston-rod hydraulic cylinder of same specification for use, guarantees their Telescopic, and difference is made as Y along the distance bottom to supporting leg at the end that the maximum extension elongation of hydraulic actuating cylinder is deducted wheel 8.
See also Fig. 4, Fig. 5, shown in Figure 6, for keeping the level of lower tracks groove, before main, on the cross-arm 11 cushion block 3 to be housed down, before secondary down cross-arm 21, secondary back down cross-arm 22 and main back down cross-arm 12 be in same level height, about the outside two row assistant support rail grooves 26 are installed, installed inside two row main support rail grooves 16, secondary back cross-arm 22 down are crushed on below the main support rail groove 16.Under the main support side on cross-arm 17, the main support side under cross-arm 18, the assistant support side on cross-arm 27 and the assistant support side length of cross-arm 28 all equate.If front end to the minor increment between the rear end of main rear support leg 14 from secondary front leg strut 23 that this length constituted is X, and between the aforesaid difference Y, satisfies following formula:
arc?tg(Y/X)≥36°
See also shown in Fig. 7 A, Fig. 7 B, Fig. 7 C, Fig. 8 A, Fig. 8 B, Fig. 8 C, carrier 30 includes scroll wheel 31, cabin 32, carrying platform 33, base plate 34 and flank 39.Cabin 32 is frameworks, there is carrying platform 33 to cover above it, base plate 34 is arranged below, does not block at the four sides, the wheel support 35 of scroll wheel 31 is fixed on following (for the situation of top dress scroll wheel, the wheel support 35 of scroll wheel 31 is fixed on the following of flank 39) of base plate 34, and carrier travel mechanism 7 selects the hydraulic actuating cylinder that front end is fixed on the block, the rear end does not fix for use, and be fixed on base plate 34 below, block is fixed on carrier foremost.The length of cross-arm 17 is identical under the length of carrier travel mechanism 7 and the main support side.Cabin 32 internal fixation have: electric-control system 50, driving circuit 55, storage battery 56 and hydraulic efficiency pressure system 40.Hydraulic efficiency pressure system 40 is the power plant of embodiment, comprises that Hydraulic Pump, fluid control valve, fuel tank etc. drive the equipment of hydraulic actuating cylinder action.
See also Fig. 9 A, Fig. 9 B, Figure 10 A, Figure 10 B, Figure 11 and shown in Figure 12, (for making facility with the aid of pictures, the part that wherein belongs to assistant support is filled with oblique striped, the part that belongs to carrier is filled with netted striped, and omit hydraulic efficiency pressure system 40 in the drawings) after major and minor support assembling finishes, the carrier let-down promptly constitutes complete device of the present utility model on rail groove.Wherein: dovetail groove 15 levels are installed between main front leg strut 13 and the main rear support leg 14, and dovetail tongue 25 levels are installed between secondary front leg strut 23 and the secondary rear support leg 24.Detector 521 before the installation below time cross-arm 21 before secondary, back detector 522 is installed below the cross-arm 22 under after pair, preceding detector 521 and back detector 522 are all selected the thing location probe for use, be used for when up/down steps, the extension elongation of forward and backward supporting leg can guarantee that the angle of inclination of whole device is not more than 5 degree.Bottom at two secondary front leg struts 23 is equipped with anti-collision switch 53 respectively, adorns the front portion of 541, assistant support rail grooves 26 of main travel switch at the rear portion of a main support rail groove 16 and adorns secondary travel switch 542.Be connected with wheel shaft 4 between two wheels 8 at rear portion, and two anterior wheels 8 are contained on the versatile spindle respectively.The motor 1 of wheels 8 is installed on the electric machine support 2, and top, the two ends that electric machine support 2 is positioned at wheel shaft 4 are fixed under two main support sides on the cross-arm 17.Support telescoping mechanism 6 is positioned at electric machine support 2 tops, selects for use two ends to be fixed on double acting single-piston-rod hydraulic cylinder on the block, an end block be connected secondary before down on the cross-arm 21, other end block is connected main back down on the cross-arm 12.For making carrier travel mechanism 7 can promote carrier 30 reaches, between two main rear support legs 14, add auxiliary cross-arm 9, auxiliary cross-arm 9 is in same level height with carrier travel mechanism 7.
