CN101357653A - Domestic stair porter robot - Google Patents

Abstract

The invention relates to a mechanically-electrically integrated home stairs porter robotics system which is driven by electric power, can go up and down the stairs and can carry heavy objects. The home stairs porter robotics system is composed of a driven running and steering system work chamber 3 at the upper part, a braced strut supporting frame system work chamber 4 at the middle part and an electric drive running controlling system work chamber 2 at the lower part. In China, stairs hand banisters composed of concrete iron, cement and wooden banisters are commonly installed in low buildings without elevators and below eight floors, and the home stairs porter robotics system uses and goes along the stairs hand banisters to trippingly go up and down the stairs. Senior citizens with inconvenience in walk or patients can sit on the robotics system conveniently to go up and down the stairs, and the robotics system can also carry hundreds of kilograms of heavy objects to go up and down the stairs, thus the mechanically-electrically integrated home stairs porter robotics system of the invention can be a piece of new equipment quite appropriate for removers, property management companies and construction companies.

Description

A kind of domestic stair porter robot

Technical field

The present patent application, relate to a kind of electromechanical integration, that electrification drives, can own easily stair activity, and can transport a kind of domestic stair porter robot system of weight.

Background technology

By government's standing order, existing short resident's building below 8 layers, generally be that a kind of general-duty banister railing that is made of reinforcing bar, cement and wooden handrail is installed on the stair limit, all there is not the design and installation elevator, do not have to provide simultaneously yet and use walking-replacing tool Mechatronic Systems, can manned loading stair activity, come convenient people's life---stair activity and carrying heavy goods here.Obviously, this gives and to be lived in the numerous residents that live in this short building, the elderly, patient is particularly arranged or lack the family of strong labour power, has caused great badly off and inconvenient.Though in this respect, the home and abroad all also almost is a blank out at present, the solution of this problem is not difficult yet, because for modern science and technology, addressing this problem is unusual simple thing.So people at the life requirement aspect this, have also just become the present patent application---the people's the wide world is showed one's capabilities, benefited to a kind of domestic stair porter robot.

Summary of the invention

That the present patent application, design provide is a kind of electromechanical integration, that electrification drives, can own easily stair activity, and can transport a kind of domestic stair porter robot system of weight.Show that as accompanying drawing 1 this robot is to connect support supporting frame system works case 4 by its underpart driven by power traveling control system work box 2, top driven walking steering swivel system work box 3 and centre portion to constitute jointly.A kind of domestic stair porter robot just is to use and a kind of general-duty banister railing that generally be equipped with, that promptly be made of reinforcing bar, cement and wooden handrail (accompanying drawing 1 li 1 show), stair activity trippingly in this short building.It can allow the elderly of legs and feet inconvenience or the patient stair activity that is seated easily, also can deliver up to a hundred kilograms the light stair activity of weight.

Technical scheme

That the present patent application design provides is a kind of electromechanical integration, that electrification drives, can own easily stair activity transport a kind of family expenses porter robot system of weight, shows as accompanying drawing 1,2,3,4.

A kind of domestic stair porter robot, be that special supporting installation, use are traveling on a kind of general-duty banister railing 1 that is made of reinforcing bar, cement and wooden handrail, comprise general-duty limit switch, inductive switch, spacing steel plate, spacing reinforcing bar or the like.The driven by power traveling control system work box 2 that also comprises the robot lower part, and the cabinet switch of the machine-walking gear 10 installed and used of the inside, the electrical motor that comes of not drawing in the accompanying drawings, worm-gear speed reducer, gear reduction unit, charging accumulator, power electronic controller, relay, travel switch, cable cable, powered wire, connector, mechanical control device, mobile limit spring, sensor, robot etc.Also comprise the driven walking steering swivel system work box 3 that robot upper part is divided, the fastening flat shim bullet pad 18 that the row who installs on the front and back chest face of the system works case 3 that comes of not drawing in the accompanying drawings hinders the driven road wheel of dedusting brush and the inside thereof installing and using 11, the nut 17 that is installed in the wheel bearing 13 on the driven road wheel 11, the wheel shaft 12 that is installed in driven road wheel 11 the insides, fastening wheel shaft 12, is used with nut 17; And install and be fastened on guiding A-frame steel plate 14 on wheel shaft 12 1 ends, turn to guiding wheels 16, wear axis hole 24, the centre hollows out hole 23; And install and be fastened on drawing on wheel shaft 12 other ends and hang A-frame steel plate 15, wear drawing of axis hole 25, support 15 lower parts and hang the steel plate hook 21 that A-frame steel plate broadside 27, the following upwards turnup in angle, broadside 27 two ends get up.Supporting frame system works case 4 is supported in the connection that also comprises the robot centre portion, and constitutes main frame 5, armrests 6, the seat frame plane 7 of its structure, the support frame plane 9 that driven by power traveling control system work box 2 is installed, location telescopic supporting rod 8, seat person's tread plate---bearing support plate 26 when promptly freighting, the armrests fwd metal guardrail that comes of not drawing in the accompanying drawings etc.; And be fixed on reinforcing bar axles hook 19 above the main frame 5, be fixed on positioning of rotating limit that the reinforcing bar axle links up with 19 tops to iron block 20 be fixed on the side travel positioning limit iron block 22 that the reinforcing bar axle is linked up with 19 bottoms.

The 2 driven by power traveling control system work boxs that are shown the robot lower part among the figure are mounted in that support frame plane 9 works above; It is exactly the battery power in this system, remove drive motor, drive 10 rotations of machine-walking gear through reductor, and be strictly according to the instruction of power electronic controller, go to or down rotation stir bar reinforcement one by one in the banister, thereby make robot self along (the driven walking steering swivel system that is divided by robot upper part guarantees to realize) balustrade, a joint one saves land and progressively rises or a joint one saves land and progressively descends; Promptly be the stair activity that advances so easily, as safe as a house transport personnel stably or transport weight arrive each destination floor up and down.

The profile of work box 2 both can be made into a cuboid work box as what Fig. 1 showed, also can be by subsystem number wherein, and make the work box that becomes several little different shapes respectively and constitute jointly;

Dynamic power system can be to use common or special-purpose charging accumulator system, and power line voltage must satisfy the basic demand of using the personal safety low voltage, as direct current 12V, 18V, 24V, 36V, or other convenient voltage value that is suitable for; The charging accumulator system should supportingly use special-purpose or easy safe charging machine system; Combined aural and visual alarm or caution system can be installed and used, also warning can be do not installed and not used.

The electrical motor that uses can be the miniature small machine of DC permanent magnet, also can be the electrical motor of other type.

Can use the worm-gear speed reducer of band auto-lock function, also can use the reductor of other type, need install additional in addition simultaneously an automatic locking mechanism this moment, do not rotate and guarantee that machine-walking gear 10 can be because of robot self-gravity action or goods action of gravity rotation automatically with stable after the mechanical stall that guarantees to slow down.

Rotating speed through the machine-walking gear 10 after slowing down is set according to actual user demand, both can be set at 10 rev/mins～30 rev/mins, also can be set at the revolution of other needs use according to other condition of service.

The dimensional data of machine-walking gear 10 can be designed as, the circular diameter that is made of tooth root portion is about 300mm, about 15mm～the 17mm of tooth root spacing, tooth depth is about 16mm～18mm, also can set the data of the dimensional data of machine-walking gear 10 by its actual user demand according to the bar spacing in the supporting use banister railing, the difference of reinforcing bar thickness for other numerical value.

The gear plane of machine-walking gear 10 is close to the banister reinforcing bar in the installation site of driven by power traveling control system work box 2 the insides, so that the gear teeth of walking gear 10 and railing reinforcing bar intersect engagement.And the angle of gear Plane Installation can be to become 0 ° horizontal positioned to install with horizontal plane angle, when promptly gear plane and railing reinforcing bar intersect vertically.Because robot is simultaneously in rising or simultaneously descending, so the distance of the work gear teeth of gear and the contact wear of railing reinforcing bar is longer in the process of advancing; Only be at the horizontal handrail of banister turning, having only the blade wheel toe joint of 1 or 2 railing reinforcing bars and gear to touch the worn-down distance is to lack.Also can be the angle number of degrees according to balustrade inclined-plane and horizontal surface, tilt to install the angle of gear plane and horizontal surface, or, allow the work gear teeth of gear and railing reinforcing bar tilt to intersect engagement by the several 30 ° of installations of tilting of the general angle of general balustrade inclined-plane and horizontal surface; This moment, the work gear teeth and the distance of railing reinforcing bar contact wear of gear will be lacked, and only were at the horizontal handrail of banister turning, had only the blade wheel toe joint of 1 or 2 railing reinforcing bars and gear to touch worn-down apart from being longer.

Robot drives the mutual alignment that 2 the machine-walking gears 10 in the running gear are installed, to guarantee the distance between the axial line that they are parallel to each other exactly, when the gear plane of machine-walking gear 10 and railing reinforcing bar intersect vertically, should be installed as 0.5 times or 1.5 times or 2.5 times of level interval mean number of reinforcing bar railing in the banister railing, or the like by that analogy.And when gear plane and the angled inclination of railing reinforcing bar are intersected, distance between the axial line that these 2 machine-walking gears 10 are parallel to each other, just should be installed as 0.5 times or 1.5 times or 2.5 times of inclination (press gear plane and railing reinforcing bar intersect angle tilt) spacing mean number of reinforcing bar railing in the banister railing, or the like by that analogy.

1 above-mentioned motor, 1 reductor and 1 machine-walking gear 10 just can constitute 1 machine-walking speed-changing gear box mini system.By 2 this machine-walking speed-changing gear box mini systems, just formed the driving running gear of robot jointly.The gear teeth that continuous working in advancing on these 2 machine-walking gears 10, all be to pass in and out continuously and be arranged on the line of each root reinforcing bar position in the banister railing, promptly swing forward and advance and exceed this line about presenting by a small margin.

Can certainly use 1 or 3 or 4 or more such walking gear change speed gear box mini system, form the driving running gear of other kind pattern robot.

Or use a big retarding machine, by the transmission of mechanical gear and axle, the machine-walking gear 10 that drives a plurality of minor diameters simultaneously is align side by side; The work gear teeth of these gears are arranged continuously, passed in and out on the line of each root reinforcing bar position in the banister railing, they also exceed this line by a small margin about meeting and swing is marched forward, and promptly constitute the driving running gear of another kind of robot.

Power electronic controller, just be to use a cover electronic control circuit and a power electronic devices thereof, supply with the power line voltage and the electric current of motor by changing control, handle the speed of mechanical walking gear 10 rotating speeds of control and the direction of rotation, to reach control robot speed that rises or descend and the direction of advancing.

Relay, travel switch, cable cable, powered wire, connector, mechanical control device, all be the composition of power electronic controller or actuating unit or with the automatic controls of other electrical equipment, mechanical connection.

Mobile limit spring, be to be used for the subtle change spacing of automatically regulating speed-change gear box installation site, be the mutual spacing of 2 machine-walking gears 10 of automatically regulating gear teeth in the work of advancing, to deacclimatize the not exclusively impartial complicated variable condition of reinforcing bar railing spacing automatically.

Sensor is that the mechanical implementation status information of feedback is given controller system automatically, to reach the purpose of accuracy control robot ambulation situation.

The cabinet switch of robot can be that direct mount uses at robot on one's body.As be installed in switch enclosure on armrests 6 limits, advance by seat person oneself operation control robot.Also can be to use to drag cable (or added metallic hose) switch enclosure, control in the walking of robot next door in hand held, control in also can be hand held by seat person oneself by owner.More can be to use all kinds of acoustic control remote controls, ultrasonic remote control, ray teleswitch etc., come the travel condition of remote servicing control robot.Obviously, these teleswitches can be to use the band coded program, also can be to use non-coded program; Both can be single control switch, also can be more-control switch; Be not restricted to one pattern.

Robot also can be upgraded and be become intelligent robot.In system, increase micro controller system, micro computer, speech chip, voice recognition chip, video chip, camera, sensor devices, Mike, loudspeaker, various function sensor, cable wire harness etc. exactly; Just can realize that intelligent robot exchanges with owner's session, inter-work, and go to work hard by owner's wish.

3 are shown the driven walking steering swivel system work box 3 that robot upper part is divided among the figure, are that to lay and be operated in the wooden handrail of railing lip-deep.It is bearing the mission critical that guided robot is advanced and turned to along the balustrade surface.

Profile such as Fig. 1 of work box 3 show, also can be made into the work box cover of other shape, protect the machine system of the inside.

On the chest panel of the front and back of driven walking steering swivel system work box 3, on accommodation rail, inside and outside three Surface Edge, the row's of being equipped with barrier dedusting brush (not drawing in the accompanying drawings), so that system can automatically clean the accommodation rail surface in advancing, guarantee the normal operation circumstances of driven walking steering swivel system.

Inner structure in the driven walking steering swivel system as shown in Figure 2, driven road wheel 11 is by the walking straight cylinder shape disc in the middle of it, and two circular conical surfaces at two ends, constitutes the wheel shape and the outside face of this specific driven road wheel 11 jointly.Because driven road wheel 11 is that walking is on the balustrade upper surface, so the length of the walking straight cylinder shape disc in the middle of the driven road wheel 11 should be not less than the width of balustrade upper surface.And the center circle of the walking straight cylinder shape disc in the middle of it, with maximum cylindrical on the circular conical surface edge in parallel, during simultaneously with a Plane intersects by their two centers of circle, in the line distance that two faces of these two circle center line connecting one sides are justified intersection points, should be not less than 21/2 times of balustrade upper surface width.The diameter of maximum cylindrical on the circular conical surface edge at driven road wheel 11 two ends should be slightly less than the length of side, horizontal handrail the inside, banister railing corner, that is to say the perpendicular separation that is slightly less than between this stair activity railing inclined-plane, place handrail; But should be external diameter simultaneously greater than the walking straight cylinder shape circle in the middle of the driven road wheel 11.In order to avoid driven road wheel 11 in advancing fast, may go out from landing on balustrade inclined-plane or the handrail horizontal surface, following of driven walking steering swivel system advanced, the initiatively normal performance of functions such as turning and influenced.

The wheel shaft 12 of driven road wheel 11 the insides is by being contained in two bearings 13 in the wheel, becomes a machinery integral in relative rotation and connect with driven road wheel 11.And with wheel shaft 12 two ends on fastening nut 17, the flat shim bullet pad 18 that uses of matching with nut 17 etc., constituted a driven road wheel machinery integral jointly.Add fastening guiding A-frame steel plate 14 is installed respectively on upper whorl axial 12 two ends, and install and use above turn to the guiding wheels 16, hang A-frame steel plate 15 vitals such as grade with drawing, an intact driven walking that just has been configured to robot jointly turns to machine system.

Supporting frame system works case 4 is supported in 4 connections that are shown the robot centre portion among the figure, it is the driven walking steering swivel system work box 3 that up connects top in the centre, down connect the driven by power traveling control system work box 2 of lower part, thereby be configured to an intact robot; And bearing the basic function that robot allows the people take and conveys goods.

It is the tread plate by its structure part main frame 5, armrests 6, seat frame plane 7, the support frame plane 9 that driven by power traveling control system work box 2 is installed, location telescopic supporting rod 8, seat person---bearing support plate 26 when promptly freighting and the formations such as armrests fwd metal guardrail of not drawing in the accompanying drawings and.

Main frame 5, be exactly steel pipe, or three frames of angle steel " U " word shape shown in being bent in Fig. 4, opening upwards, in the perforation on the mouth of pipe (or angle steel) both sides, bottom, two upper ends, installation is installed with length (or short) reinforcing bar 19, and is welded into a firm machinery integral from the pipe inside and outside with reinforcing bar 19 and pipe 5---reinforcing bar axle hook 19, work so that install to be affiliated on the steel plate hook 21 that draws the following upwards turnup in 27 two ends of extension A-frame steel plate broadside angle to get up.And for example Fig. 1 shows, the seat frame plane 7, armrests 6 and the location telescopic supporting rod 8 that use movable bolt or use mechanical connecting modes such as active pin shaft, pin to install also are installed on main frame 5.

Seat frame plane 7 is enclosed planar angle iron frames that a welding production becomes, or is made into the enclosed planar steel framework.Connect reinforcing with little band iron or the little angle bar of trimming etc. in the middle of the inside and strengthen, can lay thick load-bearing wire net in the installation above, or install load-bearing thicker wire etc. additional.The person can freely not skid off seat forward because of self gravitation in order to make the seat, should make seat frame plane 7 and chair's back plate---be that angle between the vertical plane surface at main frame 5 places is not more than 90 °, and determine assurance by the link joint of locating points above the telescopic supporting rod 8 of location.The person is comfortable in order to make the seat, also should be manufactured with ccasual chair back plate and cushion, comes to use for the seat person, and is not sitting man-hour, takes away during immediate shipment shipping goods and deposits.

Armrests 6 can stainless steel tube, or common steel tube, or other section bar is made.Because of itself and seat frame plane 7, main frame 5, be with movable bolt or use active pin shaft, pin to be coupled to the parallelogram lever of 2 settings,, it gets up occupation space when not using so can fold gathering easily with minimizing.Armrests 6 fwd metal coating railings; also can use steel pipe manufacturing; both can be made into a straight steel pipe pole guardrail; also can be made into an arc-shaped steel tube pole guardrail that upwards arches upward; more can be made into that upwards hold up, rectangular, a detouchable activity closed frame; and use mechanical attachment modes such as simple general hook, bolt, on armrests 6 front end both sides or 7 front end both sides, seat frame plane, install and fix, or disassemble.Rectangular frame protection railing when seat need not draw in, just can reverse that firmly promptly locking whole seat becomes rounding state in order to frame, so that lie over or hang up.

The support frame plane 9 of driven by power traveling control system work box 2 is installed, can be made into angle steel closed frame plane, or be made into steel pipe closed frame plane.Use movable bolt simultaneously or use mechanical connecting modes such as active pin shaft, pin, seat frame plane 7 next and above it is assembled into a firm mechanical connection integral body.Support frame plane 9 has also constituted the parallelogram lever that erect on both sides with seat frame plane 7 simultaneously, so on taken away it after the cargo-carring driven by power traveling control system work box 2, also can fold easily and draw in, occupation space when not using to reduce.Support frame plane 9 framework space inside also will wait with little band iron or the little angle bar of trimming or thicker wire to connect reinforcing.The installation of driven by power traveling control system work box 2 on support frame plane 9 both can be to use slide plate or use slideway to push and pull out, and locate locked with mechanical systems such as bolt or screw or latches; Also can be at any time to its release and draw out.Support frame plane 9 also can be with little angle bar of trimming or little band iron, is welded into a firm mechanical connection integral body with seat frame plane 7 above it.Driven by power traveling control system work box 2 is to be fixedly installed to above it, and with mechanical systems such as bolt or screw or latch locate locked after, do not taken out seldom more basically when just not keeping in repair.

Location telescopic supporting rod 8 shows as Fig. 1, can use the thick steel pipe the inside mode that can freely pull and push movable fine steel tube therein of cover to make; Two groups of two steel pipes that promptly use thickness to differ, a client link of one group of steel pipe are on the front end edge on seat frame plane 7, and a client link of another group steel pipe just can insert the thick steel pipe the inside to fine steel tube then and promptly constitute on the limit, lower end of main frame 5.The locating point of its spacing support can be designed to a plurality of link joint locating points according to locating the angle that flexible position of telescopic supporting rod 8 needs and needs support.Promptly be to bore a perforation,, this locating point carried out the locked assurance of mechanical positioning so that latch or bolt or screw etc. are installed at any time at each selected on steel pipe locating point place.Also can use other mechanical system to realize.As when the flexible weakness locating point to its length of location telescopic supporting rod 8, be exactly can be on fine steel tube this locating point place welding one circle thicker wire, realize that its failure-free location guarantees.

Seat person's tread plate---the bearing support plate 26 when promptly freighting can be with adding veneer in the little angle iron frame or making of the fritter plank.Both can be made into two boards of splitting, or two boards before and after being made into, also can be made into two boards that piles up up and down; Being single fulcrum and being fixedly connected, promptly is to be the center of circle with single fulcrum, and plank is rotated above the income position, end, support frame plane 9 forward (outward) easily, can rotate forward (outward) again easily and open and stretch out, and becomes an open frame plate that three limits are arranged; Move connection with little angle bar deactivation again, and constitute a limit of this open frame plate opening of sealing.This step, bearing support plate 26 also can be made into a plank that stretches and push into inwards forward, promptly are to pull and push a flexible whole plank of placing.Also can be with the preceding transverse plane and this piece plank above it on hinge hinge knot support frame plane 9, be made into plank and upwards open and pave and can use, with after upwards fold again and close up---promptly be to have lain on the preceding transverse plane on support frame plane 9.

Robot upper part is divided to have on the guiding A-frame steel plate 14 (seeing Fig. 3 again) of 3 li of driven walking steering swivel systems and is worn axis hole 24.Guiding A-frame steel plate 14 panels are following install turn to guiding wheels 16, form by 2 guiding small wheels.The wheel side of 2 guiding small wheels is perpendicular to A-frame steel plate plane, and the walking contact surface of 2 guiding small wheels is towards direction one side of driven road wheel 11.2 tandem line directions of guiding small wheels, the direction of advancing with driven road wheel 11 is consistent.And the axial line of track adjusting wheel axle center line and driven road wheel 11 spatially is orthogonal.The wire length of outer end points before and after 2 guiding small wheels is not less than the maximum outside diameter on the cone bevel edge of driven road wheel 11.The position that the guiding wheels are installed on guiding A-frame steel plate 14, be will be when driven walking steering swivel system is worked, the position, middle of the handrail height when making the guiding wheels just in time be in the balustrade level, more slightly height is also harmless, in any case but go outside the handrail height can not exceed the balustrade level time.

Turn to guiding wheels 16, also can change being mounted to 1 guiding wheel that diameter is bigger according to various user demand.Its diameter is suitable with the wire length of outer end points before and after 2 guiding small wheels, also is the maximum outside diameter that is not less than on the cone bevel edge of driven road wheel 11.

Also can change and be mounted to 3 or 4 more a little bit smaller guiding wheels of diameter and constitute.The wire length of outer end points before and after its guiding small wheels, also suitable with the wire length of 2 outer end points in guiding small wheels front and back, also be the maximum outside diameter that is not less than on the cone bevel edge of driven road wheel 11.

In order to alleviate robot weight, guiding A-frame steel plate 14 is made and is excavated into the 23 central space shapes of showing, also can excavate and be made into other hollow shape.

Robot upper part is divided drawing of 3 li of driven walking steering swivel systems to hang to have above A-frame steel plate 15 (the seeing Fig. 4 again) and is worn axis hole 25.Draw the position that hangs A-frame steel plate broadside 27, the handrail height in the time of should just in time being in the balustrade level near following, more slightly exceed also harmlessly, but must not all exceed outside the accommodation rail height when the banister level.

Drawing two end angle bottoms of hanging A-frame steel plate broadside 27, be manufactured with the steel plate hook 21 that two turnups that make progress get up, in the middle of the hook of steel plate hook 21, be to be used for the special reinforcing bar axle hook 19 that the length (or short) of welding on the steel pipe (or angle steel) of placing both sides, rotatable main frame 5 upper end is installed.

On the limit of the reinforcing bar axle hook 19 of linking up with 21 inner side edges near two steel plates, upwards side weld is connected to two positioning of rotating limits to iron block 20, in order to restriction main frame 5 and reinforcing bar axle thereof hook 19 can only be reinforcing bar railing direction rotation to banister, promptly be downwards, backward, rotation inwards; And can not be conversely to reinforcing bar railing direction rotation away from banister, promptly be can not make progress, forward, to inner rotary.

On the limit of the reinforcing bar axle hook 19 of linking up with 21 inner side edges near two steel plates, be again that downward side weld is connected to two side travel positioning limit iron blocks 22 simultaneously, in order to restriction main frame 5 and reinforcing bar axle hook 19 thereof excessive a little side travel can not be arranged to the left or to the right.

Draw and hang on the A-frame steel plate 15, also make the hollow hole 23 that excavation has loss of weight, also can excavate and be made into other hollow shape.

The A-frame steel plate 14 that leads is hung A-frame steel plate 15 with drawing, and is cut apart to be made into two blocks of A-frame steel plates.But can be not separated yet, promptly be to use a monoblock steel plate to make and be bent into " n " word shape, entangle from top to bottom again and be installed on the two ends of wheel shaft 12.

Robot is in the advancing of upper and lower stair, just at the driven by power traveling control system 2 of robot lower part during in work, it promptly is the battery power in the robot system, go drive motor to drive reductor, drive 10 rotations of machine-walking gear again, and be strictly according to the instruction of controller, go to or down rotation stir bar reinforcement one by one in the banister; Thereby make robot self along balustrade, a joint one saves land progressively and to rise or a joint one saves land and progressively descends.Driven walking steering swivel system 3, this moment is just by the driven by power traveling control system 2 of its underpart, by the hook of the reinforcing bar axles above the main frame 5 19, connects with drawing the steel plate hook 21 movable securely dumplings of hanging below the A-frame steel plate 15, dragged and marches forward.Promptly be upwards to advance or advancing downwards along the balustrade inclined-plane, until the horizontal handrail section place of balustrade---be the right angle turn of horizontal handrail, just driven walking steering swivel system 3 is upwards advanced along the handrail inclined-plane or is advanced to horizontal surface place near balustrade downwards.When driven road wheel 11 continued to advance forward again, driven road wheel 11 was in balustrade maximum cylindrical right angle the inside one side, on the circular conical surface edge that turns round, and is just stopped and can not march forward again by the horizontal handrail of banister; This moment is the maximum cylindrical on proal this circular conical surface edge just, has just produced the movement tendency that makes progress of a horizontal handrail of leap railing.Be in below it just at the progressive guiding wheels 16 that turn to, because of being subjected to stopping of the horizontal handrail of banister simultaneously, also just having produced one simultaneously and turned to a movement tendency that advances along the horizontal handrail inner surface of railing.And driven road wheel 11 is in turn round maximum cylindrical on the circular conical surface edge of right angle outside one side of balustrade, but because of can not produce a movement tendency that makes progress without any object blocks, respond the movement tendency that the maximum cylindrical on driven road wheel 11 other end circular conical surface edges makes progress, so can't form the possibility that driven road wheel 11 is crossed over the horizontal handrail of railing.Simultaneously the machine-walking gear 10 of robot lower part remains continuing to stir the reinforcing bar railing and marches forward, this just causes and is in turn round maximum cylindrical on the circular conical surface edge of right angle outside one side of balustrade, having produced to turn to the guiding wheels 16 and the contact point (line) of horizontal handrail inner surface be circle (axle) heart, is the horizontal circle of the radius trend that rotatablely moves with this circle (axle) heart to the turn round distance of the maximum periphery on the circular conical surface edge of a side outside the right angle of accommodation rail.Just in time be to turn to the movement tendency that advances to respond along the horizontal handrail inner surface of railing with turning to guiding one of wheels 16, just make turn to guiding wheels 16 this turn to the movement tendency that advances along the horizontal handrail inner surface of railing, become turning to rotate and advancing of guiding wheel.At this moment be in accommodation rail turn round right angle the inside one side and circular conical surface edge that be in guiding wheels 16 tops on maximum cylindrical, then because of the corner on its circular cone skewed surface and the handrail horizontal surface is that the inclined-plane acute angle intersects, and the slip that produces a slight distance is advanced---promptly turn to the slight distance of having advanced along the corner on the handrail horizontal surface; Then more facilitated being in the balustrade horizontal circle of the maximum cylindrical on the circular conical surface edge of the right angle outside one side trend that rotatablely moves of turning round at this moment, rotatablely moved with regard to the circle that has become an aerial level at once, and just turned to 90 ° at a right angle immediately.So far, the rotation of guiding wheel is advanced, just guiding whole driven road wheel 11 safety, steadily, turn to smoothly, and all advanced on the horizontal handrail surface of banister, promptly finished the right angle turn of once crossing over balustrade safely, steadily, smoothly, and can successfully continue to march forward.This crosses over the program step of accommodation rail right-angle steering to continue to repeat once above-mentioned driven walking steering swivel system again, just can finish the stair of right angle handrail again safely, steadily, smoothly and turn and march forward.Draw the position that hangs A-frame steel plate broadside 27, the handrail height when just in time being in the balustrade level near following, promptly be to be in balustrade to turn round in the vertical line bottom of outside, right angle one side right angle point.At the driven walking steering swivel system of robot when balustrade is made right-angled bend, this draws hangs A-frame steel plate broadside 27, be mounted to be fastened on driven road wheel 11 on the steel wheel axle 12 in the outside, turning right angle because be, so just can only to be level along with driven road wheel 11 turn to advances for it, turn to and advance and do aerial horizontally rotating.At most be that broadside 27 is the vertical line bottoms that are linked to be against one side right angle, balustrade right-angle turning outside point point only, do one and aerial horizontally rotated and turned to 90 ° at right angle, and be centre portion and the lower part that its bottom is drawn the robot of hanging, also all simultaneously connection band haul and done one together and aerial horizontally rotate and turned to 90 ° at a right angle, and safety successfully continues to march forward.

The invention advantage

The advantage of the present patent application:

1, design provides family expenses porter robot system a kind of electromechanical integration, that electrification drives, that the own easily stair activity of energy transports weight, thoroughly removing to live in does not thisly have elevator, does not have the numerous residents in the short building of other dynamo-electric facility walking-replacing tool, the elderly, patient are particularly arranged or lack the family of strong labour power, that bears for many years greatly lives in want.

2, accomplished with the time advance altogether, also in quality of life and the living standard of constantly improving the residents in those temporarily can not live new high building, short buildings.

3, domestic stair porter robot is novel, succinct, perfect; Can with tearing open, install, use, collect all very convenient with dress with usefulness with receipts.

4, the domestic stair porter robot design is ingenious, perfect, outstanding; Simple in structure, compact, reliable; Advanced technology, simple and direct, convenient; Product practicality, solid, safe, reliable; Filled up a neither big nor small blank of domestic and international urban construction.

5, because of the practicality of domestic stair porter robot product, novel, ingenious, simple in structure, the advanced technology of design,, also can accomplish good and cheap on the market so the cost of manufacture of this product also can be very low.

6, being a kind of house articles for use that are suitable for living in the common numerous common people in the short building, also will be the very suitable a kind of new tool equipment selected for use of moving service company, infrastructure management company, building constructor.

Description of drawings

Fig. 1 is that robot is installed operation and the structure overall scheme thereof of walking on general balustrade; Fig. 2 is the driven walking steering swivel system structural representation of the driven walking steering swivel system of robot work box 3 the insides; Fig. 3 be the guiding A-frame steel plate 14 in the driven walking steering swivel system of robot and install above turn to the guiding wheels 16 structural representation; Fig. 4 is that robot draws extension A-frame steel plate 15 and draws the connection of hanging to support the connecting structure scheme drawing of the main frame 5 of 4 li in supporting frame system works case below it.

As shown in drawings: the 1st, a kind of general-duty banister railing that constitutes by reinforcing bar, cement and wooden handrail; The 2nd, the driven by power traveling control system work box of robot lower part; The 3rd, the driven walking steering swivel system work box that robot upper part is divided; The 4th, supporting frame system works case is supported in the connection of robot centre portion; The 5th, connect the main frame that supports in the supporting frame system; The 6th, armrests; The 7th, the seat frame plane; The 8th, the location telescopic supporting rod; The 9th, the support frame plane that driven by power traveling control system work box is installed; The 10th, the machine-walking gear; The 11st, the driven road wheel in the driven walking steering swivel system; The 12nd, driven walking wheel axle; The 13rd, driven walking wheel bearing; The 14th, guiding A-frame steel plate; The 15th, draw and hang the A-frame steel plate; The 16th, guiding A-frame steel plate is installed and used above turns to the guiding wheels; The 17th, the cooperation fastening nut of wheel shaft; The 18th, the fastening flat shim bullet pad that is used with nut; The 19th, the reinforcing bar axle hook of main frame upper end; The 20th, the positioning of rotating limit that is fixed on reinforcing bar axle hook top is to iron block; The 21st, draw and hang the steel plate hook that the following upwards turnup in two ends of A-frame steel plate broadside angle gets up; The 22nd, be fixed on the following side travel positioning limit iron block of reinforcing bar axle hook; The 23rd, the A-frame steel plate be expendable weight and therebetween the excavation emptying aperture; The 24th, the axis hole of wearing of the A-frame that leads; The 25th, draw the axis hole of wearing of hanging A-frame; The 26th, seat person's tread plate---the bearing support plate when promptly freighting; The 27th, draw and hang A-frame steel plate broadside.

The specific embodiment

Below more in conjunction with the accompanying drawings, the specific embodiment to the present patent application is described in further detail:

Shown in the accompanying drawing 1, be an embodiment of the present patent application.

A kind of domestic stair porter robot shown in the accompanying drawing 1 is to be made of jointly its top driven walking steering swivel system work box 3, centre portion connection support supporting frame system works case 4 and lower part driven by power traveling control system work box 2.These three system works casees are can be on general-duty banister railing, easily, install simply, or disassemble.Below just start with this specific embodiment be described in further detail from this three big system works case.

The inner structure that robot upper part is divided driven walking steering swivel system work box 3 the insides as shown in Figure 2, include driven road wheel 11, be by the walking straight cylinder shape disc in the middle of it, and two circular conical surfaces at two ends, constitute the wheel shape and the outside face of this specific driven road wheel 11 jointly.Because driven road wheel 11 is that walking is on the balustrade upper surface, so the length of the walking straight cylinder shape disc in the middle of the driven road wheel 11 should be not less than the width of balustrade upper surface.And the center circle of the walking straight cylinder shape disc in the middle of it, with maximum cylindrical on the circular conical surface edge in parallel, during simultaneously with a Plane intersects by their two centers of circle, line distance in that two faces of these two circle center line connecting one sides are justified intersection points should be not less than 2 of balustrade upper surface width ^1/2Doubly.The diameter of maximum cylindrical on the circular conical surface edge at driven road wheel 11 two ends should be slightly less than the length of side, horizontal handrail the inside, banister railing corner, that is to say the perpendicular separation that is slightly less than between this stair activity railing inclined-plane, place handrail; But should be external diameter simultaneously greater than the walking straight cylinder shape circle in the middle of the driven road wheel 11.The wheel shaft 12 of driven road wheel 11 the insides is by being contained in two bearings 13 in the wheel, becomes a machinery integral in relative rotation and connect with driven road wheel 11.And with wheel shaft 12 two ends on fastening nut 17, the flat shim bullet pad 18 that uses of matching with nut 17 etc., constituted a driven road wheel machinery integral jointly.

Robot upper part is divided the guiding A-frame steel plate 14 of 3 li of driven walking steering swivel systems, has above and wears axis hole 24, and bottom is equipped with and turns to guiding wheels 16, is made up of 2 guiding small wheels.The wheel side of 2 guiding small wheels is perpendicular to A-frame steel plate plane, and the walking contact surface of 2 guiding small wheels is towards direction one side of driven road wheel 11.2 tandem line directions of guiding small wheels, the direction of advancing with driven road wheel 11 is consistent.And the axial line of track adjusting wheel axle center line and driven road wheel 11 spatially is orthogonal.The wire length of outer end points before and after 2 guiding small wheels is not less than the maximum outside diameter on the cone bevel edge of driven road wheel 11.

The position that the guiding wheels are installed on guiding A-frame steel plate 14 is will be when driven walking steering swivel system is worked, the position, middle of the handrail height when making the guiding wheels just in time be in the balustrade level.

In order to alleviate robot weight, guiding A-frame steel plate 14 is made and is excavated into the 23 central space shapes of showing, also can excavate and be made into other hollow shape.

Robot upper part divides drawing of 3 li of driven walking steering swivel systems to hang A-frame steel plate 15, has above and wears axis hole 25.Draw the position that hangs A-frame steel plate broadside 27, the close bottom of the handrail height in the time that the balustrade level should just in time being in.

Drawing two end angle bottoms of hanging A-frame steel plate broadside 27, be manufactured with the steel plate hook 21 that two turnups that make progress get up, in the middle of the hook of steel plate hook 21, be to be used for the special reinforcing bar axle hook 19 that the length (or short) of welding on the steel pipe (or angle steel) of placing both sides, rotatable main frame 5 upper end is installed.

On the limit of the reinforcing bar axle hook 19 of linking up with 21 inner side edges near two steel plates, upwards side weld is connected to two positioning of rotating limits to iron block 20, in order to restriction main frame 5 and reinforcing bar axle hook 19 thereof can only be to rotate to the reinforcing bar railing direction of banister, and can not be conversely to the reinforcing bar railing direction rotation away from banister.

On the limit of the reinforcing bar axle hook 19 of linking up with 21 inner side edges near two steel plates, be again that downward side weld is connected to two side travel positioning limit iron blocks 22 simultaneously, in order to restriction main frame 5 and reinforcing bar axle hook 19 thereof excessive a little side travel can not be arranged to the left or to the right.

Draw and hang on the A-frame steel plate 15, also make the hollow hole 23 that excavation has loss of weight, also can excavate and be made into other hollow shape.

Above-mentioned driven road wheel mechanical body, guiding A-frame parts and draw and hang the A-frame parts, an intact driven walking that just has been configured to robot jointly turns to machine system.

The robot centre portion connects support supporting frame system works case 4 the insides, by its structure part main frame 5, armrests 6, seat frame plane 7, support frame plane 9, location telescopic supporting rod 8, seat person's tread plate---bearing support plate 26 when promptly freighting and the formations such as armrests fwd metal guardrail of not drawing in the accompanying drawings and.

Main frame 5, three frames of " U " word shape shown in being bent into steel pipe in Fig. 4 exactly, opening upwards, in the perforation on both sides, mouth of pipe bottom, two upper ends, installation is installed with long reinforcing bar 19, and be welded into a firm machinery integral from the pipe inside and outside with reinforcing bar 19 and pipe 5---reinforcing bar axle hook 19, work so that install to be affiliated on steel plate hook 21.And for example Fig. 1 shows, the seat frame plane 7, armrests 6 and the location telescopic supporting rod 8 that use movable bolt to install on main frame 5 in addition.

Seat frame plane 7 is enclosed planar angle iron frames that a welding production becomes.Connect reinforcing with the little angle bar of trimming in the middle of the inside and strengthen, can lay thick load-bearing wire net in the installation above.The person can freely not skid off seat forward because of self gravitation in order to make the seat, should make seat frame plane 7 and chair's back plate---be that angle between the vertical plane surface at main frame 5 places is not more than 90 °, and determine assurance by the link joint of locating points above the telescopic supporting rod 8 of location.The person is comfortable in order to make the seat, also should be manufactured with ccasual chair back plate and cushion, comes to use for the seat person, and is not sitting man-hour, takes away during immediate shipment shipping goods and deposits.

Armrests 6 is made with stainless steel tube.Because of itself and seat frame plane 7, main frame 5, be with movable bolt or use active pin shaft, pin to be coupled to the parallelogram lever of 2 settings, so can folding gathering easily, it gets up.Armrests 6 fwd metal coating railings; use steel pipe manufacturing, can be made into that upwards hold up, rectangular, a detouchable activity closed frame, and use simple bolt; on armrests 6 front end both sides and 7 front end both sides, seat frame plane, install and fix

Support frame plane 9 can be made into angle steel closed frame plane.Use movable bolt simultaneously, seat frame plane 7 next and above it is assembled into a firm mechanical connection integral body, just constituted the parallelogram lever that erect on both sides simultaneously, when not loading work box 2, just can fold easily and draw in seat frame plane 7.Support frame plane 9 framework space inside also will connect reinforcing with the little angle bar of trimming.The installation of work box 2 on support frame plane 9 can be to use slideway to push and pull out, and locate locked in the latch mode; Also can be at any time to its release and draw out.

Location telescopic supporting rod 8 shows as Fig. 1, can use the thick steel pipe the inside mode that can freely pull and push movable fine steel tube therein of cover to make; Two groups of two steel pipes that promptly use thickness to differ, a client link of one group of steel pipe are on the front end edge on seat frame plane 7, and a client link of another group steel pipe just can insert the thick steel pipe the inside to fine steel tube then and promptly constitute on the limit, lower end of main frame 5.The locating point of its spacing support can be determined according to the angle of locating flexible position of telescopic supporting rod 8 needs and needs support.Promptly be to bore a perforation, come this locating point is carried out the locked assurance of mechanical positioning so that latch is installed at any time at selected on a steel pipe locating point place.

Seat person's tread plate---the bearing support plate 26 when promptly freighting can be made of adding veneer in the little angle iron frame.Can be made into two boards of splitting, for single fulcrum is fixedly connected, promptly be to be the center of circle with single fulcrum, plank is rotated above the income position, end, support frame plane 9 forward (outward) easily, can rotate forward (outward) again easily and open and stretch out, become an open frame plate that three limits are arranged; Move connection with little angle bar deactivation again, and constitute a limit of this open frame plate opening of sealing.

The profile of robot lower part driven by power traveling control system work box 2 is shown cuboid as Fig. 1.

Dynamic power system can be to use common charging accumulator system, and power line voltage uses direct current 24V, should supportingly use special-purpose safe charging machine system; Can install and use the combined aural and visual alarm system.

What use is the miniature small machine of DC permanent magnet.

Use the worm-gear speed reducer of band auto-lock function, do not rotate and guarantee that machine-walking gear 10 can be because of robot self-gravity action or goods action of gravity rotation automatically with stable after the mechanical stall that guarantees to slow down.

Speed setting through the machine-walking gear 10 after slowing down is 10 rev/mins～30 rev/mins.

The dimensional data of machine-walking gear 10 is designed to, and the circular diameter that is made of tooth root portion is about 300mm, the about 15mm～17mm of tooth root spacing, and tooth depth is about 16mm～18mm.

The gear plane of machine-walking gear 10 is close to the banister reinforcing bar in the installation site of driven by power traveling control system work box 2 the insides, so that the gear teeth of walking gear 10 and railing reinforcing bar intersect engagement.And the angle of gear Plane Installation is by the several 30 ° of installations of tilting of the general angle of general balustrade inclined-plane and horizontal surface, allows the work gear teeth of gear and railing reinforcing bar tilt to intersect engagement.This moment, the work gear teeth and the distance of railing reinforcing bar contact wear of gear will be lacked, and only were at the horizontal handrail of banister turning, had only the blade wheel toe joint of 1 or 2 railing reinforcing bars and gear to touch worn-down apart from being longer.

Robot drives the mutual alignment that 2 the machine-walking gears 10 in the running gear are installed, when becoming 30 ° of angle tilts to intersect with the railing reinforcing bar on the gear plane, guarantee the distance between the axial line that they are parallel to each other, should be installed as 0.5 times of 30 ° of spacing mean numbers of reinforcing bar railing bevelled in the banister railing.

By 1 small machine, 1 worm-gear speed reducer and 1 machine-walking gear 10, just can constitute 1 machine-walking speed-changing gear box mini system.And, just formed the driving running gear of robot jointly by 2 this machine-walking speed-changing gear box mini systems.The gear teeth that continuous working in advancing on these 2 machine-walking gears 10, all be to pass in and out continuously and be arranged on the line of each root reinforcing bar position in the banister railing, promptly swing forward and advance and exceed this line about presenting by a small margin.

Power electronic controller, just be to use a cover electronic control circuit and a power electronic devices thereof, supply with the power line voltage and the electric current of motor by changing control, handle the speed of mechanical walking gear 10 rotating speeds of control and the direction of rotation, to reach control robot speed that rises or descend and the direction of advancing.Relay, mechanical control device, all be the composition of power electronic controller or actuating unit or with the automatic controls of other mechanical connection.

Mobile limit spring, be to be used for the subtle change spacing of automatically regulating speed-change gear box installation site, be the mutual spacing of 2 machine-walking gears 10 of automatically regulating gear teeth in the work of advancing, to deacclimatize the not exclusively impartial complicated variable condition of reinforcing bar railing spacing automatically.

Sensor is that the mechanical implementation status information of feedback is given controller system automatically, to reach the purpose of accuracy control robot ambulation situation.

The cabinet switch of robot can use to drag cable (or added metallic hose) switch enclosure, is controlled in the walking of robot next door in hand held by owner, controls in also can be by seat person oneself hand held.

So far, the three big system works casees of forming of robot constitute respectively, so long as it is installed in above the general general-duty banister railing, can starts shooting easily and use.

One of optimum implementation of the present patent application is exactly this embodiment shown in Figure 1.

Claims (7)

1, a kind of domestic stair porter robot, be that special supporting installation, use are traveling on a kind of general-duty banister railing (1) that is made of reinforcing bar, cement and wooden handrail, comprise general-duty limit switch, inductive switch, spacing steel plate, spacing reinforcing bar or the like; It is characterized in that: also comprise the driven by power traveling control system work box (2) of robot lower part, and the cabinet switch of the machine-walking gear (10) installed and used of the inside, the electrical motor that comes of not drawing in the accompanying drawings, worm-gear speed reducer, gear reduction unit, charging accumulator, power electronic controller, relay, travel switch, cable cable, powered wire, connector, mechanical control device, mobile limit spring, sensor, robot etc.; Also comprise the driven walking steering swivel system work box (3) that robot upper part is divided, the fastening flat shim bullet pad (18) that the row who installs on the front and back chest face of the system works case (3) that comes of not drawing in the accompanying drawings hinders the driven road wheel of dedusting brush and the inside thereof installing and using (11), the nut (17) that is installed in the wheel bearing (13) on the driven road wheel (11), the wheel shaft (12) that is installed in driven road wheel (11) the inside, fastening wheel shaft (12), is used with nut (17); And install and be fastened on guiding A-frame steel plate (14) on wheel shaft (12) one ends, turn to guiding wheels (16), wear axis hole (24), the centre hollows out hole (23); And install and be fastened on drawing on wheel shaft (12) other end and hang A-frame steel plate (15), wear drawing of axis hole (25), support (15) lower part and hang the steel plate hook (21) that A-frame steel plate broadside (27), the following upwards turnup in broadside (27) angle, two ends get up; Supporting frame system works case (4) is supported in the connection that also comprises the robot centre portion, and constitutes main frame (5), armrests (6), seat frame plane (7), the support frame plane (9) that driven by power traveling control system work box (2) is installed, the location telescopic supporting rod (8) of its structure, seat person's tread plate---bearing support plate (26) when promptly freighting, the armrests fwd metal guardrail that comes of not drawing in the accompanying drawings etc.; And be fixed on reinforcing bar axle hook (19) above the main frame (5), the positioning of rotating limit that is fixed on reinforcing bar axle hook (19) top is to iron block (20) and is fixed on the following side travel positioning limit iron block (22) of reinforcing bar axle hook (19).

2, a kind of domestic stair porter robot as claimed in claim 1 is characterized in that: the driven by power traveling control system work box (2) of described robot lower part is mounted in that support frame plane (9) works above; It is exactly the battery power in this system, remove drive motor, drive machine-walking gear (10) rotation through reductor, and be strictly according to the instruction of power electronic controller, go to or down rotation stir bar reinforcement one by one in the banister, thereby make robot self along (the driven walking steering swivel system that is divided by robot upper part guarantees to realize) balustrade, a joint one saves land and progressively rises or a joint one saves land and progressively descends; Promptly be the stair activity that advances so easily, as safe as a house transport personnel stably or transport weight arrive each destination floor up and down;

The profile of work box (2) both can be made into a cuboid work box as what Fig. 1 showed, also can be by subsystem number wherein, and make the work box that becomes several little different shapes respectively and constitute jointly;

Dynamic power system can be to use common or special-purpose charging accumulator system, and power line voltage must satisfy the basic demand of using the personal safety low voltage, as direct current 12V, 18V, 24V, 36V, or other convenient voltage value that is suitable for; The charging accumulator system should supportingly use special-purpose or easy safe charging machine system; Combined aural and visual alarm or caution system can be installed and used, also warning can be do not installed and not used;

The electrical motor that uses can be the miniature small machine of DC permanent magnet, also can be the electrical motor of other type;

Can use the worm-gear speed reducer of band auto-lock function, also can use the reductor of other type, need install additional in addition simultaneously an automatic locking mechanism this moment, do not rotate and guarantee that machine-walking gear (10) can be because of robot self-gravity action or goods action of gravity rotation automatically with stable after the mechanical stall that guarantees to slow down;

Rotating speed through the machine-walking gear (10) after slowing down is set according to actual user demand, both can be set at 10 rev/mins～30 rev/mins, also can be set at the revolution of other needs use according to other condition of service;

The dimensional data of machine-walking gear (10) can be designed as, the circular diameter that is made of tooth root portion is about 300mm, about 15mm～the 17mm of tooth root spacing, tooth depth is about 16mm～18mm, also can set the data of the dimensional data of machine-walking gear (10) by its actual user demand according to the bar spacing in the supporting use banister railing, the difference of reinforcing bar thickness for other numerical value;

The gear plane of machine-walking gear (10) is close to the banister reinforcing bar in the installation site of driven by power traveling control system work box (2) the inside, so that the gear teeth of walking gear (10) and railing reinforcing bar intersect engagement; And the angle of gear Plane Installation, can be to become 0 ° horizontal positioned to install with horizontal plane angle, be that gear plane and railing reinforcing bar are when intersecting vertically, because robot is to rise or descending simultaneously simultaneously in the process of advancing, so the distance of the work gear teeth of gear and the contact wear of railing reinforcing bar is longer, only be at the horizontal handrail of banister turning, having only the blade wheel toe joint of 1 or 2 railing reinforcing bars and gear to touch the worn-down distance is to lack; Also can be the angle number of degrees according to balustrade inclined-plane and horizontal surface, tilt to install the angle of gear plane and horizontal surface, or by the several 30 ° of installations of tilting of the general angle of general balustrade inclined-plane and horizontal surface, allow the work gear teeth and the railing reinforcing bar of gear tilt to intersect engagement, the work gear teeth of gear and the distance of railing reinforcing bar contact wear will be lacked at this moment, only be at the horizontal handrail of banister turning, it is longer having only the blade wheel toe joint of 1 or 2 railing reinforcing bars and gear to touch the worn-down distance;

Robot drives the mutual alignment that 2 the machine-walking gears (10) in the running gear are installed, to guarantee the distance between the axial line that they are parallel to each other exactly, when the gear plane of machine-walking gear (10) and railing reinforcing bar intersect vertically, should be installed as 0.5 times or 1.5 times or 2.5 times of level interval mean number of reinforcing bar railing in the banister railing, or the like by that analogy; And when gear plane and the angled inclination of railing reinforcing bar are intersected, distance between the axial line that these 2 machine-walking gears (10) are parallel to each other, just should be installed as 0.5 times or 1.5 times or 2.5 times of inclination (press gear plane and railing reinforcing bar intersect angle tilt) spacing mean number of reinforcing bar railing in the banister railing, or the like by that analogy;

1 above-mentioned motor, 1 reductor and 1 machine-walking gear (10) just can constitute 1 machine-walking speed-changing gear box mini system, by 2 this machine-walking speed-changing gear box mini systems, have just formed the driving running gear of robot jointly; The gear teeth that continuous working in advancing on these 2 machine-walking gears (10), all be to pass in and out continuously and be arranged on the line of each root reinforcing bar position in the banister railing, promptly swing and advance forward and exceed this line about presenting by a small margin;

Can certainly use 1 or 3 or 4 or more such walking gear change speed gear box mini system, form the driving running gear of other kind pattern robot;

Or use a big retarding machine, transmission by mechanical gear and axle, the machine-walking gear (10) that drives a plurality of minor diameters simultaneously is align side by side, the work gear teeth of these gears are arranged continuously, pass in and out on the line of each root reinforcing bar position in the banister railing, they also exceed this line by a small margin about meeting and swing is marched forward, and promptly constitute the driving running gear of another kind of robot;

Power electronic controller, just be to use a cover electronic control circuit and a power electronic devices thereof, supply with the power line voltage and the electric current of motor by changing control, handle the speed of control mechanical walking gear (10) rotating speed and the direction of rotation, to reach control robot speed that rises or descend and the direction of advancing;

Relay, travel switch, cable cable, powered wire, connector, mechanical control device, all be the composition of power electronic controller or actuating unit or with the automatic controls of other electrical equipment, mechanical connection;

Mobile limit spring, be to be used for the subtle change spacing of automatically regulating speed-change gear box installation site, be the mutual spacing of 2 machine-walking gears of automatically regulating (10) gear teeth in the work of advancing, to deacclimatize the not exclusively impartial complicated variable condition of reinforcing bar railing spacing automatically;

Sensor is that the mechanical implementation status information of feedback is given controller system automatically, to reach the purpose of accuracy control robot ambulation situation;

The cabinet switch of robot can be that direct mount uses at robot on one's body, as is installed in the switch enclosure on armrests (6) limit, is advanced by seat person oneself operation control robot; Also can be to use to drag cable (or added metallic hose) switch enclosure, control in the walking of robot next door in hand held, control in also can be hand held by seat person oneself by owner; More can be to use all kinds of acoustic control remote controls, ultrasonic remote control, ray teleswitch etc., come the travel condition of remote servicing control robot; Obviously, these teleswitches can be to use the band coded program, also can be to use non-coded program; Both can be single control switch, can be more-control switch also, is not restricted to one pattern;

Robot also can be upgraded and be become intelligent robot, in system, increase micro controller system, micro computer, speech chip, voice recognition chip, video chip, camera, sensor devices, Mike, loudspeaker, various function sensor, cable wire harness etc. exactly, just can realize that intelligent robot exchanges with owner's session, inter-work, and go to work hard by owner's wish.

3, a kind of domestic stair porter robot as claimed in claim 1 is characterized in that: the driven walking steering swivel system work box (3) that described robot upper part is divided is that to lay and be operated in the wooden handrail of railing lip-deep; It is bearing the mission critical that guided robot is advanced and turned to along the balustrade surface;

Profile such as Fig. 1 of work box (3) show, also can be made into the work box cover of other shape, protect the machine system of the inside;

On the chest panel of the front and back of driven walking steering swivel system work box (3), on accommodation rail, inside and outside three Surface Edge, the row's of being equipped with barrier dedusting brush (not drawing in the accompanying drawings), so that system can automatically clean the accommodation rail surface in advancing, guarantee the normal operation circumstances of driven walking steering swivel system;

Inner structure in the driven walking steering swivel system as shown in Figure 2, driven road wheel (11) is by the walking straight cylinder shape disc in the middle of it, and two circular conical surfaces at two ends, constitutes the wheel shape and the outside face of this specific driven road wheel (11) jointly; Because driven road wheel (11) is that walking is on the balustrade upper surface, so the length of the walking straight cylinder shape disc in the middle of the driven road wheel (11) should be not less than the width of balustrade upper surface; And the center circle of the walking straight cylinder shape disc in the middle of it, with maximum cylindrical on the circular conical surface edge in parallel, during simultaneously with a Plane intersects by their two centers of circle, line distance in that two faces of these two circle center line connecting one sides are justified intersection points should be not less than 2 of balustrade upper surface width ^1/2Doubly; The diameter of maximum cylindrical on the circular conical surface edge at driven road wheel (11) two ends, should be slightly less than the length of side, horizontal handrail the inside, banister railing corner, that is to say the perpendicular separation that is slightly less than between this stair activity railing inclined-plane, place handrail, but should be external diameter simultaneously greater than the circle of the walking straight cylinder shape in the middle of the driven road wheel (11), in order to avoid driven road wheel (11) is in advancing fast, may be from the balustrade inclined-plane, or landing is gone out on the handrail horizontal surface, advances and influenced following of driven walking steering swivel system, the normal performance of functions such as active turning;

The wheel shaft (12) of driven road wheel (11) the inside, be by being contained in two bearings (13) in the wheel, become a machinery integral in relative rotation and connect with driven road wheel (11), and with wheel shaft (12) two ends on fastening nut (17), the flat shim bullet pad (18) that uses of matching with nut (17) etc., constituted a driven road wheel machinery integral jointly; Add install respectively on upper whorl axial (12) two ends fastening guiding A-frame steel plate (14) and install and use above turn to the guiding wheels (16), hang A-frame steel plate vitals such as (15) with drawing, an intact driven walking that just has been configured to robot jointly turns to machine system.

4, a kind of domestic stair porter robot as claimed in claim 1, it is characterized in that: supporting frame system works case (4) is supported in the connection of described robot centre portion, it is the driven walking steering swivel system work box (3) that up connects top in the centre, the driven by power traveling control system work box (2) that down connects the lower part, thereby be configured to an intact robot, and bearing the basic function that robot allows the people take and conveys goods;

It is the tread plate by its structure part main frame (5), armrests (6), seat frame plane (7), the support frame plane (9) that driven by power traveling control system work box (2) is installed, location telescopic supporting rod (8), seat person---bearing support plate (26) when promptly freighting and the formations such as armrests fwd metal guardrail of not drawing in the accompanying drawings and;

Main frame (5), be exactly steel pipe, or three frames of angle steel " U " word shape shown in being bent in Fig. 4, opening upwards, in the perforation on the mouth of pipe (or angle steel) both sides, bottom, two upper ends, installation is installed with length (or short) reinforcing bar (19), and be welded into a firm machinery integral from the pipe inside and outside with reinforcing bar (19) and pipe (5)---reinforcing bar axle hook (19), work above hanging the steel plate hook (21) that the following upwards turnup in (27) two ends of A-frame steel plate broadside angle gets up so that install to be affiliated to drawing; And for example Fig. 1 shows, the seat frame plane (7), armrests (6) and the location telescopic supporting rod (8) that use movable bolt or use mechanical connecting modes such as active pin shaft, pin to install also are installed on main frame (5);

Seat frame plane (7), be the enclosed planar angle iron frame that a welding production becomes, or be made into the enclosed planar steel framework, connect reinforcing with little band iron or the little angle bar of trimming etc. in the middle of the inside and strengthen, can lay thick load-bearing wire net in the installation above, or install load-bearing thicker wire etc. additional; The person can freely not skid off seat forward because of self gravitation in order to make the seat, should make seat frame plane (7) and chair's back plate---be that angle between the vertical plane surface at main frame (5) place is not more than 90 °, and determine assurance by the link joint of locating point above the location telescopic supporting rod (8); The person is comfortable in order to make the seat, also should be manufactured with ccasual chair back plate and cushion, comes to use for the seat person, and is not sitting man-hour, takes away during immediate shipment shipping goods and deposits;

Armrests (6) can stainless steel tube, or common steel tube, or other section bar is made; Because of itself and seat frame plane (7), main frame (5), be with movable bolt or use active pin shaft, pin to be coupled to the parallelogram lever of 2 settings,, it gets up occupation space when not using so can fold gathering easily with minimizing; Armrests (6) fwd metal coating railing, also can use steel pipe manufacturing, both can be made into a straight steel pipe pole guardrail, also can be made into an arc-shaped steel tube pole guardrail that upwards arches upward, more can be made into that upwards hold up, rectangular, a detouchable activity closed frame, and use mechanical attachment modes such as simple general hook, bolt, on armrests (6) front end both sides or front end both sides, seat frame plane (7), install and fix, or disassemble; Rectangular frame protection railing when seat need not draw in, just can reverse that firmly promptly locking whole seat becomes rounding state in order to frame, so that lie over or hang up;

The support frame plane (9) of driven by power traveling control system work box (2) is installed, can be made into angle steel closed frame plane, or be made into steel pipe closed frame plane, use movable bolt simultaneously or use mechanical connecting modes such as active pin shaft, pin, seat frame plane (7) next and above it is assembled into a firm mechanical connection integral body; Support frame plane (9) have also constituted the parallelogram lever that erect on both sides with seat frame plane (7) simultaneously, so on taken away it after the cargo-carring driven by power traveling control system work box (2), also can fold easily and draw in, occupation space when not using to reduce; Support frame plane (9) framework space inside also will wait with little band iron or the little angle bar of trimming or thicker wire to connect reinforcing; The installation of driven by power traveling control system work box (2) on support frame plane (9), both can be to use slide plate or use slideway to push and pull out, and locate lockedly with mechanical systems such as bolt or screw or latches, also can be at any time to its release and draw out; Support frame plane (9), also can be with little angle bar of trimming or little band iron, be welded into a firm mechanical connection integral body with the seat frame plane (7) above it, driven by power traveling control system work box (2) is to be fixedly installed to above it, and with mechanical systems such as bolt or screw or latch locate locked after, do not taken out seldom more basically when just not keeping in repair;

Location telescopic supporting rod (8), show as Fig. 1, can use the thick steel pipe the inside mode that can freely pull and push movable fine steel tube therein of cover to make, two groups of two steel pipes that promptly use thickness to differ, one client link of one group of steel pipe is on the front end edge of seat frame plane (7), one client link of another group steel pipe just can insert the thick steel pipe the inside to fine steel tube then and promptly constitute on the limit, lower end of main frame (5); The locating point of its spacing support, can need flexible position and the angle that needs to support according to location telescopic supporting rod (8), be designed to a plurality of link joint locating points, promptly be to bore a perforation at each selected on steel pipe locating point place, so that latch or bolt or screw etc. are installed at any time, this locating point is carried out the locked assurance of mechanical positioning; Also can use other mechanical system to realize, as when the flexible weakness locating point to its length of location telescopic supporting rod (8), be exactly can be on fine steel tube this locating point place welding one circle thicker wire, realize that its failure-free location guarantees;

Seat person's tread plate---the bearing support plate (26) when promptly freighting can be with adding veneer in the little angle iron frame or making of the fritter plank; Both can be made into two boards of splitting, or two boards before and after being made into, also can be made into two boards that piles up up and down, being single fulcrum and being fixedly connected, promptly is to be the center of circle with single fulcrum, and plank is rotated above the income position, end, support frame plane (9) forward (outward) easily, can rotate forward (outward) again easily opens and stretches out, become an open frame plate that three limits are arranged,, and constitute a limit of this open frame plate opening of sealing again with little moving connection of angle bar deactivation; This step, bearing support plate (26) also can be made into a plank that stretches and push into inwards forward, promptly are to pull and push a flexible whole plank of placing; Also can tie the preceding transverse plane on support frame plane (9) and this piece plank above it with the hinge hinge, be made into plank and upwards open and pave and can use, with after upwards folding again closing up---promptly be to have lain on the preceding transverse plane on support frame plane (9).

5, a kind of domestic stair porter robot as claimed in claim 3, it is characterized in that: described robot upper part is divided to have on the guiding A-frame steel plate (14) (seeing Fig. 3 again) of driven walking steering swivel system (3) lining and is worn axis hole (24), guiding A-frame steel plate (14) panel is following install turn to guiding wheels (16), form by 2 guiding small wheels, the wheel side of 2 guiding small wheels is perpendicular to A-frame steel plate plane, and the walking contact surface of 2 guiding small wheels is towards direction one side of driven road wheel (11); 2 tandem line directions of guiding small wheels, the direction of advancing with driven road wheel (11) is consistent, and the axial line of track adjusting wheel axle center line and driven road wheel (11) spatially is orthogonal; The wire length of outer end points before and after 2 guiding small wheels is not less than the maximum outside diameter on the cone bevel edge of driven road wheel (11); The guiding wheels are gone up the position of installing at guiding A-frame steel plate (14), be will be when driven walking steering swivel system is worked, the position, middle of the handrail height when making the guiding wheels just in time be in the balustrade level, more slightly height is also harmless, in any case but go outside the handrail height can not exceed the balustrade level time;

Turn to guiding wheels (16), also can be according to various user demand, change is mounted to 1 guiding wheel that diameter is bigger, its diameter is suitable with the wire length of outer end points before and after 2 guiding small wheels, also is the maximum outside diameter that is not less than on the cone bevel edge of driven road wheel (11);

Also can change and be mounted to 3 or 4 more a little bit smaller guiding wheels of diameter and constitute, the wire length of outer end points before and after its guiding small wheels, also suitable with the wire length of outer end points before and after 2 guiding small wheels, also be the maximum outside diameter that is not less than on the cone bevel edge of driven road wheel (11);

In order to alleviate robot weight, guiding A-frame steel plate (14) is made the central space shape of excavating (23) to show, also can excavate and be made into other hollow shape;

6, a kind of domestic stair porter robot as claimed in claim 3, it is characterized in that: described robot upper part is divided drawing of driven walking steering swivel system (3) lining to hang to have above the A-frame steel plate (15) (seeing Fig. 4 again) and is worn axis hole (25), draw the position that hangs A-frame steel plate broadside (27), the close bottom of the handrail height in the time of should just in time being in the balustrade level, more slightly exceed also harmlessly, but must not all exceed outside the accommodation rail height when the banister level;

Drawing two end angle bottoms of hanging A-frame steel plate broadside (27), be manufactured with the steel plate hook (21) that two turnups that make progress get up, in the middle of the hook of steel plate hook (21), be to be used for the special reinforcing bar axle hook (19) that the length (or short) of welding on the steel pipe (or angle steel) of placing both sides, rotatable main frame (5) upper end is installed;

Linking up with on the limit of (19) near the reinforcing bar axle of two steel plate hook (21) inner side edges, upwards side weld is connected to two positioning of rotating limits to iron block (20), in order to restriction main frame (5) and reinforcing bar axle hook (19) thereof can only be to rotate to the reinforcing bar railing direction of banister, promptly be downwards, backward, inwards the rotation, and can not be conversely to reinforcing bar railing direction rotation away from banister, promptly be can not make progress, forward, to inner rotary;

Linking up with on the limit of (19) near the reinforcing bar axle of two steel plates hook (21) inner side edge, be again that downward side weld is connected to two side travel positioning limit iron blocks (22) simultaneously, excessive a little side travel can not be arranged to the left or to the right in order to restriction main frame (5) and reinforcing bar axle hook (19) thereof;

Draw and hang on the A-frame steel plate (15), also make the hollow hole (23) that excavation has loss of weight, also can excavate and be made into other hollow shape;

The guiding A-frame steel plate (14) and draw the extension A-frame steel plate (15), cut apart and be made into two blocks of A-frame steel plates, but can be not separated yet, promptly be to use a monoblock steel plate to make and be bent into " n " word shape, entangle from top to bottom again and be installed on the two ends of wheel shaft (12).

7, as the described a kind of domestic stair porter robot of claim 1 to 6, it is characterized in that: described robot is last, that goes downstairs advances, just at the driven by power traveling control system (2) of robot lower part during in work, it promptly is the battery power in the robot system, go drive motor to drive reductor, drive machine-walking gear (10) rotation again, and be strictly according to the instruction of controller, go to or down rotation stir bar reinforcement one by one in the banister, thereby make robot self along balustrade, a joint one saves land and progressively rises, or one joint one save land progressively and to descend; Driven walking steering swivel system (3), this moment is just by the driven by power traveling control system (2) of its underpart, by the hook of the reinforcing bar axle above the main frame (5) (19), connect with drawing steel plate hook (21) movable securely dumpling of hanging below the A-frame steel plate (15), dragged and marched forward; Promptly be upwards to advance or advancing downwards along the balustrade inclined-plane; Until the horizontal handrail section place of balustrade---be the right angle turn of horizontal handrail, just driven walking steering swivel system (3) is upwards advanced along the handrail inclined-plane or is advanced to horizontal surface place near balustrade downwards; When driven road wheel (11) continued to advance forward again, driven road wheel (11) was in balustrade maximum cylindrical right angle the inside one side, on the circular conical surface edge that turns round, and is just stopped and can not march forward again by the horizontal handrail of banister; This moment is the maximum cylindrical on proal this circular conical surface edge just, has just produced the movement tendency that makes progress of a horizontal handrail of leap railing; Be in below it just at the progressive guiding wheels (16) that turn to, because of being subjected to stopping of the horizontal handrail of banister simultaneously, also just having produced one simultaneously and turned to a movement tendency that advances along the horizontal handrail inner surface of railing; And driven road wheel (11) is in turn round maximum cylindrical on the circular conical surface edge of right angle outside one side of balustrade, but because of can not produce a movement tendency that makes progress without any object blocks, respond the movement tendency that the maximum cylindrical on driven road wheel (11) other end circular conical surface edge makes progress, so can't form the possibility that driven road wheel (11) is crossed over the horizontal handrail of railing; Simultaneously the machine-walking gear (10) of robot lower part remains continuing to stir the reinforcing bar railing and marches forward, this just causes and is in turn round maximum cylindrical on the circular conical surface edge of right angle outside one side of balustrade, having produced to turn to the guiding wheels (16) and the contact point (line) of horizontal handrail inner surface is circle (axle) heart, is the horizontal circle of the radius trend that rotatablely moves with this circle (axle) heart to the turn round distance of the maximum periphery on the circular conical surface edge of right angle outside one side of accommodation rail, just in time be to turn to the movement tendency that advances to respond along the horizontal handrail inner surface of railing with turning to guiding wheels (16), just make turn to guiding wheels (16) this turn to the movement tendency that advances along the horizontal handrail inner surface of railing, become turning to rotate and advancing of guiding wheel; At this moment be in turn round right angle the inside one side of accommodation rail, and be in maximum cylindrical on the circular conical surface edge above the guiding wheels (16), be that the inclined-plane acute angle intersects then because of the corner on its circular cone skewed surface and the handrail horizontal surface, and the slip that produces a slight distance is advanced---promptly turn to the slight distance of having advanced along the corner on the handrail horizontal surface, then more facilitated and be in the balustrade horizontal circle of the maximum cylindrical on the circular conical surface edge of the right angle outside one side trend that rotatablely moves of turning round at this moment, at once rotatablely move with regard to the circle that has become an aerial level, and just turned to 90 ° at a right angle immediately; So far, the rotation of guiding wheel is advanced, just guiding whole driven road wheel (11) safety, steadily, turn to smoothly, and all advanced on the horizontal handrail surface of banister, promptly finished the right angle turn of once crossing over balustrade safely, steadily, smoothly, and can successfully continue to march forward; This crosses over the program step of accommodation rail right-angle steering to continue to repeat once above-mentioned driven walking steering swivel system again, just can finish the stair of right angle handrail again safely, steadily, smoothly and turn and march forward; Draw the position that hangs A-frame steel plate broadside (27), the handrail height when just in time being in the balustrade level near following, promptly be to be in balustrade to turn round in the vertical line bottom of outside, right angle one side right angle point; At the driven walking steering swivel system of robot when balustrade is made right-angled bend, this draws hangs A-frame steel plate broadside (27), be mounted to be fastened on driven road wheel (11) on the steel wheel axle (12) in the outside, turning right angle because be, so just can only to be level along with driven road wheel (11) turn to advances for it, turn to and advance and do aerial horizontally rotating; Be that broadside (27) is the vertical line bottom that is linked to be against one side right angle, balustrade right-angle turning outside point point at most only, do one and aerial horizontally rotated and turned to 90 ° at right angle, and be centre portion and the lower part that its bottom is drawn the robot of hanging, also all simultaneously connection band haul and done one together and aerial horizontally rotate and turned to 90 ° at a right angle, and safety successfully continues to march forward.

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