CN108514479A - Full ground type manned robot and method for moving up/down steps - Google Patents
Full ground type manned robot and method for moving up/down steps Download PDFInfo
- Publication number
- CN108514479A CN108514479A CN201810432793.2A CN201810432793A CN108514479A CN 108514479 A CN108514479 A CN 108514479A CN 201810432793 A CN201810432793 A CN 201810432793A CN 108514479 A CN108514479 A CN 108514479A
- Authority
- CN
- China
- Prior art keywords
- wheel
- wheel shaft
- crawler belt
- decelerating motor
- belt
- 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.)
- Granted
Links
Classifications
-
- 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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
-
- 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
Abstract
The invention discloses full ground type manned robots, are made of wheelchair main body and walking mechanism, and walking mechanism includes base assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, and base assembly drives pedrail mechanism to operate by transmission component；Wheel shaft decelerating motor and crawler belt decelerating motor are mounted on base support top side by side, and wheel shaft is fixedly mounted on base support front by main bearing seat, and wheel hub motor is mounted on the rear end lower of base support；The suspension of wheelchair main body is mounted on base support, and the hydraulic bjuffer being connected with base support is equipped on rear side of wheelchair body top；Fixed sleeving is mounted among wheel shaft, and moving casing is mounted on wheel shaft both ends；Wheel shaft decelerating motor is connected by wheel shaft reduction gearing with the wheel axle gear being fixedly mounted on fixed sleeving.The invention also discloses full ground type manned robot and method for moving up/down steps.Of the invention novel in design, it is safe and reliable to climb building for smooth running, ride comfort.
Description
Technical field
The present invention relates to mobile device technology fields, and in particular to full ground type manned robot and method for moving up/down steps.
Background technology
Currently, wheelchair is elderly and infirm and the essential walking-replacing tools of lower limb the disabled, using wheel type movement shape
Formula can only walk on level land, and not across obstacle as entablement rank, threshold, step can not be climbed, therefore take wheel
The scope of activities of chair personnel is very restricted.Live in walk-up building wheelchair user can not up/down steps, influence
It goes out to participate in social activity.China has rapidly entered aging society, and the elderly's trip problem is further prominent.
Invention content
In order to overcome existing wheelchair existing difficulty in up/down steps ladder, the present invention to provide a kind of full ground type manned machine
Device people and method for moving up/down steps.
The invention is realized in this way full ground type manned robot, is made of wheelchair main body and walking mechanism, the walking
Mechanism includes base assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, and the base assembly passes through biography
Dynamic Component driver pedrail mechanism running；
The base assembly includes base support, wheel shaft decelerating motor, crawler belt decelerating motor, wheel shaft, main bearing seat and wheel hub electricity
Machine；The wheel shaft decelerating motor and the crawler belt decelerating motor are mounted on base support top side by side, and the wheel shaft passes through main shaft
Bearing is fixedly mounted on base support front, and the wheel hub motor is mounted on the rear end lower of base support；The wheelchair main body
Suspension is mounted on base support, and the hydraulic bjuffer being connected with base support is equipped on rear side of wheelchair body top；
The transmission component includes wheel shaft reduction gearing, crawler belt reduction gearing, fixed sleeving, moving casing, wheel axle gear and shoe
Band gear；The fixed sleeving is mounted among wheel shaft, and the moving casing is mounted on wheel shaft both ends；The wheel shaft decelerating motor
It is connected with the wheel axle gear being fixedly mounted on fixed sleeving by wheel shaft reduction gearing, when wheel shaft decelerating motor is run,
The wheel shaft reduction gearing and wheel axle gear drive wheel shaft rotation, and then control wheel shaft is together between pedrail mechanism and base support
Relative rotation angle；The crawler belt decelerating motor passes through crawler belt reduction gearing and the caterpillar teeth being fixedly mounted on moving casing
Wheel is connected, and when crawler belt decelerating motor is run, the crawler belt reduction gearing and crawler belt gear band move moving casing rotation；
The pedrail mechanism includes crawler belt interior plate, crawler belt outer panel and big belt wheel, and the big belt wheel is fixedly connected on movable sleeve
Guan Shang, the big belt wheel are fixedly connected by moving casing with crawler belt gear, and the moving casing drive is fixedly connected on activity
Big belt wheel rotation on casing；The front-wheel mechanism by fixed sleeving be fixedly connected on the crawler belt outer panel outside and
The end of wheel shaft；The crawler belt interior plate and crawler belt outer panel are connected by side plate bearing block with moving casing, the crawler belt
By small pulley axis connection among the rear portion of interior plate and crawler belt outer panel, it is set with small pulley on the small band wheel shaft, it is described
Upper and lower part between crawler belt interior plate and crawler belt outer panel is installed with slide plate, and the synchronous belt is around big belt wheel, small
On the outside of belt wheel and slide plate；The big belt wheel drives small pulley and synchronous belt rotation.
Further, the front-wheel mechanism includes wheel support, end cap, big baffle ring, support wheel and handle, the wheel support with
And the end cap being sleeved in wheel support is fixedly mounted on by big baffle ring and bolt on crawler belt outer panel, the center of the big baffle ring
It is bolted to connection in the end of wheel shaft；When wheel shaft rotates, be fixedly connected on the crawler belt outer panel at wheel shaft both ends together with
Entire pedrail mechanism is also in company with together around wheel shaft rotation；The handle is hinged on front end in the middle part of wheel support, among the wheel support
It is provided with pin hole, lower Positioning holes and rear location hole is provided on the end cap, and corresponding with pin hole, is placed in the pin hole
There are positioning pin and the spring of positioning pin bottom end connection, the bottom end of the positioning pin to be connected with handle by bracing wire, by touching
Dynamic handle makes bracing wire that will pull out lower Positioning holes under positioning pin, then as under wheel support rotation and the elastic force effect of spring, determines
After position pin is inserted into location hole.
Further, pulley is provided on the wheel support, the bracing wire bypasses pulley.
Further, the top of the crawler belt interior plate and crawler belt outer panel is symmetrically arranged with platform along notch；It is getting out of a predicament or an embarrassing situation
When, the synchronous belt is collapsed to described by step edge along notch.
Further, the method for moving up/down steps of the full ground type manned robot, including top bar process and got out of a predicament or an embarrassing situation
Journey, wherein：
（One）Top bar process steps are：
1.1st step：When occupant, which operates the walking of full ground type manned robot, to be reached at ladder of appearing on the stage, wheel shaft decelerating motor is operated
Pedrail mechanism is set to be rotating ground to the back lower place around wheel shaft, and then wheel hub motor is in and leaves the state of ground, operation wheel hub motor stops
It only runs, while operating crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to walk forward；When the handle of front-wheel mechanism touches
When first step, bracing wire will pull out lower Positioning holes under positioning pin, with handle step continue touching under, wheel support quilt
Compel rotation, front-wheel mechanism is in no support force state at this time；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to open
The buildings Shi Pa；
1.2nd step：When climb building to the last one along when operating handle, make bracing wire that will pull out rear location hole under positioning pin, this
When front-wheel mechanism touch ground；It as pedrail mechanism forward upward climbs building, and rotates, positions under the effect of gravity in wheel support
It sells and is inserted into lower Positioning holes under the elastic force effect of spring, front-wheel mechanism is in the fixed state that lands at this time；Then operation wheel shaft
Decelerating motor makes pedrail mechanism be rotated away from ground rearwardly and upwardly around wheel shaft, and operating crawler belt decelerating motor at this time makes big belt wheel stop
Synchronous belt is driven to walk forward；Wheel hub motor is in the state that lands at this time, while operating wheel hub motor and bringing into operation, and then makes complete
Ground type manned robot is walked forward；
（One）Top bar process steps are：
2.1st step：When occupant operates the walking of full ground type manned robot at leave from office ladder, operation wheel shaft decelerating motor makes shoe
Band mechanism around wheel shaft upwards toward front lower place be rotating ground, while operate crawler belt decelerating motor make big belt wheel drive synchronous belt to move ahead
It walks；When big belt wheel row to first platform along when, synchronous belt is by first platform along collapsing to platform along notch, and pedrail mechanism connects at this time
It is rotated to second platform along upper around wheel shaft forward downward with synchronous belt, then operating wheel shaft decelerating motor makes base support around wheel shaft
Forward downward rotates, until a little higher than synchronous belt lower surface of wheel hub motor, and then wheel hub motor will not be sent out with step when getting out of a predicament or an embarrassing situation
Raw collision；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to start to get out of a predicament or an embarrassing situation；
2.2nd step：When get out of a predicament or an embarrassing situation to the last one along when, operation wheel shaft decelerating motor make pedrail mechanism around wheel shaft forward upward
Rotation, until synchronous belt all lands；After wheel hub motor leaves step, operating shaft decelerating motor make pedrail mechanism around wheel shaft to
Upper to be rotated toward back upper place, then wheel hub motor and front-wheel mechanism are also with slowly landing；Then, operation wheel hub motor starts to transport
Row, and then full ground type manned robot is made to walk forward.
The beneficial effects of the invention are as follows：
1. by the way that the suspension of wheelchair main body to be mounted on base support, make wheelchair main body in walking and up/down steps all in one
A state ensure that the safety of occupant；It is connected with base support by installing hydraulic bjuffer on rear side of wheelchair body top
It connects, dramatically reduces the vibration of wheelchair, ensure that occupant's is comfortable；
2. wheel shaft decelerating motor is connected by wheel shaft reduction gearing with the wheel axle gear being fixedly mounted on fixed sleeving, work as wheel
When axis decelerating motor is run, the wheel shaft reduction gearing and wheel axle gear drive wheel shaft rotation, and then control wheel shaft is together with crawler belt
Relative rotation angle between mechanism and base support is adjusted in this way when switching the various states that up/down steps are pacifically walked
The source of full line walking power；
3. making bracing wire that will pull out lower Positioning holes under positioning pin by touching handle（Or rear location hole）, revolved then as wheel support
Turn under being acted on the elastic force of spring, location hole after positioning pin is inserted into（Lower Positioning holes）In, can adjust front-wheel mechanism in this way is needing
The position wanted is ready for top bar or before getting out of a predicament or an embarrassing situation；
4. by being symmetrical arranged platform along notch on the top of crawler belt interior plate and crawler belt outer panel；When getting out of a predicament or an embarrassing situation, synchronous belt quilt
Step edge collapses platform along notch, so completely type manned robot when getting out of a predicament or an embarrassing situation, can synchronous belt have it is enough
Under the premise of supporting surface, pedrail mechanism is made to be rotated to second platform along upper around wheel shaft forward downward together with synchronous belt；
5. of the invention novel in design, it is safe and reliable to climb building for smooth running, ride comfort.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the vertical view of the present invention；
Fig. 3 is the structural schematic diagram of pedrail mechanism；
Fig. 4 is the internal structure schematic diagram of pedrail mechanism；
Fig. 5 is the structural schematic diagram of front-wheel mechanism；
Fig. 6 is the decomposition diagram of front-wheel mechanism；
Fig. 7 is the diagrammatic cross-section of front-wheel mechanism；
Fig. 8 is the state transition diagram of top bar；
Fig. 9 is the state transition diagram got out of a predicament or an embarrassing situation.
In attached drawing：1, base support, 111, wheel shaft decelerating motor, 112, crawler belt decelerating motor, 12, wheel shaft, 13, base bearing
Seat, 14, wheel hub motor, 211, wheel shaft reduction gearing, 212, crawler belt reduction gearing, 22, fixed sleeving, 23, moving casing, 24,
Wheel axle gear, 25, crawler belt gear, 31, side plate bearing block, 32, crawler belt interior plate, 33, crawler belt outer panel, 331, platform along notch,
34, small band wheel shaft, 35, big belt wheel, 36, small pulley, 37, synchronous belt, 38, slide plate, 41, wheel support, 42, end cap, 43, big gear
Circle, 44, support wheel, 45, handle, 51, bracing wire, 52, pulley, 53, pin hole, 54, positioning pin, 55, spring, 56, lower Positioning holes,
57, rear location hole.
Specific implementation mode
The specific implementation mode of the present invention is described in further detail with reference to embodiment：
As shown in figs. 1-7, full ground type manned robot is made of wheelchair main body and walking mechanism, and walking mechanism includes pedestal group
Part, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, base assembly drive pedrail mechanism by transmission component
Running；
Base assembly includes base support 1, wheel shaft decelerating motor 111, crawler belt decelerating motor 112, wheel shaft 12,13 and of main bearing seat
Wheel hub motor 14；Two chaptrel axis decelerating motors 111 are separately mounted to the both sides of base support 1, and a crawler belt decelerating motor 112 is pacified
Mounted in the centre of bottom lower supporter 1, two chaptrel axis decelerating motors 111 and crawler belt decelerating motor 112 are mounted on base support 1 side by side
Portion, wheel shaft 12 is fixedly mounted on 1 front of base support by main bearing seat 13, after wheel hub motor 14 is mounted on base support 1
Hold lower part；The suspension of wheelchair main body is mounted on base support 1, is equipped on rear side of wheelchair body top and to be connected with base support 1
Hydraulic bjuffer；
Transmission component includes wheel shaft reduction gearing 211, crawler belt reduction gearing 212, fixed sleeving 22, moving casing 23, axle tooth
Wheel 24 and crawler belt gear 25；Fixed sleeving 22 is mounted among wheel shaft 12, and moving casing 23 is mounted on 12 both ends of wheel shaft；Wheel shaft subtracts
Speed motor 111 is connected by wheel shaft reduction gearing 211 with the wheel axle gear 24 being fixedly mounted on fixed sleeving 22, and wheel shaft is worked as
When decelerating motor 111 is run, wheel shaft reduction gearing 211 and wheel axle gear 24 drive wheel shaft 12 to rotate, and then control wheel shaft 12 connects
With the relative rotation angle between pedrail mechanism and base support 1；Crawler belt decelerating motor 112 by crawler belt reduction gearing 212 with
The crawler belt gear 25 being fixedly mounted on moving casing 23 is connected, when crawler belt decelerating motor 112 is run, crawler belt reduction gearing
212 and crawler belt gear 25 drive moving casing 23 rotate；
Pedrail mechanism includes crawler belt interior plate 32, crawler belt outer panel 33 and big belt wheel 35, and big belt wheel 35 is fixedly connected on movable sleeve
On pipe 23, big belt wheel 35 is fixedly connected by moving casing 23 with crawler belt gear 25, and the drive of moving casing 23 is fixedly connected on work
Big belt wheel 35 on dynamic casing 23 rotates；Front-wheel mechanism by fixed sleeving 22 be fixedly connected on the outside of crawler belt outer panel 33 with
And the end of wheel shaft 12.
Crawler belt interior plate 32 and crawler belt outer panel 33 are connected by side plate bearing block 31 with moving casing 23, on the inside of crawler belt
It is connected by small band wheel shaft 34 among the rear portion of plate 32 and crawler belt outer panel 33, small pulley 35 is set on small band wheel shaft 34, carried out
It is installed with slide plate 38 with the upper and lower part between interior plate 32 and crawler belt outer panel 33, synchronous belt 37 bypasses big belt wheel
35,38 outside of small pulley 36 and slide plate；Big belt wheel 35 drives small pulley 36 and synchronous belt 37 to rotate.
Front-wheel mechanism includes wheel support 41, end cap 42, big baffle ring 43, support wheel 44 and handle 45, wheel support 41 and set
End cap 42 in wheel support 41 is fixedly mounted on by big baffle ring 43 and bolt on crawler belt outer panel 33, in big baffle ring 43
The heart is bolted to connection in the end of wheel shaft 12；When wheel shaft 12 rotates, it is fixedly connected on outside the crawler belt at 12 both ends of wheel shaft
Side plate 33 is also rotated in company with around wheel shaft 12 together with entire pedrail mechanism；Handle 45 is hinged on 41 middle part front end of wheel support, wheel
It is provided with pin hole 53 among holder 41, lower Positioning holes 56 and rear location hole 57 are provided on end cap 42, and opposite with pin hole 53
It answers, positioning pin 54 and the spring 55 of 54 bottom end of positioning pin connection is placed in pin hole 53, the bottom end of positioning pin 54 passes through bracing wire
51 are connected with handle 45, make bracing wire 51 that will pull out lower Positioning holes 56 under positioning pin 53 by touching handle 45, then as
Under the rotation of wheel support 41 and the elastic force effect of spring 55, after positioning pin 53 is inserted into location hole 57.
Pulley 52 is provided on wheel support 41, bracing wire 51 bypasses pulley 52；Crawler belt interior plate 32 and crawler belt outer panel 33
Top is symmetrically arranged with platform along notch 331；When getting out of a predicament or an embarrassing situation, synchronous belt 37 is collapsed to platform by step edge along notch 331.
The method for moving up/down steps of the full ground type manned robot of the present invention, including top bar process and process of getting out of a predicament or an embarrassing situation,
In：
（One）Top bar process steps are as shown in Figure 8：
1.1st step：When occupant, which operates the walking of full ground type manned robot, to be reached at ladder of appearing on the stage, wheel shaft decelerating motor is operated
111 make pedrail mechanism be rotating ground to the back lower place around wheel shaft 12, and then wheel hub motor 14 is in and leaves the state of ground, operates wheel hub
Motor 14 is out of service, while operating crawler belt decelerating motor 112 makes big belt wheel 35 that synchronous belt 37 be driven to walk forward；Current turbine
When the handle 45 of structure touches first step, bracing wire 51 will pull out lower Positioning holes 56 under positioning pin 53, as handle 45 exists
Step continues under touching, and wheel support 41 is forced to rotate, and front-wheel mechanism is in no support force state at this time；Continue operation crawler belt to subtract
Speed motor 112 makes big belt wheel 35 that synchronous belt 37 be driven to start to climb building；
1.2nd step：When climb building to the last one along when operating handle 45, positioned after making bracing wire 51 that will be pulled out under positioning pin 53
Hole 56, at this time front-wheel mechanism touch ground；As pedrail mechanism forward upward climbs building, and wheel support 41 under the effect of gravity
Rotation, positioning pin 53 are inserted under the elastic force effect of spring 55 in lower Positioning holes 57, and front-wheel mechanism is in the fixed shape that lands at this time
State；Then operation wheel shaft decelerating motor 111 makes pedrail mechanism be rotated away from ground rearwardly and upwardly around wheel shaft 12, operates crawler belt at this time
Decelerating motor 112 makes big belt wheel 35 stop that synchronous belt 37 is driven to walk forward；Wheel hub motor 14 is in the state that lands at this time, simultaneously
Operation wheel hub motor 14 brings into operation, and then full ground type manned robot is made to walk forward；
（One）Top bar process steps are as shown in Figure 9：
2.1st step：It walks at leave from office ladder when occupant operates full ground type manned robot, operation wheel shaft decelerating motor 111
Pedrail mechanism is set to be rotating ground toward front lower place upwards around wheel shaft 12, while operating crawler belt decelerating motor 112 makes big belt wheel 35 drive
Synchronous belt 37 is walked forward；When 35 row of big belt wheel to first platform along when, synchronous belt 37 is by first platform along collapsing to platform along lacking
In mouthfuls 331, pedrail mechanism is rotated to second platform around 12 forward downward of wheel shaft along upper together with synchronous belt at this time, then operates wheel shaft
Decelerating motor 111 makes base support 1 be rotated around 12 forward downward of wheel shaft, until 14 a little higher than synchronous belt of wheel hub motor, 37 following table
Face, and then wheel hub motor 14 will not collide with step when getting out of a predicament or an embarrassing situation；Continuing operation crawler belt decelerating motor 112 makes big belt wheel 35
Synchronous belt 37 is driven to start to get out of a predicament or an embarrassing situation；
2.2nd step：When get out of a predicament or an embarrassing situation to the last one along when, operation wheel shaft decelerating motor 111 make pedrail mechanism around wheel shaft 12 to
Front upper place rotates, until synchronous belt 37 all lands；After wheel hub motor 14 leaves step, operating shaft decelerating motor 111 makes shoe
Band mechanism is rotated toward back upper place upwards around wheel shaft 12, and then wheel hub motor 14 and front-wheel mechanism are also with slowly landing；Then, it grasps
Make wheel hub motor 14 to bring into operation, and then full ground type manned robot is made to walk forward.
The above is only a preferred embodiment of the present invention, it is noted that come for those of ordinary skill in the art
It says, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications are also answered
When being considered as within protection scope of the present invention.
Claims (5)
1. full ground type manned robot, which is characterized in that be made of wheelchair main body and walking mechanism, the walking mechanism includes bottom
Holder assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, the base assembly are driven by transmission component
Pedrail mechanism operates；The base assembly includes base support, wheel shaft decelerating motor, crawler belt decelerating motor, wheel shaft, base bearing
Seat and wheel hub motor；The wheel shaft decelerating motor and the crawler belt decelerating motor are mounted on base support top, the wheel side by side
Axis is fixedly mounted on base support front by main bearing seat, and the wheel hub motor is mounted on the rear end lower of base support；Institute
It states the suspension of wheelchair main body to be mounted on base support, the hydraulic cushion being connected with base support is equipped on rear side of wheelchair body top
Device；The transmission component includes wheel shaft reduction gearing, crawler belt reduction gearing, fixed sleeving, moving casing, wheel axle gear and shoe
Band gear；The fixed sleeving is mounted among wheel shaft, and the moving casing is mounted on wheel shaft both ends；The wheel shaft decelerating motor
It is connected with the wheel axle gear being fixedly mounted on fixed sleeving by wheel shaft reduction gearing, when wheel shaft decelerating motor is run,
The wheel shaft reduction gearing and wheel axle gear drive wheel shaft rotation, and then control wheel shaft is together between pedrail mechanism and base support
Relative rotation angle；The crawler belt decelerating motor passes through crawler belt reduction gearing and the caterpillar teeth being fixedly mounted on moving casing
Wheel is connected, and when crawler belt decelerating motor is run, the crawler belt reduction gearing and crawler belt gear band move moving casing rotation；Institute
It includes crawler belt interior plate, crawler belt outer panel and big belt wheel to state pedrail mechanism, and the big belt wheel is fixedly connected on moving casing, institute
It states big belt wheel to be fixedly connected with crawler belt gear by moving casing, the moving casing drive is fixedly connected on moving casing
Big belt wheel rotates；The front-wheel mechanism is fixedly connected on the outside of the crawler belt outer panel and the end of wheel shaft by fixed sleeving
Head；The crawler belt interior plate and crawler belt outer panel are connected by side plate bearing block with moving casing, the crawler belt interior plate and
By small pulley axis connection among the rear portion of crawler belt outer panel, it is set with small pulley on the small band wheel shaft, on the inside of the crawler belt
Upper and lower part between plate and crawler belt outer panel is installed with slide plate, and the synchronous belt bypasses big belt wheel, small pulley and cunning
On the outside of plate；The big belt wheel drives small pulley and synchronous belt rotation.
2. type manned robot in full ground according to claim 2, which is characterized in that the front-wheel mechanism include wheel support,
End cap, big baffle ring, support wheel and handle, the wheel support and the end cap being sleeved in wheel support are solid by big baffle ring and bolt
Dingan County is on crawler belt outer panel, the end that wheel shaft is fixedly connected on centrally through bolt of the big baffle ring；When wheel shaft rotates
When, the crawler belt outer panel for being fixedly connected on wheel shaft both ends is also rotated in company with around wheel shaft together with entire pedrail mechanism；Described
Hand is hinged on front end in the middle part of wheel support, and pin hole is provided among the wheel support, and lower Positioning holes are provided on the end cap with after
Location hole, and it is corresponding with pin hole, positioning pin and the spring of positioning pin bottom end connection are placed in the pin hole, it is described fixed
The bottom end of position pin is connected by bracing wire with handle, makes bracing wire that will pull out lower Positioning holes under positioning pin by touching handle, so
Under being acted on afterwards with the elastic force of wheel support rotation and spring, after positioning pin is inserted into location hole.
3. type manned robot in full ground according to claim 3, which is characterized in that it is provided with pulley on the wheel support,
The bracing wire bypasses pulley.
4. type manned robot in full ground according to claim 4, which is characterized in that on the outside of the crawler belt interior plate and crawler belt
The top of plate is symmetrically arranged with platform along notch；When getting out of a predicament or an embarrassing situation, the synchronous belt is collapsed to described by step edge along notch
In.
5. the method for moving up/down steps of type manned robot in full ground according to claim 5, which is characterized in that including top bar
Process and process of getting out of a predicament or an embarrassing situation, wherein：
（One）Top bar process steps are：
