CN108622223B - Intelligent stair climbing machine - Google Patents
Intelligent stair climbing machine Download PDFInfo
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- CN108622223B CN108622223B CN201810060412.2A CN201810060412A CN108622223B CN 108622223 B CN108622223 B CN 108622223B CN 201810060412 A CN201810060412 A CN 201810060412A CN 108622223 B CN108622223 B CN 108622223B
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- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000006698 induction Effects 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 239000004033 plastic Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses an intelligent stair climbing machine, which comprises: the device comprises a guide mechanism, a balance supporting mechanism, a driving mechanism, a control system and a vehicle body, wherein the guide mechanism is movably connected to one side of the vehicle body, the upper portion of the balance supporting mechanism is connected with the vehicle body, the driving mechanism is located inside the vehicle body, the driving mechanism is connected with and drives the guide mechanism, and the control system is connected with and controls the driving mechanism. The invention utilizes the stair railing to operate, has the advantages of intelligence, portability and high safety, reduces the operation difficulty of staff and improves the operation efficiency.
Description
Technical Field
The invention relates to an intelligent stair climbing machine, and belongs to the technical field of intelligent stair climbing machines combining electromechanical and automation technologies.
Background
In recent years, electronic commerce has been rapidly developed, and various express companies are rising like spring bamboo shoots after rain. Although the express industry has realized mechanization to a great extent in the transportation and sorting process of large-batch express goods, manpower delivery is still adopted in the specific home delivery process of the last kilometer of the express industry, and great operation difficulty is caused. Especially, for residential building communities without elevators, couriers are all 'building-like exclamation' and the dispatching efficiency is not high; therefore, a portable intelligent stair climbing delivery machine is needed to reduce the workload of couriers and improve the delivery efficiency.
At present, domestic research and manufacture of cargo-carrying stair climbing machines are at a primary stage, and the research and manufacture are very few for the express industry. In the whole, the technology is slightly rough, the structure is single, the produced stair climbing vehicle has a plurality of defects in practicality, operability and the like, the research is not mature enough, and no satisfactory product appears. Therefore, how to design an intelligent, portable and intelligent machine for going upstairs and downstairs without human intervention is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an intelligent stair climbing machine which runs by using a stair railing, is intelligent, portable and high in safety and meets the delivery requirement of the express industry.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an intelligent stair climbing machine comprising: the device comprises a guide mechanism, a balance supporting mechanism, a driving mechanism, a control system and a vehicle body, wherein the guide mechanism is movably connected to one side of the vehicle body through a screw, the upper portion of the balance supporting mechanism is connected with the vehicle body, the driving mechanism is located inside the vehicle body and is connected with and drives the guide mechanism, and the control system is connected with and controls the driving mechanism.
As a further improvement of the above technical scheme:
the driving mechanism is a gear motor, a gear motor shaft of the gear motor drives the U-shaped wheel in a transmission way, and the U-shaped wheel is attached to the stair railing to run by means of friction force. The guide mechanism and the balance supporting mechanism are respectively positioned at two sides of the U-shaped wheel to form moment for balancing the vehicle body and the weight.
The control system comprises a main control chip, a plurality of infrared sensing sensors connected with the main control chip, an LED display, a keyboard, a relay and a switch. The main control chip is a singlechip. The infrared sensor comprises a human body infrared sensor and a curve induction sensor. The keyboard and the curve induction sensor are electrically connected with the control chip, and the control chip controls the stair climbing machine to run to the input floor by combining the floor number received by the keyboard and the curve number received by the curve induction sensor.
The balance supporting mechanism comprises a first supporting piece and a second supporting piece, one end of the first supporting piece is movably connected with the vehicle body, and the other end of the first supporting piece is movably connected with the middle of the second supporting piece.
Preferably, the first supporting piece is connected with the lower angle adjusting plate through a connecting pin perpendicular to the first supporting piece, the lower angle adjusting plate is fixedly connected with the middle part of the second supporting piece, an arc-shaped through hole is formed in the lower angle adjusting plate, the connecting pin penetrates through the arc-shaped through hole and can move in the arc-shaped through hole, and the first supporting piece is linked to rotate around the center of the lower angle adjusting plate.
Preferably, the other end of the first supporting piece is connected with the vehicle body through an upper angle adjusting plate, and the upper angle adjusting plate is identical to the lower angle adjusting plate in structure.
And a hanging hole of the carrying box is formed in the first supporting piece.
More preferably, the second support member is provided with a plurality of wheels, and the wheels stretch and tighten the synchronous belt. The wheel comprises at least one synchronous pulley, at least one plastic synchronous pulley is buckled through a fixed buckle, and at least one plastic synchronous tensioning pulley is arranged on the synchronous belt tightness adjusting mechanism and used for adjusting the tightness degree of the synchronous belt, and the synchronous pulley, the synchronous pulley and the synchronous tensioning pulley are stretched and tensioned with Zhang Tongbu belt.
More preferably, the connecting pin passes through the arc-shaped through hole and two ends are positioned at two sides of the arc-shaped through hole, one end of the connecting pin vertically passes through one end of the first supporting piece and is matched with a nut, and the outer diameter of the other end of the connecting pin is larger than the width of the arc-shaped through hole.
The guide mechanism comprises a guide wheel frame and guide wheels, wherein the guide wheels are arranged on the guide wheel frame through screws, and the guide wheel frame is connected to one side of a vehicle body through at least one hand-screwed screw.
Preferably, the hand screw is sleeved with a supporting spring set a and a supporting spring set b on two sides of the guide wheel frame.
The driving mechanism takes a lithium battery as a power supply, the transmission driving is that a direct current motor is decelerated through a worm and gear mechanism, rotation is transmitted to a secondary reduction gear set meshed with the worm and gear mechanism, then the direct current motor is transmitted to a gear shifting gear set meshed with the secondary reduction gear set, and finally the direct current motor is transmitted to a main shaft serving as a central shaft of the gear shifting gear set and drives a U-shaped wheel of an inflatable rubber tire externally attached to the main shaft to operate. The gear shifting fork is arranged, and the gear shifting fork is shifted to switch the two-stage reduction gear set and the meshing gears of the gear shifting gear set, so that the rotating speed of a main shaft serving as a central shaft of the gear shifting gear set is changed, and the rotating speed of a U-shaped wheel externally attached to the main shaft is further changed. The worm and gear mechanism is a self-locking structure.
Compared with the prior art, the stair railing is utilized to run, the guide mechanism and the balance support mechanism are provided with the sliding structures and are positioned at two sides of the U-shaped wheel, so that the moment of the weight and the vehicle body is balanced, and the whole machine can run stably; the driving mechanism can adjust the running speed and is self-locking, the running is convenient and fast, and the running safety is ensured; the control system is provided with a visual interface for directly inputting floors, and a human body infrared sensor and a curve sensor sense the number of pedestrians and curves in the stairs, so that the running safety and the intellectualization are realized; the operation difficulty of express delivery staff is reduced, and the operation efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a guide mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of a balance support mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a driving mechanism according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating an operating state of an embodiment of the present invention.
Reference numerals
1. Stair railing, 2, synchronous take-up pulley, 3, guiding mechanism, 4, infrared sensor, 5, lithium cell, 6, balanced supporting mechanism, 7, carrying case, 81, lower angle regulating plate, 82, upper angle regulating plate, 9, hold-in range supporting mechanism, 10, control system, 11, direct current motor, 12, hold-in range tightness regulating mechanism, 13, actuating mechanism, 14, U-shaped wheel, 15, gear change gear set, 16, shift fork, 17, two-stage reduction gear set, 18, worm gear mechanism, 19, guiding wheel frame, 20, hand screw, 21, supporting spring group a,22, supporting spring group b,23, guiding wheel, 24, hold-in range, 25, synchronous pulley, 26, second support, 27, first support, 28 carrying case hanging hole, 29, fixed buckle, 30, and synchronizing wheel.
Detailed Description
The intelligent stair climbing machine provided by the invention is further detailed and fully described below by combining the embodiment. The following examples are illustrative only and are not to be construed as limiting the invention.
An intelligent stair climbing machine, as shown in figure 1, comprises a guide mechanism 3, a balance supporting mechanism 6, a driving mechanism 13, a control system 10 and a vehicle body; the guide mechanism 3 is movably connected to one side of the vehicle body, the upper part of the balance supporting mechanism 6 is connected with the vehicle body, the driving mechanism 13 is positioned in the vehicle body, the driving mechanism 13 is connected with and drives the guide mechanism 3, and the control system 10 is connected with and controls the driving mechanism 13.
The guide mechanism 3 as shown in fig. 2, the guide mechanism 3 includes a guide wheel frame 19 and a guide wheel 23. The guide wheel frame 19 is movably connected to the side plate of the main frame box through three hand screws 20, three groups of support spring groups a21 and three groups of support spring groups b22, and the rubber guide wheel 23 is mounted on the guide wheel frame 19 through the screws. The guide wheel frame 19 is simultaneously under the elastic force action of the supporting spring groups a21 and b22 at both sides and finally maintains the balanced state under the action of the spring forces at both sides, and the supporting spring group a21 can be pressed or loosened by rotating the hand screw 20, so that the acting force of the supporting spring group a21 on the guide wheel frame 19 is changed, the stress on both sides of the guide wheel frame 19 is unequal, and the guide wheel frame 19 moves along the axial direction of the supporting spring group a21 until the stress on both sides is equal and then is in the balanced state again. I.e. the distance and angle between the guide mechanism 3 and the side plate can be adjusted by screwing the screw 20 by hand, so that the machine has self-adaptability.
As shown in fig. 3 and 1, the balance support mechanism 6 is connected to the vehicle body and the second support 26 by an upper angle adjusting plate 82 and a lower angle adjusting plate 81 at both ends of the first support 27, and can adjust the angles of the first support 27 and the vehicle body and the second support 26. Taking the connection of the first supporting member 27 and the second supporting member 26 as an example, the first supporting member 27 is connected with the second supporting member 26 through the lower angle adjusting plate 81 to form an angle-adjustable T-shaped supporting frame, that is, the first supporting member 27 and the second supporting member 26 are both connected with the lower angle adjusting plate 81. The lower angle adjusting plate 81 is provided with an arc-shaped through hole, a connecting pin penetrates through the arc-shaped through hole, two ends of the connecting pin are located at two sides of the arc-shaped through hole, one end of the connecting pin vertically penetrates through one end of the first supporting piece 27 and is matched with a nut, the outer diameter of the other end of the connecting pin is larger than the width of the arc-shaped through hole, therefore, the connecting pin can move in the arc-shaped through hole and drive the first supporting piece 27 connected with the connecting pin to move, and any position in the arc-shaped through hole is pressed against the first supporting piece 27 and the lower angle adjusting plate 81 through the nut screwed into one end of the connecting pin, so that the first supporting piece 27 and the lower angle adjusting plate 81 are fixed and do not move relatively. The lower angle adjusting plate 81 is also fixedly connected with the second supporting member 26, so that the first supporting member 27 and the second supporting member 26 are driven by the connecting pin to perform relative movement, and the first supporting member 27 is fixed by the nut after reaching the required angle, so that the angles of the first supporting member 27 and the second supporting member 26 are adjusted. The upper angle adjusting plate 82 is identical in structure to the lower angle adjusting plate 81, and the first support 27 adjusts the angle with the vehicle body in the same manner.
The first support piece 27 is provided with a carrying box hanging hole 28 for supporting goods, the second support piece 26 is provided with two aluminum alloy synchronous pulleys 25, three plastic synchronous pulleys 30 are buckled through fixing buckles 29, meanwhile, the synchronous belt tightness adjusting mechanism 12 is provided with two plastic synchronous tensioning pulleys 2 for adjusting the synchronous belt tightness, and the synchronous pulleys 25, the synchronous pulleys 30 and the synchronous tensioning pulleys 2 are spread and tension the synchronous belt 24, so that the synchronous belt supporting mechanism 9 is jointly formed and used for balancing the moment of a weight and a vehicle body.
As shown in fig. 4, the driving mechanism 13 is provided with a lithium battery 5 on a vehicle body frame box, a direct current motor 11 is decelerated through a worm gear mechanism 18, rotation is transmitted to a secondary reduction gear set 17 meshed with the worm gear mechanism 18, then transmitted to a gear shifting gear set 15 meshed with the secondary reduction gear set 17, finally transmitted to a main shaft serving as a central shaft of the gear shifting gear set 15 and drives a U-shaped wheel 14 of an inflatable rubber tire externally attached to the main shaft to operate, and machine operation power is provided. By shifting the shift fork 16 to a desired speed, the shift fork 16 is shifted to switch the meshing gears of the secondary reduction gear set 17 and the shift gear set 15, thereby changing the rotational speed of the main shaft as the central shaft of the shift gear set 15, i.e., changing the rotational speed of the clevis 14 externally attached to the main shaft. In addition, the self-locking of the worm gear mechanism 18 can be used to hold the machine in any position without slipping down.
The control system 10 comprises a main control chip, a plurality of infrared induction sensors connected with the main control chip, an LED display, a keyboard, a relay and a switch. The infrared sensor comprises a human body infrared sensor and a curve induction sensor. The single chip microcomputer is used as a main control chip, and is externally connected with an infrared sensor, a human body infrared sensor, a matrix keyboard, an LED display, a relay and a switch. The floor can be accurately judged through the induction signal processing of the infrared induction sensor on the curve of the stair railing, the avoidance of pedestrians can be realized through the signal processing of the human body infrared induction sensor, the matrix keyboard and the LED display are used for inputting and displaying the set floor, and the singlechip controls the running state of the machine through controlling the state of the relay.
The invention completes the safe and rapid unmanned upstairs and downstairs delivery work process as follows: referring to fig. 5, the distance and angle between the guide mechanism 3 and the vehicle body frame box are adjusted according to the size and shape of the stair railing 1, and then the upper angle adjusting plate 82 and the lower angle adjusting plate 81 are adjusted according to the gradient of the stair railing 1 to enable the synchronous belt 24 to be parallel to the stair railing; inputting a set floor to a control system 10, wherein the control system controls a direct current motor 11 to obtain electricity; the direct current motor 11 operates to drive the worm gear 18, the secondary reduction gear set 17 and the gear shifting gear set 15 to operate, power is transmitted to the main shaft to drive the U-shaped wheel 14 to rotate, and the U-shaped wheel 14 uses friction between the inflated rubber tire and the stair railing to carry goods to go upstairs. In the running process of going upstairs and downstairs, the guiding mechanism and the supporting mechanism form moment balance in the horizontal direction, so that the trolley runs stably; the infrared sensor can obtain accurate floors by processing detection signals of the number of the curves of the stair railing, so that the function of accurately positioning the floors is achieved; the control system controls the running state of the machine according to the signals of the human body infrared induction switch so as to avoid collision with pedestrians.
Finally, what is necessary here is: the above embodiments are only for further detailed description of the technical solutions of the present invention, and should not be construed as limiting the scope of the present invention, and some insubstantial modifications and adjustments made by those skilled in the art from the above description of the present invention are all within the scope of the present invention.
Claims (5)
1. An intelligent stair climbing machine, which is characterized by comprising: guiding mechanism (3), balanced supporting mechanism (6), actuating mechanism (13), control system (10) and automobile body, wherein:
the guide mechanism (3) is movably connected to one side of the vehicle body, the upper part of the balance supporting mechanism (6) is connected with the vehicle body, the driving mechanism (13) is positioned in the vehicle body, the driving mechanism (13) is connected with and drives the guide mechanism (3), and the control system (10) is connected with and controls the driving mechanism (13);
the driving mechanism (13) is a gear motor, a gear motor shaft of the gear motor is driven to the U-shaped wheel (14) in a transmission way, and the U-shaped wheel (14) is attached to the stair railing to run by friction force; the guide mechanism (3) and the balance supporting mechanism (6) are respectively positioned at two sides of the U-shaped wheel (14) to form balance moment;
the balance supporting mechanism (6) comprises a first supporting piece (27) and a second supporting piece (26), one end of the first supporting piece (27) is movably connected with the vehicle body, the other end of the first supporting piece is movably connected with the middle part of the second supporting piece (26), and a carrying box hanging hole (28) is formed in the upper surface of the first supporting piece (27);
the first supporting piece (27) is connected with the lower angle adjusting plate (81) through a connecting pin perpendicular to the first supporting piece, the lower angle adjusting plate (81) is fixedly connected with the middle of the second supporting piece (26), an arc-shaped through hole is formed in the lower angle adjusting plate (81), the connecting pin penetrates through the arc-shaped through hole and can move in the arc-shaped through hole, the first supporting piece (27) is linked to rotate around the center of the lower angle adjusting plate (81), the other end of the first supporting piece (27) is connected with a vehicle body through an upper angle adjusting plate (82), and the upper angle adjusting plate (82) and the lower angle adjusting plate (81) are identical in structure;
the guiding mechanism (3) comprises a guiding wheel frame (19) and a guiding wheel (23), the guiding wheel (23) is arranged on the guiding wheel frame (19) through a screw, and the guiding wheel frame (19) is connected to one side of a vehicle body through at least one hand-screwed screw (20);
the hand screw (20) and the two sides of the guide wheel frame (19) are sleeved with a supporting spring set a (21) and a supporting spring set b (22).
2. The intelligent stair climbing machine according to claim 1, wherein: the control system (10) comprises a main control chip, a human body infrared induction sensor and a curve induction sensor which are connected with the main control chip, an LED display, a keyboard, a relay and a switch; the keyboard and the curve induction sensor are electrically connected with the control chip, and the control chip controls the stair climbing machine to run to the input floor by combining the floor number received by the keyboard and the curve number received by the curve induction sensor.
3. The intelligent stair climbing machine according to claim 1, wherein: the second support (26) is provided with a plurality of wheels which prop open and tighten the synchronous belt (24).
4. The intelligent stair climbing machine according to claim 1, wherein: the direct current motor (11) of the driving mechanism (13) is decelerated through a worm gear mechanism (18), rotation is transmitted to a secondary reduction gear set (17) meshed with the worm gear mechanism (18), the direct current motor is further transmitted to a gear shifting gear set (15) meshed with the secondary reduction gear set (17), finally the direct current motor is transmitted to a main shaft serving as a central shaft of the gear shifting gear set (15) and drives a U-shaped wheel (14) externally attached to the main shaft to operate, and a gear shifting fork (16) is shifted to switch the meshed gears of the secondary reduction gear set (17) and the gear shifting gear set (15), so that the rotating speed of the U-shaped wheel (14) externally attached to the main shaft is changed.
5. The intelligent stair climbing machine according to claim 4, wherein: the worm and gear mechanism (18) is designed to be a self-locking structure so as to ensure that the stair climbing machine does not slide downwards when stopped at any position.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017112658237 | 2017-12-05 | ||
| CN201711265823 | 2017-12-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108622223A CN108622223A (en) | 2018-10-09 |
| CN108622223B true CN108622223B (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810060412.2A Active CN108622223B (en) | 2017-12-05 | 2018-01-22 | Intelligent stair climbing machine |
| CN201820103600.4U Expired - Fee Related CN208278187U (en) | 2017-12-05 | 2018-01-22 | A kind of novel intelligent climbing machine |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820103600.4U Expired - Fee Related CN208278187U (en) | 2017-12-05 | 2018-01-22 | A kind of novel intelligent climbing machine |
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| CN (2) | CN108622223B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112353579B (en) * | 2020-11-13 | 2023-01-31 | 长春理工大学 | Traction type old-people-assisting stair climbing device and working method thereof |
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| CN106976489A (en) * | 2017-03-24 | 2017-07-25 | 广西大学 | One kind automation stepping is climbed tree monitoring sniffing robot |
| CN107352354A (en) * | 2016-05-10 | 2017-11-17 | 辽东学院 | Stairs-mover |
-
2018
- 2018-01-22 CN CN201810060412.2A patent/CN108622223B/en active Active
- 2018-01-22 CN CN201820103600.4U patent/CN208278187U/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2738858A1 (en) * | 1995-09-18 | 1997-03-21 | John Quinlan | Spiral staircase incorporating chair-lift on central column |
| CA2340172A1 (en) * | 2000-03-10 | 2001-09-10 | Gerd Grass | Drive configuration for stair lifts |
| CN201516880U (en) * | 2009-10-16 | 2010-06-30 | 谢军芳 | Electrical pole lifting cleaning coater |
| CN101734300A (en) * | 2009-12-02 | 2010-06-16 | 中国计量学院 | Continuous movable type cable climbing device |
| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
| CN103230319A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Wheelchair seat position and posture adjusting mechanism |
| WO2015090399A1 (en) * | 2013-12-19 | 2015-06-25 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
| EP3178617A2 (en) * | 2015-12-11 | 2017-06-14 | Tata Consultancy Services Ltd. | Hybrid reality based i-bot navigation and control |
| CN107352354A (en) * | 2016-05-10 | 2017-11-17 | 辽东学院 | Stairs-mover |
| CN106976489A (en) * | 2017-03-24 | 2017-07-25 | 广西大学 | One kind automation stepping is climbed tree monitoring sniffing robot |
| CN106672752A (en) * | 2017-04-06 | 2017-05-17 | 河北致德楼道电梯销售有限公司 | Corridor stairlift |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108622223A (en) | 2018-10-09 |
| CN208278187U (en) | 2018-12-25 |
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