Present embodiment is selected the power plant of the hydraulic efficiency pressure system of prior art as up/down steps for use.See also shown in Figure 13ly, hydraulic efficiency pressure system contains essential fuel tank 47 and filter 46, Hydraulic Pump 45 by check valve 49 to each hydraulic actuating cylinder fuel feeding.The break-make of the main leg three-position four-way valve 411 of electric-control system 50 controls, secondary leg three-position four-way valve 421, the flexible valve 431 of support and carrier movement of valve 441.When fluid control valve was closed, main leg hydraulic lock 412 and secondary leg hydraulic lock 422 guaranteed that main supporting leg and stretching out of secondary supporting leg are locked at original position.Main foreleg switch valve 4111 and main back leg switch valve 4112 are inharmonious for preventing to cause supporting leg to stretch out because of the oil circuit resistance is uneven, under the signal feedback effect of thing location probe 521 and 522, by its break-makes of electric-control system 50 control, to guarantee that when the up/down steps, the degree of dip of device is not more than 5 degree.The electric contact of high pressure relay 403 and low pressure relay 404 inserts electric-control system, by detecting the high and low pressure of oil circuit, determines the coordination degree that supporting leg stretches out respectively.Because when the system failure caused oil pressure too high, straight ejector half by pass valve 48 was used to avoid damaging the hydraulic efficiency pressure system device.
See also the electrical schematic diagram of the utility model device shown in Figure 14.Driving circuit 55 is specially two circuit cards in an embodiment: motor-drive circuit 551 and control Driver Circuit 552.When source switch 581 mediates, the device outage, when this switch is invested motor-drive circuit 551, device is plane and little surface slope walking states, storage battery 56 makes motor 1 work of wheels by motor-drive circuit 551, when this switch was invested electric-control system 50, device entered the up/down steps state.When the up/down steps state, when mode switch 582 mediates, the control system standby, the contact at mode switch 582 two ends is represented the pattern of topping bar respectively and the pattern of getting out of a predicament or an embarrassing situation.High pressure relay 403, low pressure relay 404, main travel switch 541, secondary travel switch 542 and two mutually redundant anti-collision switch 53 1 ends connect power supply ground, the other end provides the on-off signal of input to microcontroller 51, and preceding detector 521 and back detector 522 provide the digital signal of input to microcontroller 51 by A/D change-over circuit 57.Microcontroller 51 corresponding output signal are by the action of the start and stop of control Driver Circuit 552 modulated pressure pumps 45, main leg three-position four-way valve 411, secondary leg three-position four-way valve 421, the flexible valve 431 of support, carrier movement of valve 441, main foreleg switch valve 4111 and main back leg switch valve 4112, wherein, valve 411, valve 421 and valve 431 respectively have two magnet coils.Storage battery 56 also is the working power of microcontroller 51, preceding detector 521, back detector 522, A/D change-over circuit 57 and control Driver Circuit 552.Source switch 581 and mode switch 582 are installed in the position of being convenient to operate---for example, be installed in the upper surface of carrier flank.
The above, only being preferred embodiment of the present utility model, is not the utility model to be done any pro forma restriction, particularly main support be connected with horizontal slip between the assistant support, and support telescoping mechanism and carrier travel mechanism, can realize by variety of way.Every foundation technical spirit of the present utility model all still belongs in the scope of technical solutions of the utility model any simple modification, equivalent variations and modification that above embodiment did.