1.1st step：When occupant, which operates the walking of full ground type manned robot, to be reached at ladder of appearing on the stage, wheel shaft decelerating motor is operated
Pedrail mechanism is set to be rotating ground to the back lower place around wheel shaft, and then wheel hub motor is in and leaves the state of ground, operation wheel hub motor stops
It only runs, while operating crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to walk forward；When the handle of front-wheel mechanism touches
When first step, bracing wire will pull out lower Positioning holes under positioning pin, with handle step continue touching under, wheel support quilt
Compel rotation, front-wheel mechanism is in no support force state at this time；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to open
The buildings Shi Pa；
1.2nd step：When climb building to the last one along when operating handle, make bracing wire that will pull out rear location hole under positioning pin, this
When front-wheel mechanism touch ground；It as pedrail mechanism forward upward climbs building, and rotates, positions under the effect of gravity in wheel support
It sells and is inserted into lower Positioning holes under the elastic force effect of spring, front-wheel mechanism is in the fixed state that lands at this time；Then operation wheel shaft
Decelerating motor makes pedrail mechanism be rotated away from ground rearwardly and upwardly around wheel shaft, and operating crawler belt decelerating motor at this time makes big belt wheel stop
Synchronous belt is driven to walk forward；Wheel hub motor is in the state that lands at this time, while operating wheel hub motor and bringing into operation, and then makes complete
Ground type manned robot is walked forward；
（One）Top bar process steps are：
2.1st step：When occupant operates the walking of full ground type manned robot at leave from office ladder, operation wheel shaft decelerating motor makes shoe
Band mechanism around wheel shaft upwards toward front lower place be rotating ground, while operate crawler belt decelerating motor make big belt wheel drive synchronous belt to move ahead
It walks；When big belt wheel row to first platform along when, synchronous belt is by first platform along collapsing to platform along notch, and pedrail mechanism connects at this time
It is rotated to second platform along upper around wheel shaft forward downward with synchronous belt, then operating wheel shaft decelerating motor makes base support around wheel shaft
Forward downward rotates, until a little higher than synchronous belt lower surface of wheel hub motor, and then wheel hub motor will not be sent out with step when getting out of a predicament or an embarrassing situation
Raw collision；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to start to get out of a predicament or an embarrassing situation；
2.2nd step：When get out of a predicament or an embarrassing situation to the last one along when, operation wheel shaft decelerating motor make pedrail mechanism around wheel shaft forward upward
Rotation, until synchronous belt all lands；After wheel hub motor leaves step, operating shaft decelerating motor make pedrail mechanism around wheel shaft to
Upper to be rotated toward back upper place, then wheel hub motor and front-wheel mechanism are also with slowly landing；Then, operation wheel hub motor starts to transport
Row, and then full ground type manned robot is made to walk forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810432793.2A CN108514479B (en) | 2018-05-08 | 2018-05-08 | All-terrain manned robot and step ascending and descending method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810432793.2A CN108514479B (en) | 2018-05-08 | 2018-05-08 | All-terrain manned robot and step ascending and descending method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108514479A true CN108514479A (en) | 2018-09-11 |
| CN108514479B CN108514479B (en) | 2023-09-22 |
Family
ID=63429924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810432793.2A Active CN108514479B (en) | 2018-05-08 | 2018-05-08 | All-terrain manned robot and step ascending and descending method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108514479B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977662A (en) * | 2021-04-06 | 2021-06-18 | 南通大学 | Polymorphic all-terrain search and rescue robot |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1641331A1 (en) * | 1988-11-05 | 1991-04-15 | Н.С.Гришин | Motor-driven chair for invalids |
| JP2002085476A (en) * | 2000-09-14 | 2002-03-26 | Toyota Auto Body Co Ltd | Wheelchair capable of climbing stairs |
| CN2680235Y (en) * | 2004-01-17 | 2005-02-23 | 刘占河 | Hand-operated wheelchair for going upstairs |
| US20060038360A1 (en) * | 2004-07-12 | 2006-02-23 | Sunwa Ltd. | Stair-climbing wheelchair carrier |
| CN201519241U (en) * | 2009-11-11 | 2010-07-07 | 浙江圣普电梯有限公司 | Electric stair-climbing wheelchair |
| CN201619622U (en) * | 2009-11-11 | 2010-11-03 | 浙江圣普电梯有限公司 | Robot composite chassis |
| CN102204858A (en) * | 2011-05-27 | 2011-10-05 | 烟台大学 | Stair-climbing wheelchair |
| CN102895077A (en) * | 2012-10-31 | 2013-01-30 | 陶卫军 | Novel wheel-crawler compound electrically propelled wheelchair |
| CN103393509A (en) * | 2013-07-31 | 2013-11-20 | 河南科技大学 | Tracked wheeled transformable wheelchair |
| US20140202777A1 (en) * | 2011-10-04 | 2014-07-24 | Siu Lun Lee | Electric wheelchair |
| JP2015130912A (en) * | 2014-01-09 | 2015-07-23 | 独立行政法人国立高等専門学校機構 | Care vehicle with auxiliary power device |
| CN105596160A (en) * | 2016-02-01 | 2016-05-25 | 山东科技大学 | Single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels, and method for going upstairs and downstairs of single-section double-crawler stair-climbing wheelchair |
| CN205339345U (en) * | 2016-02-01 | 2016-06-29 | 山东科技大学 | Building wheelchair was climbed to two tracks two festivals based on swing of walking wheel |
| CN105946941A (en) * | 2016-05-20 | 2016-09-21 | 长春理工大学 | Wheel-track integrated loading building climbing vehicle for inclinable lifting platform |
| CN208864667U (en) * | 2018-05-08 | 2019-05-17 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot |
-
2018
- 2018-05-08 CN CN201810432793.2A patent/CN108514479B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1641331A1 (en) * | 1988-11-05 | 1991-04-15 | Н.С.Гришин | Motor-driven chair for invalids |
| JP2002085476A (en) * | 2000-09-14 | 2002-03-26 | Toyota Auto Body Co Ltd | Wheelchair capable of climbing stairs |
| CN2680235Y (en) * | 2004-01-17 | 2005-02-23 | 刘占河 | Hand-operated wheelchair for going upstairs |
| US20060038360A1 (en) * | 2004-07-12 | 2006-02-23 | Sunwa Ltd. | Stair-climbing wheelchair carrier |
| CN201519241U (en) * | 2009-11-11 | 2010-07-07 | 浙江圣普电梯有限公司 | Electric stair-climbing wheelchair |
| CN201619622U (en) * | 2009-11-11 | 2010-11-03 | 浙江圣普电梯有限公司 | Robot composite chassis |
| CN102204858A (en) * | 2011-05-27 | 2011-10-05 | 烟台大学 | Stair-climbing wheelchair |
| US20140202777A1 (en) * | 2011-10-04 | 2014-07-24 | Siu Lun Lee | Electric wheelchair |
| CN102895077A (en) * | 2012-10-31 | 2013-01-30 | 陶卫军 | Novel wheel-crawler compound electrically propelled wheelchair |
| CN103393509A (en) * | 2013-07-31 | 2013-11-20 | 河南科技大学 | Tracked wheeled transformable wheelchair |
| JP2015130912A (en) * | 2014-01-09 | 2015-07-23 | 独立行政法人国立高等専門学校機構 | Care vehicle with auxiliary power device |
| CN105596160A (en) * | 2016-02-01 | 2016-05-25 | 山东科技大学 | Single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels, and method for going upstairs and downstairs of single-section double-crawler stair-climbing wheelchair |
| CN205339345U (en) * | 2016-02-01 | 2016-06-29 | 山东科技大学 | Building wheelchair was climbed to two tracks two festivals based on swing of walking wheel |
| CN105946941A (en) * | 2016-05-20 | 2016-09-21 | 长春理工大学 | Wheel-track integrated loading building climbing vehicle for inclinable lifting platform |
| CN208864667U (en) * | 2018-05-08 | 2019-05-17 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977662A (en) * | 2021-04-06 | 2021-06-18 | 南通大学 | Polymorphic all-terrain search and rescue robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108514479B (en) | 2023-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105105990A (en) | Walking accompanying device of old person assisting robot | |
| CN106943248B (en) | A kind of multifunctional wheelchair | |
| CN101647745A (en) | Walking-aid robot with seat | |
| US11033443B2 (en) | Electronic wheelchair having voice-recognition operating system | |
| CN105434121B (en) | Electric stair climbing wheelchair | |
| CN107582263A (en) | A kind of novel stair climbing disabled person car | |
| CN103767840B (en) | A kind of wheeled stair-climbing wheel chair | |
| CN110279528B (en) | Open wheel type electric stair climbing vehicle and operation method thereof | |
| CN108433897A (en) | Full ground type manned robot equipped with trailing wheel elevating mechanism and method for moving up/down steps | |
| CN109893408A (en) | A kind of intelligence walk helper and method | |
| CN105596160A (en) | Single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels, and method for going upstairs and downstairs of single-section double-crawler stair-climbing wheelchair | |
| CN106137580A (en) | A kind of electric wheelchair of energy stair activity | |
| CN103767841B (en) | A kind of Lun Lvshi road ladder two-use wheel chair | |
| CN103754272B (en) | Special automobile for person with lower limb disability apparatus for getting on/down and control method thereof | |
| CN208808887U (en) | Full ground type manned robot equipped with rear-wheel elevating mechanism | |
| CN108514479A (en) | Full ground type manned robot and method for moving up/down steps | |
| CN208864667U (en) | Full ground type manned robot | |
| CN107696914A (en) | Manned robot | |
| CN110755238A (en) | Walking-aid robot | |
| CN213218336U (en) | Multifunctional rehabilitation trolley | |
| CN111493730B (en) | Lifting-assisting device and closestool | |
| CN109044653A (en) | A kind of stair climbing formula upper limb recovering aid wheelchair | |
| CN113018119B (en) | Multifunctional walking aid for old people and use method thereof | |
| CN206080885U (en) | Novel level land, dual -purpose wheelchair of stair | |
| CN112190408A (en) | Walking aid for climbing stairs and stair climbing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |