CN106859876A - A kind of auxiliary balance governor motion of robot stair activity - Google Patents
A kind of auxiliary balance governor motion of robot stair activity Download PDFInfo
- Publication number
- CN106859876A CN106859876A CN201710141087.8A CN201710141087A CN106859876A CN 106859876 A CN106859876 A CN 106859876A CN 201710141087 A CN201710141087 A CN 201710141087A CN 106859876 A CN106859876 A CN 106859876A
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- CN
- China
- Prior art keywords
- axle
- leading screw
- connects
- roller
- upper frame
- 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.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of auxiliary balance governor motion of robot stair activity, including leading screw framework, and the leading screw framework is fixed with robot；Leading screw is set on leading screw framework, and leading screw coordinates with sliding block；Sliding block connects with upper frame axle；The other end of upper frame connects with one end axle of underframe；The other end of underframe connects with the lower end axle of leading screw framework；One end of electric pushrod connects with upper frame middle part axle, and other end connects with the middle part axle of support frame under triangle crawler belt；One end of foot piece connects with upper frame axle, and other end connects with tail-gear spindle；Crawler belt bypasses the 3rd roller of the second tin roller and foot piece lower end under triangle crawler belt in the middle part of the first roller of support frame end, foot piece.Advantages of the present invention：Can smoothly center-of-gravity regulating, prevent from toppling over because of crank；Compared to like product, support effect of the present invention is more steady, and mobility is more preferable.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of balance regulator.
Background technology
With the progress of science, engineering goods are that the development for adding service trade constantly incorporates new theory, the life of disabled person
Problem living even more more causes the concern of society, with barrier-surpassing robot, the progressively research and development of stair climbing wheelchair, how more preferably,
The life that this kind of sci-tech product incorporates disabled person is economically turned into scientific research focus, at this stage to the research of above-mentioned machine
Possess blank, but still suffered from many defects or area for improvement, existing robot balance adjustment mechanism precision is not
Enough, support force is not enough, it is difficult to tackle market needs.
The content of the invention：
For the problem that prior art is present, the present invention proposes a kind of balance adjustment suitable for robot and improves machine
Structure, can adjust the center of gravity of robot, prevent equipment from toppling over.
To realize object above, the present invention takes following scheme：
A kind of auxiliary balance governor motion of robot stair activity, including leading screw framework, the leading screw framework and machine
People fixes；Leading screw is set on the leading screw framework, and the leading screw is driven by the motor for being fixed on leading screw end；The leading screw and cunning
Block coordinates；Sliding block connects with upper frame axle；The other end of upper frame connects with one end axle of underframe；The other end of underframe with
The lower end axle of leading screw framework connects；One end of electric pushrod connects with upper frame middle part axle, carriage under other end and triangle crawler belt
The middle part axle of frame connects；One end of foot piece connects with upper frame axle, and other end connects with tail-gear spindle；Support frame one end under triangle crawler belt
Connect with upper frame axle, other end sets the first roller；The middle part of the foot piece sets the second sliding block, is set on second sliding block
Put second tin roller；Spring is set between the 3rd roller of the second tin roller and foot piece lower end.Crawler belt is supported under bypassing triangle crawler belt
3rd roller of second tin roller and foot piece lower end in the middle part of the first roller of frame ends, foot piece.
The electric pushrod includes fixed plate, and electric rotating machine, output shaft and the rotation of electric rotating machine are set in the fixed plate
Pivoted housing is fixed, and rotary sleeve inside sets screw, and screw rod is screwed in the screw；One end of fixed plate and one end of screw rod set axle
Connect ring.
Advantages of the present invention and effect：
The introducing of the triangle crawler belt, compared to existing similar inventions, step contact area of the invention is bigger, support
Effect is more steady；Electric pushrod is connected with above-mentioned underframe, more preferably, center of gravity is easier adjustment to mobility；Installed in robot or its
The rear portion of his equipment, can smoothly center-of-gravity regulating, prevent from toppling over because of crank；Compared to like product, present invention branch
Support effect is more steady, and mobility is more preferable.