Claims (8)
1, the device of a kind of automatic walking and energy up/down steps, have structural framing and be installed in wheel (8) on the framework, the motor of wheels (1), power plant, be contained in the driving circuit that is used for drive motor and electromagnetic switch (55) in the cabin (32), the storage battery (56) of the energy is provided, it is characterized in that: structural framing is by main support (10), assistant support (20) and carrier (30) constitute, carrier (30) falls to being contained in the assistant support (20), assistant support (20) is sleeved in the main support (10), secondary front leg strut (23) is outside main support (10) framework, and secondary rear support leg (24) is in main support (10) framework; Each is connected and composed main support (10) and assistant support (20) by two pairs of side stands; Each is paid, and side stand is connected a front leg strut by cross-arm level on cross-arm under the side and the side and a rear support leg constitutes; The geometrical boundary of main support (10) and assistant support (20) is cuboid, the height of main front leg strut (13), main rear support leg (14), secondary front leg strut (23) and secondary rear support leg (24) all equates, and under the main support side on cross-arm (17), the main support side under cross-arm (18), the assistant support side on cross-arm (27) and the assistant support side length of cross-arm (28) all equate; Between two pairs of side stands of formation assistant support (20), be connected with cross-arm (22) under the secondary back with the preceding cross-arm (21) down of a pair respectively again; Constitute between two pairs of side stands of main support (10), more respectively with before the master down cross-arm (11) and main back down cross-arm (12) be connected, the rear portion is also with upward cross-arm (19) connection after; The lower edge of cross-arm under the assistant support side (27) is higher than the main preceding upper edge of cross-arm (11) down; Adopt horizontal slip to be connected between the inboard of main support (10) and the outside of assistant support (20); The top of the top of main support (10) and assistant support (20) is in same level height; Main support (10) and assistant support (20) respectively have four supporting legs, and every supporting leg can both controlled elongation and withdrawal, and the collapsing length of eight supporting legs all equates; Main support (10) respectively is equipped with the two row horizontal rail grooves parallel with cross-arm under the side with assistant support (20); The both sides of carrier (30) respectively have a flank (39), and flank (39) is above cross-arm on the side of major and minor support; Carrier (30) is equipped with four row scroll wheels (31), drops on respectively in main support rail groove (16) and the assistant support rail groove (26), and possesses the ability of rolling along rail groove; Be connected with support telescoping mechanism (6) between main support (10) and the assistant support (20); Carrier travel mechanism (7) is housed in the structural framing; Have the electric-control system that contains microcontroller (51) (50), sensor and the master cock of carrying out control action; The action of microcontroller (51) control setup.
2, the device of automatic walking according to claim 1 and energy up/down steps, the scantling of structure that it is characterized in that wherein said main support (10) and assistant support (20) has following relation respectively: after supporting leg stretches out extreme length, be not less than 36 degree from the distance between the solstics that lower edge to the supporting leg of wheel (8) stretches out and the shortest exterior boundary between secondary front leg strut (23) and the main rear support leg (14) apart from the corner cut anyway of length ratio.
3, automatic walking according to claim 1 and device that can up/down steps, it is characterized in that wherein said main support rail groove (16) be separately fixed at main before the top of cross-arm (12) under cross-arm (11) and the main back down; Assistant support rail groove (26) is separately fixed at the top of cross-arm (22) under preceding cross-arm (21) down of pair and the secondary back; Four row scroll wheels (31) are fixed on the bottom of carrier (30).
4, the device of automatic walking according to claim 1 and energy up/down steps is characterized in that wherein said main support rail groove (16) and assistant support rail groove (26) are installed in the top of cross-arm (28) on cross-arm on the main support side (18) and the assistant support side respectively; Scroll wheel (31) is installed in the bottom of flank (39) respectively, and two row scroll wheels (31) are equipped with in the below of every flank (39), and outside scroll wheel drops in the main support rail groove (16), and inboard scroll wheel drops in the assistant support rail groove (26).
5, automatic walking according to claim 1 and device that can up/down steps, it is characterized in that wherein said sensor be mounted in secondary before the preceding detector (521) below the cross-arm (21) and be installed in the secondary back following back detector (522) of cross-arm (22) down down; Master cock comprises system switching and detector switch; System switching is installed in the position that is easy to user's operation on the structural framing; Detector switch be mounted in secondary before down cross-arm (21) below anti-collision switch (53), be installed in main travel switch (541) on the main support rail groove (16) and the secondary travel switch (542) on the assistant support rail groove (26); The signal input electric-control system (50) of sensor and detector switch, the output signal of electric-control system (50) moves and carrier travel mechanism (7) action by flexible, the support telescoping mechanism (6) of driving circuit control supporting leg.
