CN108861971A - A kind of walking mechanism of intellect service robot - Google Patents
A kind of walking mechanism of intellect service robot Download PDFInfo
- Publication number
- CN108861971A CN108861971A CN201810823718.9A CN201810823718A CN108861971A CN 108861971 A CN108861971 A CN 108861971A CN 201810823718 A CN201810823718 A CN 201810823718A CN 108861971 A CN108861971 A CN 108861971A
- Authority
- CN
- China
- Prior art keywords
- wall
- welded
- slot
- block
- arc
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
- B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
-
- 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
-
- 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
- A61G5/10—Parts, details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/16—Braking or catch devices operating between cars, cages, or skips and fixed guide elements or surfaces in hoistway or well
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
- B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
- B66B9/0807—Driving mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of walking mechanism of intellect service robot, including seat, the side of seat is provided with limit protection mechanism, the side surface of seat is welded with hand pressure plate, the bottom of seat is welded with supporting leg, the bottom interlocking of seat has cabinet, the inner wall of cabinet is welded with support rod, the surface of support rod is welded with motor, the output shaft of motor is fixedly connected with worm screw by shaft coupling, and the surface of cabinet is run through and extended in one end of worm screw, and the inner wall of cabinet is provided with bearing, the inner ring of bearing and the surface of worm screw are welded, and service field is related to.The walking mechanism of the intellect service robot passes through setting circular air cushion, on the one hand, circular air cushion can play the role of contraction and stretching, extension climbing snap-gauge, on the other hand, circular air cushion can play the role of damping during climbing building, to which there are biggish security risks during on servicing disadvantaged group downstairs for the current intellect service robot of effective solution, very inconvenient problem is used.
Description
Technical field
The present invention relates to service technology field, specially a kind of walking mechanism of intellect service robot.
Background technique
With the progress of science and technology, intelligent robot begins to use the various aspects to social life, in many places
Various services are provided for people, intelligent robot has plenty of no walking mechanism, and it is fixed on a certain place and works,
Have plenty of with walking mechanism, it is mobile to complete service role to need to carry out position.
It is broadly divided into the walking mechanism of intelligent robot, walk by two legs, by wheel movement and dependence
The mobile robot of crawler belt, selects suitable walking mechanism to be to adapt to different environment, but for some special items
Part, they still are difficult to adapt to, for example the upper of the elderly and the disabled is gone downstairs, and today's society floor building is higher and higher, up and down
Building relies on elevator substantially, once this part disadvantaged group will be very inconvenient there is a situation where having a power failure, often hears certain in news
Certain cell has a power failure more than ten days, and old man cannot go downstairs substantially, and life is made troubles, and for some old-fashioned cells, short building
Layer without assembly elevator, the people of inconvenient walking just year in year out seldom downstairs, so I is just intended to invent one kind and can be convenient
Upper wheel chair robot downstairs.
Current wheel chair robot is corresponding there are also that can play the role of in upper design downstairs, but less square
Just, it is found in investigation, the robot that can climb building is mainly the robot for relying on crawler travel, during climbing building, is carried out
The surface of band and 90 degree of corners of stair fit, upstairs or downstairs by frictional force, but crawler belt and stair contact surface
Product is very big, and during climbing building, crawler belt can obliquely be attached to the sharp corner of ladder comprehensively, so needing completely to connecting, often
All there can be no mistakes at one, are just avoided that wheelchair will not slide into, and lack corresponding emergency defence organization in walking mechanism,
If the gear projecting surface of track surface is contacted with sharp corner, it is easy to occur skidding suddenly, then user slides suddenly
In the case of be easy to panic, cause crawler belt to will appear bigger deviation, there are biggish security risk, current Intellectual garment
There are biggish security risk during on servicing disadvantaged group downstairs, use is very inconvenient for business robot, so needing
A kind of walking mechanism of intellect service robot.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of walking mechanism of intellect service robot, mesh is solved
For preceding intellect service robot there are biggish security risk during on servicing disadvantaged group downstairs, use is very inconvenient
The problem of.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs：A kind of row of intellect service robot
Mechanism, including seat are walked, the side of the seat is provided with limit protection mechanism, and the side surface of seat is welded with hand pressure plate,
The bottom of seat is welded with supporting leg, and the bottom interlocking of seat has cabinet, and the inner wall of cabinet is welded with support rod, the table of support rod
Face is welded with motor, and the output shaft of motor is fixedly connected with worm screw by shaft coupling, and one end of worm screw is run through and extends to cabinet
Surface, the inner wall of cabinet is provided with bearing, and the inner ring of bearing and the surface of worm screw are welded, and the surface of supporting leg is provided with axis
It holds, the inner ring of bearing is welded with mobile shaft, and the surface of mobile shaft is welded with worm gear, and the surface of worm gear and the surface of worm screw are nibbled
It closes, the bottom interlocking of seat has air pump, and the output end of air pump is socketed with appendix, mobile climbing machine is provided on mobile shaft
Structure, the interlocking of seat have battery, and the output end of battery is electrically connected with the input terminal of motor.
Preferably, the limit protection mechanism includes galianconism link block, long-armed connecting rod, the first cell wall formation block and second
Cell wall formation block, the surface of galianconism link block and the side surface welding of seat, the surface of galianconism link block and long-armed connecting rod
Surface offers the universal slot of card ball, and the inner wall of the universal slot of card ball is arc-shaped shape, and the inner wall of two universal slots of card ball slides
It is connected with rotation multi-directional ball, rotation multi-directional ball is stuck in the inner rotation of the universal slot of card ball and cannot remove the universal slot of card ball, and two
The surface of rotation multi-directional ball is provided with universal connection rod, the both ends of universal connection rod respectively from the surface of different rotation multi-directional balls
Welding.
Preferably, the surface of the long-armed connecting rod and the surface of the first cell wall formation block are hinged, and the first cell wall forms block
Surface and the second cell wall formed block surface offer connection sliding slot, the inner wall for connecting sliding slot slidably connects scaling operation
Bar, the inner wall of the connection sliding slot formed on block positioned at the first cell wall offer slide bar telescopic chute, the inner wall sliding of slide bar telescopic chute
It is connected with limited block, the surface of limited block and the surface of scaling operation bar are welded, and the inner wall of slide bar telescopic chute is welded with spring, bullet
One end of spring and the surface of limited block are welded, and the surface that the first cell wall forms block is threaded with fixed link, scaling operation bar
Surface offers fixing groove, and one end of fixed link is run through and extends to the inside of connection sliding slot, the surface of fixed link and fixing groove
Inner wall grafting.
Preferably, the surface that first cell wall forms block offers the first arc-shaped slot, and the second cell wall forms the table of block
Face offers the second arc-shaped slot, and the inner wall of the inner wall of the first arc-shaped slot and the second arc-shaped slot is rotatably connected to card bead,
The inner wall side sectional view of the inner wall of first arc-shaped slot and the second arc-shaped slot is at skewed.
Preferably, first arc-shaped slot is internally provided with arc sucker, and the first cell wall forms the company of offering on block
Through slot, the inner wall of connectivity slot are socketed with extension air intake duct, extend the surface of one end and arc sucker far from connectivity slot of air intake duct
Socket, the inner wall of connectivity slot are socketed with connection air intake duct, and the inside of long-armed connecting rod offers negative-pressure sealing chamber, connect air intake duct
One end run through and extend to the inside of negative-pressure sealing chamber, the inner wall of negative-pressure sealing chamber slidably connects negative inspiratory pressure plug, negative pressure
The surface of air-breathing plug is socketed with negative inspiratory pressure bar, and the inside that the first cell wall forms block offers displacement sliding slot, is displaced the interior of sliding slot
Wall slidably connects air-breathing pressing plate, and one end of negative inspiratory pressure bar is run through and extends to the inside of displacement sliding slot, and negative inspiratory pressure bar is remote
It welds on the surface of one end and air-breathing pressing plate from negative inspiratory pressure plug.
Preferably, first cell wall, which is formed on block, offers extruding sliding slot, squeezes sliding slot and connects displacement sliding slot with outside
Logical, the inner wall for squeezing sliding slot slidably connects pressure ram, and one end of pressure ram and the surface of air-breathing pressing plate are welded, and pressure ram is separate
One end of air-breathing pressing plate is welded with stripper plate, and the lower surface of stripper plate is welded with gag lever post, and the surface that the first cell wall forms block is opened
Equipped with limiting slot, the inner wall of limiting slot and the surface of gag lever post are slidably connected, and stripper plate is located at the lower section of hand pressure plate.
Preferably, the mobile climbing mechanism includes wheel rim chuck and curved baffle, and the surface of wheel rim chuck and movement turn
The surface of axis is welded, and the inner wall of wheel rim chuck is socketed with circular tire, and the inner wall of wheel rim chuck is socketed with circular air cushion, round gas
For pad between wheel rim chuck and circular tire, the surface of circular tire offers several snap-gauge telescopic chutes, each snap-gauge
The inner wall of telescopic chute slidably connects a climbing snap-gauge, and the surface for climbing snap-gauge is Nian Jie with the surface of circular air cushion.
Preferably, the surface of the wheel rim chuck is welded with round communication chamber, and the surface of round communication chamber is socketed with inflation
Pipe, one end of gas tube is through wheel rim chuck and circular air cushion and the inside for extending to circular air cushion, and appendix is far from air pump
The inside of round communication chamber is run through and extended in one end, and the surface of round communication chamber is provided with bearing, sealing is socketed on bearing
Pad, the inner ring of bearing and the surface of appendix are socketed.
Preferably, the arc-shaped shape in the surface of the curved baffle, the upper surface of curved baffle and the surface of appendix are slided
Connection, curved baffle are located at the top of climbing snap-gauge.
(3) beneficial effect
(1) present invention is mainly applicable to when in use in the corridor of round hand rod, by limit protection mechanism and circle
Hand rod docking, primarily serves restriction effect, prevents robot from relatively large deviation occurs, while can also play the work of emergency defence
With avoiding robot from slipping, cause user injured, then start motor, motor drives worm screw rotation, and worm screw drives worm gear to turn
Dynamic, worm gear drives mobile shaft rotation, and mobile shaft drives mobile climbing mechanism operation, and mobile climbing mechanism is completed in corridor
The work that mountain is gone downstairs avoids conventional tool bring security risk for the convenience downstairs provided in disadvantaged group.
(2) present invention is by setting limit protection mechanism, in use, rotating fixing rod, fixed link is under the action of screw thread
Climb away fixing groove, pulls scaling operation bar, scaling operation bar is slided in the inner wall of connection sliding slot, then the second cell wall is formed
Block and the first cell wall form block and pull open a distance, and round hand rod is then stuck in the first cell wall and forms block and the second cell wall shape
Between blocking, scaling operation bar is then unclamped, scaling operation bar slides into the first cell wall under the action of spring tension and formed on block
Connection sliding slot inside, then rotating fixing rod, fixed link is rotated into inside fixing groove, the inner wall of the first arc-shaped slot and
The inner wall of second arc-shaped slot can slide on round hand rod surface, the length limitation of entire limit protection mechanism machine
The left and right distance of people, if skimble-scamble situation occurs in the wheel height on both sides, farther away wheel can be risen by limitation in situ
Or decline, it remains where one is always, until symmetrical wheel also climbs to sustained height, can play to correct adjusting and the work of limitation
With, reduce the generation of misalignment, once occur relatively large deviation, hand pressure plate can robot make mistakes glide during moment
It is pressed against stripper plate, stripper plate squeezes pressure ram, and pressure ram squeezes air-breathing pressing plate, and pressure of inspiration(Pi) strip moves negative inspiratory pressure bar to moving down
Dynamic, negative inspiratory pressure bar drives negative inspiratory pressure plug to twitch gas downwards on negative-pressure sealing cavity wall, is fitted at this time round hand steered
The gas of arc suction cup interior on bar is taken out by negative inspiratory pressure plug by connection air intake duct and extension air intake duct, arc sucker meeting
Moment tightly round hand rod is sucked, reached fast short stopping drop, avoided safety accident, protection user's safety.
(3) present invention can reduce frictional force, facilitate limit protection mechanism with machine by setting card bead, one side card bead
Device people moves up dynamic in round hand rod, and on the other hand, round hand rod can be stuck in the first arc-shaped slot and the second arc by card bead
Inside shape card slot, connection is avoided to fall off.
(4) for the present invention by setting rotation multi-directional ball and universal connection rod, rotation multi-directional ball can inside the universal slot of card ball
With all-directional rotation, universal connection rod is connected to two rotation multi-directional balls, can be convenient the flexible rotating of limit protection mechanism, side
Just limit protection mechanism is with robot movement.
(5) hand pressure plate of the present invention forms this three sections of block by setting galianconism link block, long-armed connecting rod and the first cell wall
Structure, rotation multi-directional ball and universal connection rod etc. play the role of flexible connection among these three structures, can make entire
Limit protection mechanism is flexible as arm in use.
(6) by setting hand pressure plate, one side hand pressure plate can play overlap joint arm and support other objects the present invention
The effect of product, on the other hand can in the case where making mistakes moment play the role of squeeze pumping.
(7) present invention is by being arranged mobile climbing mechanism, and during climbing building, first booster air pump, air pump passes through appendix
Case circle communication chamber inner inflatable, gas pass through gas tube again and enter inside circular air cushion, and circular air cushion expansion will climb snap-gauge
It is extruded in the inside of corresponding snap-gauge telescopic chute and a distance will be protruded, then the angle between every two climbing snap-gauge
Easily stair can be clamped, can be released circular air cushion internal gas with speeling stairway, but when do not need stair climbing
It puts, circular air cushion, which is shunk, to retract climbing snap-gauge inside circular tire, and circular tire contacts ground, convenient to move in flat road surface
It is dynamic.
(8) the climbing snap-gauge on each wheel of the invention is relatively independent, will not interfere to play and climb on wheel
The operation of snap-gauge, will not be as crawler belt, and little by little fault will generate very serious consequence, meanwhile, climbing snap-gauge folding and unfolding is certainly
Such as, it is easy to use.
(9) present invention passes through setting circular air cushion, on the one hand, circular air cushion can play contraction and snap-gauge is climbed in stretching, extension
Effect, on the other hand, circular air cushion can play the role of damping during climbing building, so that effective solution is current
There are biggish security risks during on servicing disadvantaged group downstairs for intellect service robot, are asked using very inconvenient
Topic.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is limit protection mechanism of the present invention cross-sectional view；
Fig. 3 is the first arc-shaped slot side sectional view of the invention；
Fig. 4 is the mobile climbing mechanism cross-sectional view of the present invention；
Fig. 5 is circular air cushion structure sectional view of the present invention；
Fig. 6 is circular tire structure front view of the present invention.
Wherein, 1 seat, 2 limit protection mechanisms, 201 galianconism link blocks, 202 long-armed connecting rods, 203 first cell walls are formed
Block, 204 second cell walls formed block, the universal slot of 205 card balls, 206 rotation multi-directional balls, 207 universal connection rods, 208 connection sliding slots,
209 scaling operation bars, 2010 slide bar telescopic chutes, 2011 limited blocks, 2012 springs, 2013 fixed links, 2014 fixing grooves, 2,015
One arc-shaped slot, 2,016 second arc-shaped slots, 2017 card beads, 2018 arc suckers, 2019 connectivity slots, 2020 extend air intake ducts,
2021 connection air intake ducts, 2022 negative-pressure sealing chambers, 2023 negative inspiratory pressure plugs, 2024 negative inspiratory pressure bars, 2025 displacement sliding slots, 2026
Air-breathing pressing plate, 2027 squeeze sliding slot, 2028 pressure rams, 2029 stripper plates, 2030 gag lever posts, 2031 limiting slots, 3 hand pressure plates, 4
Supporting leg, 5 cabinets, 6 support rods, 7 motors, 8 worm screws, 9 mobile shafts, 10 worm gears, 11 air pumps, 12 appendixs, 13 mobile climbings
Mechanism, 1301 wheel rim chucks, 1302 curved baffles, 1303 circular tires, 1304 circular air cushions, 1305 snap-gauge telescopic chutes, 1306
Climb snap-gauge, 1307 gas tubes, 1308 round communication chambers, 14 batteries.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
As shown in figures 1 to 6, the embodiment of the present invention provides a kind of walking mechanism of intellect service robot, including seat 1, chair
The side of seat 1 is provided with limit protection mechanism 2, and limit protection mechanism 2 includes galianconism link block 201, long-armed connecting rod 202, the
One cell wall forms block 203 and the second cell wall forms block 204, and the surface of galianconism link block 201 and the side surface of seat 1 are welded, short
The surface of arm link block 201 and the surface of long-armed connecting rod 202 offer the universal slot 205 of card ball, the universal slot 205 of card ball it is interior
Wall is arc-shaped shape, and the inner wall of the universal slot 205 of two card balls slidably connects rotation multi-directional ball 206, and rotation multi-directional ball 206 is blocked
The universal slot 205 of card ball inner rotation and the universal slot 205 of card ball cannot be removed, two rotation multi-directional balls 206 surfaces setting
There is universal connection rod 207, the both ends of universal connection rod 207 are welded from the surface of different rotation multi-directional balls 206 respectively, long-armed company
The surface of extension bar 202 and the surface that the first cell wall forms block 203 are hinged, and the first cell wall forms surface and the second cell wall of block 203
The surface for forming block 204 offers connection sliding slot 208, and the inner wall of connection sliding slot 208 slidably connects scaling operation bar 209,
The inner wall of the connection sliding slot 208 formed on block 203 positioned at the first cell wall offers slide bar telescopic chute 2010, slide bar telescopic chute 2010
Inner wall slidably connect limited block 2011, the surface of limited block 2011 and the surface of scaling operation bar 209 are welded, and slide bar is flexible
The inner wall of slot 2010 is welded with spring 2012, and one end of spring 2012 and the surface of limited block 2011 are welded, and the first cell wall is formed
The surface of block 203 is threaded with fixed link 2013, and the surface of scaling operation bar 209 offers fixing groove 2014, fixed link
The inside of connection sliding slot 208 is run through and extended in 2013 one end, and the surface of fixed link 2013 and the inner wall of fixing groove 2014 are inserted
It connects, the surface that the first cell wall forms block 203 offers the first arc-shaped slot 2015, and the surface that the second cell wall forms block 204 opens up
There is the second arc-shaped slot 2016, the inner wall of the first arc-shaped slot 2015 and the inner wall of the second arc-shaped slot 2016 are rotatably connected to
Card bead 2017, the inner wall side sectional view of the inner wall of the first arc-shaped slot 2015 and the second arc-shaped slot 2016 is at skewed, and
One arc-shaped slot 2015 is internally provided with arc sucker 2018, and the first cell wall forms on block 203 and offers connectivity slot 2019, even
The inner wall of through slot 2019, which is socketed with, extends air intake duct 2020, extends air intake duct 2020 one end and arc far from connectivity slot 2019 and inhales
The surface of disk 2018 is socketed, and the inner wall of connectivity slot 2019 is socketed with connection air intake duct 2021, and the inside of long-armed connecting rod 202 opens up
There is negative-pressure sealing chamber 2022, one end of connection air intake duct 2021 is run through and extends to the inside of negative-pressure sealing chamber 2022, negative-pressure dense
The inner wall of envelope chamber 2022 slidably connects negative inspiratory pressure plug 2023, and the surface of negative inspiratory pressure plug 2023 is socketed with negative inspiratory pressure bar
2024, the inside that the first cell wall forms block 203 offers displacement sliding slot 2025, and the inner wall of displacement sliding slot 2025 slidably connects suction
One end of atmospheric pressure board 2026, negative inspiratory pressure bar 2024 is run through and extends to the inside of displacement sliding slot 2025, negative inspiratory pressure bar 2024
The surface of one end and air-breathing pressing plate 2026 far from negative inspiratory pressure plug 2023 is welded, and is offered on the first cell wall formation block 203 crowded
Sliding slot 2027 is pressed, sliding slot 2027 is squeezed and is connected to displacement sliding slot 2025 with outside, the inner wall for squeezing sliding slot 2027 slidably connects
Pressure ram 2028, one end of pressure ram 2028 and the surface of air-breathing pressing plate 2026 are welded, and pressure ram 2028 is far from air-breathing pressing plate
2026 one end is welded with stripper plate 2029, and the lower surface of stripper plate 2029 is welded with gag lever post 2030, and the first cell wall forms block
203 surface offers limiting slot 2031, and the surface of the inner wall and gag lever post 2030 of limiting slot 2031 is slidably connected, stripper plate
2029 are located at the lower section of hand pressure plate 3, and the side surface of seat 1 is welded with hand pressure plate 3, and the bottom of seat 1 is welded with supporting leg
4, the bottom interlocking of seat 1 has cabinet 5, and the inner wall of cabinet 5 is welded with support rod 6, and the surface of support rod 6 is welded with motor 7, electricity
The output shaft of machine 7 is fixedly connected with worm screw 8 by shaft coupling, and the surface of cabinet 5, cabinet 5 are run through and extended in one end of worm screw 8
Inner wall be provided with bearing, the inner ring of bearing and the surface of worm screw 8 are welded, and the surface of supporting leg 4 is provided with bearing, bearing it is interior
Lap welding is connected to mobile shaft 9, and the surface of mobile shaft 9 is welded with worm gear 10, and the surface of worm gear 10 is engaged with the surface of worm screw 8,
The bottom interlocking of seat 1 has air pump 11, and the output end of air pump 11 is socketed with appendix 12, and movement is provided on mobile shaft 9 and is climbed
Mechanism 13 is climbed, mobile climbing mechanism 13 includes wheel rim chuck 1301 and curved baffle 1302, the surface of wheel rim chuck 1301 and shifting
The surface of turn axis 9 is welded, and the inner wall of wheel rim chuck 1301 is socketed with circular tire 1303, the inner wall socket of wheel rim chuck 1301
Have circular air cushion 1304, circular air cushion 1304 between wheel rim chuck 1301 and circular tire 1303, circular tire 1303
Surface offers several snap-gauge telescopic chutes 1305, and the inner wall of each snap-gauge telescopic chute 1305 slidably connects a climbing
Snap-gauge 1306, the surface for climbing snap-gauge 1306 is Nian Jie with the surface of circular air cushion 1304, and the surface of wheel rim chuck 1301 is welded with
Round communication chamber 1308, the surface of round communication chamber 1308 are socketed with gas tube 1307, and wheel rim is run through in one end of gas tube 1307
Chuck 1301 and circular air cushion 1304 and the inside for extending to circular air cushion 1304, appendix 12 run through far from one end of air pump 11
And the inside of round communication chamber 1308 is extended to, the surface of round communication chamber 1308 is provided with bearing, and sealing is socketed on bearing
The surface of pad, the inner ring of bearing and appendix 12 is socketed, the arc-shaped shape in the surface of curved baffle 1302, curved baffle 1302 it is upper
Surface and the surface of appendix 12 are slidably connected, and curved baffle 1302 is located at the top of climbing snap-gauge 1306, and the interlocking of seat 1 has
The output end of battery 14, battery 14 is electrically connected with the input terminal of motor 7.
In use, discharging 1304 internal gas of circular air cushion when not needing stair climbing, circular air cushion 1304 is shunk
Climbing snap-gauge 1306 can be retracted inside circular tire 1303, circular tire 1303 contacts ground, can be on flat road surface
It uses, when needing on stair climbing downstairs, first booster air pump 11, air pump 11 passes through inside 12 casees circle communication chambers 1308 of appendix
Inflation, gas pass through gas tube 1307 again and enter inside circular air cushion 1304, and the expansion of circular air cushion 1304 will climb snap-gauge 1306
It is extruded in the inside of corresponding snap-gauge telescopic chute 1305 and a distance will be protruded, then rotating fixing rod 2013, it is fixed
Bar 2013 climbs away fixing groove 2014 under the action of screw thread, pulls scaling operation bar 209, and scaling operation bar 209 is connecting
The inner wall of sliding slot 208 slides, then the second cell wall formation block 204 and the first cell wall are formed block 203 and pull open a distance, then will
Round hand rod is stuck in the first cell wall and is formed between block 203 and the second cell wall formation block 204, then unclamps scaling operation bar 209,
Scaling operation bar 209 slides into the first cell wall under the action of 2012 pulling force of spring and is formed inside the connection sliding slot 208 on block 203,
Then rotating fixing rod 2013 rotate into fixed link 2013 inside fixing groove 2014, the inner wall of the first arc-shaped slot 2015
It can be slided on round hand rod surface with the inner wall of the second arc-shaped slot 2016, if robot fault is glided, hand pressure
The meeting of plate 3 moment during robot makes mistakes and glides is pressed against stripper plate 2029, and stripper plate 2029 squeezes pressure ram 2028, squeezes
Compression bar 2028 squeezes air-breathing pressing plate 2026, and air-breathing pressing plate 2026 drives negative inspiratory pressure bar 2024 to move down, negative inspiratory pressure bar
2024 drive negative inspiratory pressure plugs 2023 twitch downwards gas on 2022 inner wall of negative-pressure sealing chamber, are fitted in round hand rod at this time
On arc sucker 2018 inside gas by negative inspiratory pressure plug 2023 by connection air intake duct 2021 and extend air intake duct 2020
Take out, arc sucker 2018 can moment tightly round hand rod is sucked, so as to complete the row of entire intellect service robot
Walk the use process of mechanism.
Claims (9)
1. a kind of walking mechanism of intellect service robot, including seat (1), it is characterised in that：The side of the seat (1) is set
It is equipped with limit protection mechanism (2), the side surface of seat (1) is welded with hand pressure plate (3), and the bottom of seat (1) is welded with support
Leg (4), the bottom interlocking of seat (1) have cabinet (5), and the inner wall of cabinet (5) is welded with support rod (6), the surface of support rod (6)
It is welded with motor (7), the output shaft of motor (7) is fixedly connected with worm screw (8) by shaft coupling, and one end of worm screw (8) is through simultaneously
The surface of cabinet (5) is extended to, the inner wall of cabinet (5) is provided with bearing, and the inner ring of bearing and the surface of worm screw (8) are welded, branch
The surface of support leg (4) is provided with bearing, and the inner ring of bearing is welded with mobile shaft (9), and the surface of mobile shaft (9) is welded with snail
It takes turns (10), the surface of worm gear (10) is engaged with the surface of worm screw (8), and the bottom interlocking of seat (1) has air pump (11), air pump (11)
Output end be socketed with appendix (12), be provided on mobile shaft (9) mobile climbing mechanism (13), the interlocking of seat (1) has
The output end of battery (14), battery (14) is electrically connected with the input terminal of motor (7).
2. a kind of walking mechanism of intellect service robot according to claim 1, it is characterised in that：The limit protection
Mechanism (2) includes galianconism link block (201), long-armed connecting rod (202), the first cell wall forms block (203) and the second cell wall is formed
Block (204), the surface of galianconism link block (201) and the side surface of seat (1) are welded, the surface of galianconism link block (201) and length
The surface of arm connecting rod (202) offers the universal slot of card ball (205), and the inner wall of the universal slot of card ball (205) is arc-shaped shape, and two
The inner wall of a universal slot of card ball (205) slidably connects rotation multi-directional ball (206), and rotation multi-directional ball (206) is stuck in card ball ten thousand
To slot (205) inner rotation and the universal slot of card ball (205) cannot be removed, two rotation multi-directional ball (206) surfaces be provided with
Universal connection rod (207), the both ends of universal connection rod (207) are welded from the surface of different rotation multi-directional balls (206) respectively.
3. a kind of walking mechanism of intellect service robot according to claim 2, it is characterised in that：The long-armed connection
The surface of bar (202) and the surface that the first cell wall forms block (203) are hinged, and the first cell wall forms the surface and second of block (203)
The surface that cell wall forms block (204) offers connection sliding slot (208), and the inner wall of connection sliding slot (208) slidably connects flexible
Operating stick (209), the inner wall for being located at the connection sliding slot (208) that the first cell wall is formed on block (203) offer slide bar telescopic chute
(2010), the inner wall of slide bar telescopic chute (2010) slidably connects limited block (2011), the surface of limited block (2011) and flexible
The surface of operating stick (209) is welded, and the inner wall of slide bar telescopic chute (2010) is welded with spring (2012), one end of spring (2012)
It is welded with the surface of limited block (2011), the surface that the first cell wall forms block (203) is threaded with fixed link (2013), stretches
The surface of operating stick (209) offers fixing groove (2014), and one end of fixed link (2013) is run through and extends to connection sliding slot
(208) inside, the inner wall grafting on the surface and fixing groove (2014) of fixed link (2013).
4. a kind of walking mechanism of intellect service robot according to claim 2, it is characterised in that：First cell wall
The surface for forming block (203) offers the first arc-shaped slot (2015), and the surface that the second cell wall forms block (204) offers second
The inner wall of arc-shaped slot (2016), the inner wall and the second arc-shaped slot (2016) of the first arc-shaped slot (2015) is rotatably connected to
Card bead (2017), the inner wall of the first arc-shaped slot (2015) and the inner wall side sectional view of the second arc-shaped slot (2016) are at inclination
Shape.
5. a kind of walking mechanism of intellect service robot according to claim 4, it is characterised in that：First arc
Card slot (2015) is internally provided with arc sucker (2018), and the first cell wall forms on block (203) and offers connectivity slot (2019),
The inner wall of connectivity slot (2019), which is socketed with, extends air intake duct (2020), extends one of air intake duct (2020) far from connectivity slot (2019)
The surface at end and arc sucker (2018) is socketed, and the inner wall of connectivity slot (2019) is socketed with connection air intake duct (2021), long-armed company
The inside of extension bar (202) offers negative-pressure sealing chamber (2022), and one end of connection air intake duct (2021) is run through and extends to negative pressure
The inside of seal chamber (2022), the inner wall of negative-pressure sealing chamber (2022) slidably connect negative inspiratory pressure plug (2023), negative inspiratory pressure
The surface of plug (2023) is socketed with negative inspiratory pressure bar (2024), and the inside that the first cell wall forms block (203) offers displacement sliding slot
(2025), the inner wall for being displaced sliding slot (2025) slidably connects air-breathing pressing plate (2026), and one end of negative inspiratory pressure bar (2024) is passed through
Wear and extend to the inside of displacement sliding slot (2025), negative inspiratory pressure bar (2024) one end and suction far from negative inspiratory pressure plug (2023)
It welds on the surface of atmospheric pressure board (2026).
6. a kind of walking mechanism of intellect service robot according to claim 5, it is characterised in that：First cell wall
It is formed on block (203) to offer and squeezes sliding slot (2027), squeezed sliding slot (2027) and be connected to displacement sliding slot (2025) with outside, squeeze
The inner wall of pressure sliding slot (2027) slidably connects pressure ram (2028), one end and air-breathing pressing plate (2026) of pressure ram (2028)
Surface welding, pressure ram (2028) are welded with stripper plate (2029) far from the one end of air-breathing pressing plate (2026), stripper plate (2029)
Lower surface be welded with gag lever post (2030), the first cell wall formed block (203) surface offer limiting slot (2031), limiting slot
(2031) inner wall and the surface of gag lever post (2030) are slidably connected, and stripper plate (2029) is located at the lower section of hand pressure plate (3).
7. a kind of walking mechanism of intellect service robot according to claim 1, it is characterised in that：The mobile climbing
Mechanism (13) includes wheel rim chuck (1301) and curved baffle (1302), the surface and mobile shaft (9) of wheel rim chuck (1301)
Surface welding, the inner wall of wheel rim chuck (1301) is socketed with circular tire (1303), the inner wall socket of wheel rim chuck (1301)
Have circular air cushion (1304), circular air cushion (1304) is located between wheel rim chuck (1301) and circular tire (1303), circular wheel
The surface of tire (1303) offers several snap-gauge telescopic chutes (1305), and the inner wall of each snap-gauge telescopic chute (1305) slides
It is connected with a climbing snap-gauge (1306), the surface for climbing snap-gauge (1306) is Nian Jie with the surface of circular air cushion (1304).
8. a kind of walking mechanism of intellect service robot according to claim 7, it is characterised in that：The wheel rim chuck
(1301) surface is welded with round communication chamber (1308), and the surface of round communication chamber (1308) is socketed with gas tube (1307),
One end of gas tube (1307) is through wheel rim chuck (1301) and circular air cushion (1304) and extends to circular air cushion (1304)
Inside, appendix (12) run through and extend to the inside of round communication chamber (1308), circle connection far from the one end of air pump (11)
The surface of room (1308) is provided with bearing, and gasket is socketed on bearing, and the inner ring of bearing and the surface of appendix (12) are socketed.
9. a kind of walking mechanism of intellect service robot according to claim 7, it is characterised in that：The curved baffle
(1302) the arc-shaped shape in surface, the upper surface of curved baffle (1302) and the surface of appendix (12) are slidably connected, arc gear
Plate (1302) is located at the top of climbing snap-gauge (1306).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823718.9A CN108861971B (en) | 2018-07-25 | 2018-07-25 | A kind of walking mechanism of intellect service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823718.9A CN108861971B (en) | 2018-07-25 | 2018-07-25 | A kind of walking mechanism of intellect service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108861971A true CN108861971A (en) | 2018-11-23 |
| CN108861971B CN108861971B (en) | 2019-11-29 |
Family
ID=64305195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810823718.9A Active CN108861971B (en) | 2018-07-25 | 2018-07-25 | A kind of walking mechanism of intellect service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108861971B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110980458A (en) * | 2019-12-31 | 2020-04-10 | 深圳优地科技有限公司 | Method for controlling robot to go out of elevator and robot |
| CN111824897A (en) * | 2020-08-03 | 2020-10-27 | 陶天富 | Safety protection device for preventing accidental movement and overspeed of lift car of elevator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2273996Y (en) * | 1996-02-04 | 1998-02-11 | 白文普 | Wheeled chair type nursing bed |
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN1686068A (en) * | 2005-03-31 | 2005-10-26 | 杨玉申 | Medical robot electric nursing bed |
| CN1817578A (en) * | 2006-03-07 | 2006-08-16 | 上海大学 | Movable robot in pipe with variable diameter |
| CN204079172U (en) * | 2014-09-24 | 2015-01-07 | 姚天锡 | A kind of linear pattern staircase |
| US20170001837A1 (en) * | 2010-10-21 | 2017-01-05 | Handicare Accessibility Limited | Stairlift |
-
2018
- 2018-07-25 CN CN201810823718.9A patent/CN108861971B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2273996Y (en) * | 1996-02-04 | 1998-02-11 | 白文普 | Wheeled chair type nursing bed |
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| CN1686068A (en) * | 2005-03-31 | 2005-10-26 | 杨玉申 | Medical robot electric nursing bed |
| CN1817578A (en) * | 2006-03-07 | 2006-08-16 | 上海大学 | Movable robot in pipe with variable diameter |
| US20170001837A1 (en) * | 2010-10-21 | 2017-01-05 | Handicare Accessibility Limited | Stairlift |
| CN204079172U (en) * | 2014-09-24 | 2015-01-07 | 姚天锡 | A kind of linear pattern staircase |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110980458A (en) * | 2019-12-31 | 2020-04-10 | 深圳优地科技有限公司 | Method for controlling robot to go out of elevator and robot |
| CN111824897A (en) * | 2020-08-03 | 2020-10-27 | 陶天富 | Safety protection device for preventing accidental movement and overspeed of lift car of elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108861971B (en) | 2019-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108861971B (en) | A kind of walking mechanism of intellect service robot | |
| CN106038104A (en) | Robot wheelchair vehicle | |
| CN108607179A (en) | A kind of dry powder fire-engine | |
| CN106309038A (en) | Dual-purpose wheelchair | |
| CN109984922B (en) | Medical walking stick of orthopedics | |
| CN212186929U (en) | Stair climbing wheelchair | |
| CN113367945A (en) | Walking aid for rehabilitation | |
| CN110547922B (en) | Multifunctional obstacle-crossing stair-climbing wheelchair and obstacle-crossing stair-climbing method | |
| CN102309114A (en) | Stair-climbing draw-bar box with caterpillar band | |
| CN212249774U (en) | Fire escape window capable of being changed into ladder | |
| CN211532999U (en) | Pipe tongs type walking stick for helping old people to climb stairs | |
| CN210447407U (en) | Foldable electric wheelchair | |
| CN112624005A (en) | Rotary moving rescue device | |
| CN211835059U (en) | Novel wheelchair stair climbing vehicle | |
| CN110905392B (en) | Outdoor emergency ladder for building | |
| CN113952134A (en) | Stair climbing auxiliary device with rehabilitation function | |
| CN112472438A (en) | Electronic-driven auxiliary wheelchair equipment | |
| CN214275204U (en) | Portable energy storage device | |
| CN212462601U (en) | Suspension device is fixed in high altitude construction | |
| CN111449860A (en) | Novel wheelchair stair climbing vehicle | |
| CN111345949B (en) | Automatic stair climbing device, control method and wheelchair | |
| CN217245246U (en) | Climbing mechanism of stair climbing wheelchair | |
| CN213806758U (en) | Assembled stair of little high-rise building construction usefulness | |
| CN211658551U (en) | Stair climbing wheelchair seat adjusting component | |
| CN219794582U (en) | Medical project stress fastening type operation platform frame |
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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230625 Address after: 343400 Yongxin County Industrial Park, Ji'an City, Jiangxi Province Patentee after: Jianpeng Jisheng Data Technology Co.,Ltd. Address before: 518000, Building 2309, West Coast Times Apartment, Shennan Avenue, Nantou Street, Nanshan District, Shenzhen, Guangdong Province Patentee before: SHENZHEN ZHIHUILIN NETWORK TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right |