Brief description of the drawings：
Fig. 1 is a structural representation after the embodiment of the present invention is combined with wheelchair；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the rearview of Fig. 1；
Fig. 4 is the structural representation of electric pushrod.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings, as illustrated, the present invention includes leading screw framework 20, the leading screw framework
20 fix (the present embodiment be with electric wheelchair as an example) with robot；Leading screw 1, the silk are set on the leading screw framework 20
Thick stick 1 is driven by the motor 9 for being fixed on leading screw end；The leading screw 1 coordinates with sliding block 2；Sliding block 2 connects with the axle of upper frame 3；Upper frame
3 other end connects with one end axle of underframe 8；The other end of underframe 8 connects with the lower end axle of leading screw framework 20；It is electronic to push away
One end of bar 4 connects with the middle part axle of upper frame 3, and other end connects with the middle part axle of support frame 11 under triangle crawler belt；The foot piece 6
One end connect with the axle of upper frame 3, other end connects with the axle of tail wheel 7；The one end of support frame 11 and the axle of upper frame 3 under triangle crawler belt
Connect, other end sets the first roller 22；Crawler belt 5 bypasses the first roller 22, the foot piece 6 of the end of support frame 11 under triangle crawler belt
The second tin roller 23 at middle part and the 3rd roller 24 of the lower end of foot piece 6.
The middle part of the foot piece 6 sets the second sliding block 21, and second tin roller 23, described second are set on second sliding block 21
Spring 10 is set between the 3rd roller 24 of sliding block 21 and foot piece lower end, and the effect of the spring is the tensile force for ensureing crawler belt.
The electric pushrod 4 include fixed plate 41, in the fixed plate 41 set electric rotating machine 42, electric rotating machine 42 it is defeated
Shaft is fixed with rotary sleeve 43, and the inside of rotary sleeve 43 sets screw, and screw rod 44 is screwed in the screw；One end of fixed plate 41 and
One end of screw rod sets axle and connects ring.
Principle of the invention is：Leading screw support of the invention is first fixed on robot (this example is wheelchair) rear portion,
During the going downstairs of robot, there is situation about leaning forward in fuselage, and can be rotated forward by spindle motor 9, makes sliding block 2 upward
Mobile, mobile distance reaches the effect of self adaptation depending on shoulder height, and electric pushrod 4 is retracted to most short, makes underframe
Angle is sufficiently large between 8 and foot piece 6, and the lower end of support frame 11 is located at next step, and tail wheel 7 is located at a upper platform adjacent thereto
Rank, plays a supporting role, and robot is more smoothly gone downstairs；During machine person to go upstairs, there are the feelings of hypsokinesis in fuselage
Condition, can be rotated backward by spindle motor 9, move down sliding block 2, and mobile distance reaches certainly depending on shoulder height
The effect of adaptation, and electric pushrod be stretched to it is most long, now the lower end of support frame 11 be located at last step tail wheel 7 be located at it is adjacent thereto
Next step, play a supporting role, so as to reach the purpose of centre of gravity adjustment.
Claims (2)
1. a kind of auxiliary balance governor motion of robot stair activity, it is characterised in that：Including leading screw framework, the leading screw frame
Frame is fixed with robot；Leading screw is set on the leading screw framework, and the leading screw is driven by the motor for being fixed on leading screw end；It is described
Leading screw coordinates with sliding block；Sliding block connects with upper frame axle；The other end of upper frame connects with one end axle of underframe；Underframe it is another
Outer one end connects with the lower end axle of leading screw framework；One end of electric pushrod and upper frame middle part axle connect, other end and triangle crawler belt
The middle part axle of lower support frame connects；One end of foot piece connects with upper frame axle, and other end connects with tail-gear spindle；Supported under triangle crawler belt
Framework one end connects with upper frame axle, and other end sets the first roller；The middle part of the foot piece sets the second sliding block, described second
Second tin roller is set on sliding block；Spring is set between the 3rd roller of the second tin roller and foot piece lower end.Crawler belt bypasses triangle shoe
3rd roller of second tin roller and foot piece lower end in the middle part of the first roller of under band support frame end, foot piece.
2. the auxiliary balance governor motion of robot stair activity according to claim 1, it is characterised in that：It is described electronic
Push rod includes fixed plate, and electric rotating machine is set in the fixed plate, and output shaft and the rotary sleeve of electric rotating machine are fixed, in rotary sleeve
Portion sets screw, and screw rod is screwed in the screw；One end of fixed plate and one end of screw rod set axle and connect ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141087.8A CN106859876B (en) | 2017-03-10 | 2017-03-10 | A kind of auxiliary balance adjusting mechanism of robot stair activity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141087.8A CN106859876B (en) | 2017-03-10 | 2017-03-10 | A kind of auxiliary balance adjusting mechanism of robot stair activity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106859876A true CN106859876A (en) | 2017-06-20 |
| CN106859876B CN106859876B (en) | 2018-05-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710141087.8A Active CN106859876B (en) | 2017-03-10 | 2017-03-10 | A kind of auxiliary balance adjusting mechanism of robot stair activity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106859876B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107951635A (en) * | 2017-11-24 | 2018-04-24 | 苏州智德金网络科技股份有限公司 | A kind of robot wheel chair car |
| CN110329372A (en) * | 2019-08-09 | 2019-10-15 | 桂林电子科技大学 | A kind of stair climbing robot |
| CN110722579A (en) * | 2019-10-25 | 2020-01-24 | 台州风达机器人科技有限公司 | Mobile supporting leg for robot |
| CN110812014A (en) * | 2019-11-25 | 2020-02-21 | 暴伟杰 | Multifunctional wheelchair for disabled |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6484829B1 (en) * | 2000-07-03 | 2002-11-26 | Kenneth Ray Cox | Battery powered stair-climbing wheelchair |
| WO2012154184A1 (en) * | 2011-05-12 | 2012-11-15 | Ferno-Washington, Inc. | Collapsible motorized stair chair |
| CN103932849A (en) * | 2014-04-25 | 2014-07-23 | 东北大学 | Under-actuated self-adaptive type stair climbing wheelchair |
| CN104146836A (en) * | 2013-05-13 | 2014-11-19 | 班书增 | Full-automatic stair-climbing wheelchair scooter |
| CN204379584U (en) * | 2014-12-15 | 2015-06-10 | 张雯茜 | Electric safe wheelchair |
| CN104771280A (en) * | 2015-04-20 | 2015-07-15 | 上海理工大学 | Barrier-free electrically propelled wheelchair |
| CN105559984A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Nursing power assistance system |
| CN105877939A (en) * | 2016-03-30 | 2016-08-24 | 张家港市新菲乐医疗设备有限公司 | Automatic stair climbing chair |
-
2017
- 2017-03-10 CN CN201710141087.8A patent/CN106859876B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6484829B1 (en) * | 2000-07-03 | 2002-11-26 | Kenneth Ray Cox | Battery powered stair-climbing wheelchair |
| WO2012154184A1 (en) * | 2011-05-12 | 2012-11-15 | Ferno-Washington, Inc. | Collapsible motorized stair chair |
| CN104146836A (en) * | 2013-05-13 | 2014-11-19 | 班书增 | Full-automatic stair-climbing wheelchair scooter |
| CN103932849A (en) * | 2014-04-25 | 2014-07-23 | 东北大学 | Under-actuated self-adaptive type stair climbing wheelchair |
| CN204379584U (en) * | 2014-12-15 | 2015-06-10 | 张雯茜 | Electric safe wheelchair |
| CN104771280A (en) * | 2015-04-20 | 2015-07-15 | 上海理工大学 | Barrier-free electrically propelled wheelchair |
| CN105559984A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Nursing power assistance system |
| CN105877939A (en) * | 2016-03-30 | 2016-08-24 | 张家港市新菲乐医疗设备有限公司 | Automatic stair climbing chair |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107951635A (en) * | 2017-11-24 | 2018-04-24 | 苏州智德金网络科技股份有限公司 | A kind of robot wheel chair car |
| CN107951635B (en) * | 2017-11-24 | 2019-07-19 | 苏州智德金网络科技股份有限公司 | A kind of robot wheel chair vehicle |
| CN110329372A (en) * | 2019-08-09 | 2019-10-15 | 桂林电子科技大学 | A kind of stair climbing robot |
| CN110329372B (en) * | 2019-08-09 | 2024-01-30 | 桂林电子科技大学 | Stair climbing robot |
| CN110722579A (en) * | 2019-10-25 | 2020-01-24 | 台州风达机器人科技有限公司 | Mobile supporting leg for robot |
| CN110812014A (en) * | 2019-11-25 | 2020-02-21 | 暴伟杰 | Multifunctional wheelchair for disabled |
| CN110812014B (en) * | 2019-11-25 | 2021-12-17 | 上海海尔医疗科技有限公司 | Multifunctional wheelchair |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106859876B (en) | 2018-05-15 |
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