6, the device of automatic walking according to claim 1 and energy up/down steps is characterized in that wherein said carrier (30) contains carrying platform (31), cabin (32) and base plate (34); It is the action that relies on carrier travel mechanism (7) that carrier (30) moves forward; Driving circuit (55), storage battery (56), electric-control system (50) are installed in the cabin (32).
7, the device of automatic walking according to claim 1 and energy up/down steps, it is characterized in that wherein said horizontal slip connects can adopt various ways, one of them is the dovetail furrow mode, dovetail groove (15) is equipped with in two inboards of main support (10), and dovetail tongue (25) is equipped with in two outsides of assistant support (20).
8, the device of automatic walking according to claim 1 and energy up/down steps, the action that it is characterized in that wherein said microcontroller (51) control setup is an information of utilizing sensor and master cock input, send action command by the program that microcontroller (51) is inherent, by driving circuit (55), make supporting leg, support telescoping mechanism (6) and carrier travel mechanism (7) successive relay trip in a certain order, finish the process of up/down steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03250894 CN2677253Y (en) | 2003-05-10 | 2003-05-10 | Device capable of automatic walking and up-down stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03250894 CN2677253Y (en) | 2003-05-10 | 2003-05-10 | Device capable of automatic walking and up-down stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2677253Y true CN2677253Y (en) | 2005-02-09 |
Family
ID=34580367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03250894 Expired - Fee Related CN2677253Y (en) | 2003-05-10 | 2003-05-10 | Device capable of automatic walking and up-down stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2677253Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215370A (en) * | 2017-05-23 | 2017-09-29 | 安溪县智睿电子商务有限公司 | A kind of handling device with cat ladder function for smart home |
-
2003
- 2003-05-10 CN CN 03250894 patent/CN2677253Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215370A (en) * | 2017-05-23 | 2017-09-29 | 安溪县智睿电子商务有限公司 | A kind of handling device with cat ladder function for smart home |
| CN107215370B (en) * | 2017-05-23 | 2019-04-12 | 新昌县羽林街道正名轴承厂 | A kind of handling device with ladder function for smart home |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202724153U (en) | An intelligent power-driven climbing wheelchair | |
| CN107933729A (en) | The method of intelligent mobile robot and its up/down steps and walking slope | |
| CN104622650A (en) | Wheel-track combined electric wheelchair | |
| CN104594679A (en) | Swing type avoidance-free three-dimensional garage | |
| CN204492281U (en) | Coordinated type is without dodging multi-storied garage | |
| CN104612427A (en) | Coordinated type non-avoiding stereo garage | |
| CN205344853U (en) | Simple and easy flexible frame that moves | |
| CN105839963A (en) | Three-dimensional parking garage | |
| CN206342425U (en) | Intelligent stair sweeping robot | |
| CN2677253Y (en) | Device capable of automatic walking and up-down stairs | |
| CN1326740C (en) | Automatic running gear capable of going up and down bench and method for going up and down bench | |
| CN101429825B (en) | Simple chain lifting type multi-storied garage | |
| CN102561766A (en) | Combined parking system | |
| CN105863322A (en) | Anti-falling method for simple type double-layer stereo garage and simple type double-layer stereo garage | |
| CN105937318B (en) | A kind of parking systems parking plate lifts switch | |
| CN112956966A (en) | Cleaning robot capable of climbing stairs | |
| CN115288501A (en) | Carry on big lift platform of heavy load type of manipulator | |
| CN202970063U (en) | Intelligent mechanical hand stereo garage | |
| CN209293527U (en) | A kind of stereo garage | |
| CN208251735U (en) | Simple two layers of one kind without evacuation garage parking | |
| CN205805076U (en) | Parking systems parking plate lifting switch | |
| CN208858221U (en) | A kind of non-motor vehicle stereo parking facility | |
| CN102505883A (en) | Simple and easy hydraulic three-dimensional parking device | |
| CN106760777A (en) | A kind of intelligent three-dimensional parking vertical lift device | |
| CN207194580U (en) | A kind of multi-storied garage vehicles while passing servicing unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |