CN109288633A - A kind of adjustable trilobed wheel of the robot of speeling stairway - Google Patents

A kind of adjustable trilobed wheel of the robot of speeling stairway Download PDF

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Publication number
CN109288633A
CN109288633A CN201811080496.2A CN201811080496A CN109288633A CN 109288633 A CN109288633 A CN 109288633A CN 201811080496 A CN201811080496 A CN 201811080496A CN 109288633 A CN109288633 A CN 109288633A
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China
Prior art keywords
mounting shell
mounting
driving
triggering
drive
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CN201811080496.2A
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CN109288633B (en
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不公告发明人
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HAIMEN HUANGHAI PIONEER PARK SERVICES Co.,Ltd.
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Shenzhen Xin Ban Technology Co Ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06Chairs 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
    • A61G5/061Chairs 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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Toys (AREA)

Abstract

The invention belongs to the adjustable trilobed wheel technical fields of robot, more particularly to a kind of adjustable trilobed wheel of the robot of speeling stairway, it includes driving motor, climbing blade, support teeth bar, mounting shell, servo motor, when the adjustable trilobed wheel that people are designed using the present invention, the climbing blade first having in adjusting trilobed wheel adapts it to the stair for needing to climb;Driving servo motor work at this time;Servo motor drives driving mounting disc rotation by servo motor shaft;Mounting disc rotation is driven to drive drive shaft rotation;It is rotated by drive shaft and adjusts support teeth bar and corresponding three climbing blades to adapt to stair;Driving driving motor works so that driving motor drives output shaft rotation after the completion of adjusting;Output shaft drives mounting shell rotation;Mounting shell just will drive three climbing blades and rotate around the axis of mounting shell;It is gone downstairs by three climbing blade rotation band mobile robots.

Description

A kind of adjustable trilobed wheel of the robot of speeling stairway
Technical field
The invention belongs to the adjustable trilobed wheel technical field of robot more particularly to a kind of robots of speeling stairway adjustable three Impeller.
Background technique
Old, weak, sick, the residual group in the whole nation is populous, and climb building trip for outdoor and interior has inconvenience more, to walking-replacing tool Demand increasingly increase.In order to solve the realistic problem of these specific groups, diversified forms have been used both at home and abroad at present It can be changed wheeled stair climbing wheelchair robot, including manual and electric stairs-climbing wheelchair, there is crawler type, wheel group formula, rail mounted etc..But It is current to can be changed wheeled stair climbing wheelchair and have some defects, for example track type climbing-building wheel chair sport is not flexible, volume is big, and it is heavy, It is big to building body damaged condition, be not suitable for the walking of ordinarily resident's corridor;And structure is complicated for wheel group formula, price is high, and stability is poor;Track Formula needs dedicated track, is not suitable for ordinary consumer;Some need people to push away, draw by star wheel type stair-climbing wheel chair, and stability is poor, behaviour It bothers;There are many unpractical defects for the balanced design of chair when some are for wheelchair stair activity, and are driven using motor Dynamic elevating mechanism carrys out adjustment, although feasible, there is balance adjustments to react insensitive, the defect of malfunction;Institute It is quick on the draw with designing a kind of balance adjustment, flexible operation, structure is simple, the robot ambulation of the higher speeling stairway of cost performance Platform is necessary.
The adjustable trilobed wheel of robot that the present invention designs a kind of speeling stairway solves the problems, such as above.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of adjustable trilobed wheel of robot of speeling stairway, It adopts the following technical solutions to realize.
A kind of adjustable trilobed wheel of the robot of speeling stairway, it is characterised in that: it includes driving motor, climbing blade, branch Support teeth bar, mounting shell, servo motor mounting shell, output shaft, transmission gear, servo motor shaft, servo motor, driving installation Disk, driving cylinder, driving adjusting rod, driving gear, drive shaft, targeting port, installation circular port, blade targeting port, Leaf Conductance Slot, drive connection bar, guiding arc block, triggering connection, rotary gear shaft, angle regulating unit, guiding circular hole, guiding connection, wherein Driving motor is mounted on the mounting rack in robot;Leaf Conductance there are three circumferentially equably being opened on the periphery of mounting shell one end To slot;It is opened on the periphery of the mounting shell other end and is evenly directed to mouth there are three circumferential;Mounting shell is provided with the end of targeting port one end Installation circular port is provided on face;Mounting shell, which is provided on the inner side end of blade guide groove one end to open, is uniformly distributed spiral shell there are three circumferential Revolve the blade guide groove of shape;Mounting shell is not provided with one end of installation circular port and the output axis connection of driving motor;Servo motor peace Dress shell is mounted on one end that installation circular port is provided on mounting shell;Servo motor is mounted on the inside of servo motor mounting shell far from peace On the side for filling shell one end;Driving mounting disc is mounted in the installation circular port on mounting shell, and drives mounting disc and servo electricity Servo motor shaft connection on machine;One end of drive shaft is mounted in driving mounting disc, and drive shaft is located at mounting shell It is interior;Driving gear is mounted in drive shaft;Three rotary gear shafts are circumferentially uniformly mounted to be provided with installation circle in mounting shell On the end face of mouth side;Three transmission gears are separately mounted on three rotary gear shafts;Three transmission gears respectively with sliding tooth Wheel engagement;On three circumferential end faces for being uniformly mounted to be provided with installation circular port side in mounting shell of guiding connection;Three branch It is installed in three guiding connections respectively one end of support teeth bar;The other end of three support teeth bars is each passed through on mounting shell Three targeting ports are located at the outside of mounting shell;Three support teeth bars are located at one end on the inside of mounting shell respectively at three driving cogs Wheel engagement;Driving cylinder is mounted on the other end of drive shaft;Three driving adjusting rods are circumferentially uniformly mounted to driving cylinder Periphery on;It is oriented in the cambered surface of arc block one end and is provided with guiding circular hole;It is not provided with the one of guiding circular hole on three guiding arc blocks End with three blade guide grooves by being fitted in mounting shell;Three driving adjusting rods are each passed through on three guiding arc blocks Guiding circular hole;Three triggering connections are separately mounted on three guiding arc blocks;Three climbing blade one end respectively by with Three blade guide grooves are fitted in mounting shell, and three climbing blades are respectively at three triggerings connection cooperations;Three are climbed Climb the outside that three blade targeting ports that the other end of blade is each passed through on mounting shell are located at mounting shell, and three climbing blades One end on the outside of mounting shell is connected with corresponding three support teeth bars by drive connection bar respectively;Three climbing blades Inside multiple angle regulating units are uniformly in turn installed.
Above-mentioned angle regulating unit includes mounting plate, frizzen, adjustment gear, limit teeth, guide post, triggering driving Block, compressed spring, triggering fixture block, guide groove, pilot hole, mounting groove, V-notch, are wherein provided with perforation on the inside of mounting plate Guide groove;The lower end surface of guide groove side is provided with mounting groove;The lower end surface of mounting groove is provided with pilot hole;Adjustment gear is mounted on Loading board is not provided on the end face of mounting groove side;The side of triggering drive block is provided with V-notch;Trigger the other side peace of drive block Equipped with guide post;Drive block is triggered to pass through in the mounting groove of guide post and pilot hole being coupled on a mounting board;Guide post Compressed spring is installed between pilot hole bottom surface;Limit teeth are mounted on triggering drive block and are located at the outside of mounting plate; The side for triggering fixture block has V-shape protrusion;One end of triggering fixture block is mounted on frizzen;Trigger fixture block by frizzen with Guide groove is fitted on the inside of mounting plate, and one end far from triggering fixture block on frizzen is located at the outside of mounting plate;Touching The V-notch in V-shape protrusion and triggering drive block on hair fastener block cooperates.
Adjustment gear in the above-mentioned angle item section unit being located on the inside of climbing blade is adjusted in unit with adjacent angular to be touched Send out the limit teeth cooperation on drive block;One end and adjacent angle in angle regulating unit far from triggering fixture block on frizzen Adjust the triggering fixture block connection in unit;Frizzen and triggering connection in an angle regulating unit of triggering connection connect It connects.
As the further improvement of this technology, above-mentioned driving mounting disc is mounted on the circle of the installation on mounting shell by bearing Kong Zhong.
As the further improvement of this technology, above-mentioned climbing blade has certain elasticity.
As the further improvement of this technology, the inner circle of above-mentioned driving adjusting rod one end and mounting shell far from driving cylinder Face cooperation.
Relative to traditional adjustable trilobed wheel technology of robot, the robot for the speeling stairway that the present invention designs use three Impeller can adapt to different stair by automatically adjusting;The robot of speeling stairway that the present invention designs simultaneously use three Impeller passes through contact of the arc shape adjusted climbing blade with stair step surface on trilobed wheel in the process of walking to be made Robot is more steady in the process of walking;Prevent climbing robot from occurring shaking and impact to user.
Driving motor is mounted on the mounting rack in robot in the present invention;Mounting shell is not provided with one end of installation circular port With the output axis connection in driving motor;Servo motor mounting shell is mounted on one end that installation circular port is provided on mounting shell;It watches Motor is taken to be mounted on the side on the inside of servo motor mounting shell far from mounting shell one end;Driving mounting disc is mounted on mounting shell Installation circular port in, and drive mounting disc connect with the servo motor shaft on servo motor;It installs one end of drive shaft In driving mounting disc;Driving gear is mounted in drive shaft;Three rotary gear shafts are circumferentially uniformly mounted in mounting shell It is provided on the end face of installation circular port side;Three transmission gears are separately mounted on three rotary gear shafts;Three transmission gears It is engaged respectively with driving gear;The circumferential end for being uniformly mounted to be provided with installation circular port side in mounting shell of three guiding connections On face;It is installed in three guiding connections respectively one end of three support teeth bars;The other end of three support teeth bars is worn respectively Three targeting ports crossed on mounting shell are located at the outside of mounting shell;Three support teeth bars are located at the difference of one end on the inside of mounting shell It is engaged in three transmission gears;Driving cylinder is mounted on the other end of drive shaft;Three driving adjusting rods are circumferentially equably pacified On the periphery of driving cylinder;Be not provided on three guiding arc blocks one end of guiding circular hole by with three blade guide grooves It is fitted in mounting shell;Three driving adjusting rods are each passed through the guiding circular hole on three guiding arc blocks;Three triggerings connect It connects and is separately mounted on three guiding arc blocks;One end of three climbing blades with three blade guide grooves respectively by being coupled In mounting shell, and three climbing blades are respectively at three triggering connection cooperations;The other end of three climbing blades is each passed through Three blade targeting ports on mounting shell are located at the outside of mounting shell, and three climbing blades are located at one end on the outside of mounting shell point It is not connected with corresponding three support teeth bars by drive connection bar;When servo motor work, servo motor can pass through servo Machine shaft drives driving mounting disc rotation;Mounting disc rotation is driven to drive drive shaft rotation;Drive shaft rotation, which drives, drives Moving gear rotation;The rotation of sliding tooth wheel drives three transmission gear rotations;Transmission gear rotation will make three support teeth Bar is mobile;When drive shaft rotation, drive shaft will drive driving cylinder rotation simultaneously;Cylinder rotation is driven to drive three drives Dynamic adjusting rod is rotated around the axis of drive shaft;Three driving adjusting rod rotations just will drive three guiding arc block rotations;By It is oriented in three and is not provided with one end of guiding circular hole on arc blocks by being fitted in mounting shell with three blade guide grooves;Institute It can be moved along corresponding three blade guide grooves with being oriented to arc block during three guiding arc blocks rotate.
Above-mentioned adjustment gear is mounted on mounting plate and is not provided on the end face of mounting groove side;Trigger the other side peace of drive block Equipped with guide post;Drive block is triggered to pass through in the mounting groove of guide post and pilot hole being coupled on a mounting board;Guide post Compressed spring is installed between pilot hole bottom surface;Limit teeth are mounted on triggering drive block and are located at the outside of mounting plate; One end of triggering fixture block is mounted on frizzen;Triggering fixture block is fitted in mounting plate by frizzen and guide groove Side, and one end far from triggering fixture block on frizzen is located at the outside of mounting plate;The V-shape protrusion and triggering triggered on fixture block is driven V-notch cooperation on motion block;Adjustment gear and adjacent angular in the angle item section unit on the inside of climbing blade are adjusted The limit teeth cooperation on drive block is triggered in unit;One end and phase in angle regulating unit far from triggering fixture block on frizzen Triggering fixture block connection in adjacent angle regulating unit;Frizzen and touching in an angle regulating unit of triggering connection Hair connection connection;When guiding arc block is moved along corresponding blade guide groove, if guiding arc block is moved towards the center of mounting shell Dynamic, it is mobile towards the center of mounting shell that guiding arc block just will drive triggering connection;Triggering connection is mobile to drive touching connected to it It is mobile to send out bar;Frizzen is mobile just to will drive the movement of trigger card block;Triggering fixture block movement will squeeze triggering drive block and to touch Hair drive block is moved along pilot hole to the side far from triggering block;It triggers mobile drive of drive block and limits teeth away from tune The side for saving gear is mobile;When limiting teeth and adjustment gear completely disengages, between two adjacent angle regulating units just It can rotate automatically;The angle between two adjacent angulars adjusting units can be adjusted;I.e. climbing blade it is adjustable its from The radian of body;Frizzen continues to move to trigger fixture block at this time and mounting groove is stuck;I.e. continue to move to will for frizzen Corresponding angle regulating unit is driven to move integrally by triggering fixture block;Climbing blade is driven to move towards the center of mounting shell It is dynamic;If be oriented to center movement of the arc block away from mounting shell, guiding arc block just will drive triggering connection away from peace The center for filling shell is mobile;Triggering connection is mobile to drive frizzen connected to it mobile;Frizzen movement just will drive trigger card Block is mobile;Triggering fixture block movement will squeeze triggering drive block and to trigger one of drive block along pilot hole to separate triggering block Side is mobile;Trigger the mobile side movement for driving limit teeth away from adjustment gear of drive block;When limit teeth and adjust When gear completely disengages, it can be rotated automatically between two adjacent angle regulating units;Two adjacent angulars can be adjusted Degree adjusts the angle between unit;That is its own adjustable radian of climbing blade;Frizzen continues to move to make at this time It is stuck with mounting groove that fixture block must be triggered;I.e. frizzen continues to move to that corresponding angle regulating unit will be driven by triggering fixture block It moves integrally;Drive climbing blade mobile away from the side at mounting shell center.
The adjustable trilobed wheel that the present invention designs can be realized on level road in conjunction with normally travel wheel when driving.
When the adjustable trilobed wheel that people are designed using the present invention, first having to adjust the climbing blade in trilobed wheel keeps it suitable In requisition for the stair of climbing;Driving servo motor work at this time;When servo motor work, servo motor can pass through servo motor Shaft drives driving mounting disc rotation;Mounting disc rotation is driven to drive drive shaft rotation;Drive shaft rotation drives sliding tooth Wheel rotation;The rotation of sliding tooth wheel drives three transmission gear rotations;Transmission gear rotation will make three support teeth bars move It is dynamic;When drive shaft rotation, drive shaft will drive driving cylinder rotation simultaneously;Drive cylinder rotation that three drivings is driven to adjust Pole is rotated around the axis of drive shaft;Three driving adjusting rod rotations just will drive three guiding arc block rotations;Due to three One end of guiding circular hole is not provided on a guiding arc block by being fitted in mounting shell with three blade guide grooves;So Being oriented to arc block during three guiding arc block rotations can move along corresponding three blade guide grooves.Teeth are supported by adjusting Bar and corresponding three climbing blades adapt to stair;Driving driving motor works so that driving motor drives output shaft to turn at this time It is dynamic;Output shaft drives mounting shell rotation;Mounting shell just will drive three climbing blades and rotate around the axis of mounting shell;When three When the step surface of one of them and stair in climbing blade completely disengages, the outermost of another climbing blade just with stair Step face contact;And three climbing blades are arc shape at this time, i.e., the even of trilobed wheel may be implemented by three climbing blades Speed rotation;That is robot can remain a constant speed traveling when going downstairs.
Detailed description of the invention
Fig. 1 is global facility appearance diagram.
Fig. 2 is global facility distribution schematic diagram.
Fig. 3 is servo motor mounting shell structural schematic diagram.
Fig. 4 is global facility schematic diagram of internal structure.
Fig. 5 is global facility internal structure scheme of installation.
Fig. 6 is mounting shell structural schematic diagram.
Fig. 7 is blade guide groove distribution schematic diagram.
Fig. 8 is targeting port distribution schematic diagram.
Fig. 9 is guiding arc block scheme of installation.
Figure 10 is triggering connection scheme of installation.
Figure 11 is driving adjusting rod scheme of installation.
Figure 12 is climbing blade scheme of installation.
Figure 13 is transmission gear scheme of installation.
Figure 14 is support teeth bar scheme of installation.
Figure 15 is angle regulating unit scheme of installation.
Figure 16 is angle regulating unit structural schematic diagram.
Figure 17 is angle regulating unit cooperation schematic diagram.
Figure 18 is guide post scheme of installation.
Figure 19 is triggering drive block scheme of installation.
Figure 20 is frizzen scheme of installation.
Figure 21 is adjustment gear scheme of installation.
Figure 22 is pilot hole distribution schematic diagram.
Figure 23 is triggering fixture block scheme of installation.
Figure 24 is triggering drive block structural schematic diagram.
Figure 25 is trilobed wheel operation principle schematic diagram.
Figure label title: 1, driving motor;2, blade is climbed;3, teeth bar is supported;4, mounting shell;5, servo motor is pacified Fill shell;6, output shaft;7, transmission gear;8, servo motor shaft;9, servo motor;10, mounting disc is driven;11, cylinder is driven; 12, adjusting rod is driven;13, gear is driven;14, drive shaft;15, targeting port;16, circular port is installed;17, blade targeting port; 18, blade guide groove;19, drive connection bar;20, it is oriented to arc block;21, triggering connection;22, rotary gear shaft;23, mounting plate;24, it touches Send out bar;25, adjustment gear;26, teeth are limited;27, guide post;28, drive block is triggered;29, compressed spring;30, fixture block is triggered; 31, guide groove;32, pilot hole;33, mounting groove;34, V-notch;55, angle regulating unit;56, it is oriented to circular hole;57, it is oriented to Connection.
Specific embodiment
As shown in Figure 1, 2, it includes driving motor 1, climbing blade 2, support teeth bar 3, mounting shell 4, servo motor peace Fill shell 5, output shaft 6, transmission gear 7, servo motor shaft 8, servo motor 9, driving mounting disc 10, driving cylinder 11, driving Adjusting rod 12, driving gear 13, drive shaft 14, targeting port 15, installation circular port 16, blade targeting port 17, blade guide groove 18, Drive connection bar 19, guiding arc block 20, triggering connection 21, rotary gear shaft 22, angle regulating unit 55, guiding circular hole 56, guiding Connection 57, wherein as shown in Figure 1, driving motor 1 is mounted on the mounting rack in robot;As shown in fig. 6,4 one end of mounting shell Periphery on circumferential equably open that there are three blade guide grooves 31;As shown in figure 8, being opened on the periphery of 4 other end of mounting shell Mouth 15 is evenly directed to there are three circumferential;As shown in fig. 7, mounting shell 4, which is provided on the end face of 15 one end of targeting port, is provided with installation circle Shape mouth 16;Mounting shell 4, which is provided on the inner side end of 31 one end of blade guide groove to open, is uniformly distributed spiral helicine leaf there are three circumferential Piece guide groove 18;As shown in figure 5, one end that mounting shell 4 is not provided with installation circular port 16 is connect with the output shaft 6 of driving motor 1;Such as Fig. 3, shown in 4, servo motor mounting shell 5 is mounted on one end that installation circular port 16 is provided on mounting shell 4;Servo motor 9 is installed On 5 side of the inside far from 4 one end of mounting shell of servo motor mounting shell;As shown in figure 5, driving mounting disc 10 is mounted on installation In installation circular port 16 on shell 4, and mounting disc 10 is driven to connect with the servo motor shaft 8 on servo motor 9;Drive shaft 14 one end is mounted in driving mounting disc 10, and drive shaft 14 is located in mounting shell 4;As shown in figure 12, gear 13 is driven It is mounted in drive shaft 14;As shown in figure 13, three rotary gear shafts 22 are circumferential is uniformly mounted to be provided with installation in mounting shell 4 On the end face of 16 side of circular port;Three transmission gears 7 are separately mounted on three rotary gear shafts 22;As shown in figure 14, three Transmission gear 7 is engaged with driving gear 13 respectively;As shown in figure 12, three guiding connections 57 are circumferential is uniformly mounted to mounting shell It is provided in 4 on the end face of installation 16 side of circular port;One end of three support teeth bars 3 is installed by three guiding connections 57 respectively On;The other end of three support teeth bars 3 is each passed through the outside that three targeting ports 15 on mounting shell 4 are located at mounting shell 4;Such as Shown in Figure 14, one end that three support teeth bars 3 are located at 4 inside of mounting shell is engaged respectively at three transmission gears 7;Such as Figure 11 institute Show, driving cylinder 11 is mounted on the other end of drive shaft 14;Three driving adjusting rods 12 are circumferential to be uniformly mounted to driving circle On the periphery of column 11;As shown in figure 13, it is oriented in the cambered surface of 20 one end of arc block and is provided with guiding circular hole 56;As shown in figure 9, three One end of guiding circular hole 56 is not provided on guiding arc block 20 by being fitted in mounting shell 4 with three blade guide grooves 18; Three driving adjusting rods 12 are each passed through the guiding circular hole 56 on three guiding arc blocks 20;As shown in Figure 10, three triggering connections 21 are separately mounted on three guiding arc blocks 20;One end of three climbing blades 2 with three blade guide grooves 18 respectively by matching Conjunction is mounted in mounting shell 4, and three climbing blades 2 are respectively at three 21 cooperations of triggering connection;As shown in Fig. 2, three climbings The other end of blade 2 is each passed through the outside that three blade targeting ports 17 on mounting shell 4 are located at mounting shell 4, and three climbings One end that blade 2 is located at 4 outside of mounting shell is connected with corresponding three support teeth bar 3 by drive connection bar 19 respectively;Such as Shown in Figure 15, the inside of three climbing blades 2 is uniformly in turn equipped with multiple angle regulating units 55.
As shown in figure 20, above-mentioned angle regulating unit 55 includes mounting plate 23, frizzen 24, adjustment gear 25, limiting tooth Tooth 26, guide post 27, triggering drive block 28, compressed spring 29, triggering fixture block 30, guide groove 31, pilot hole 32, mounting groove 33, V V notch v 34, wherein as shown in figure 22, the inside of mounting plate 23 is provided with the guide groove 31 of perforation;The lower end surface of 31 side of guide groove It is provided with mounting groove 33;The lower end surface of mounting groove 33 is provided with pilot hole 32;As shown in figure 21, adjustment gear 25 is mounted on mounting plate 23 It is not provided on the end face of 33 side of mounting groove;As shown in figure 24, the side for triggering drive block 28 is provided with V-notch 34;Triggering is driven The other side of motion block 28 is equipped with guide post 27;As shown in figure 16, triggering drive block 28 passes through guide post 27 and pilot hole 32 It is fitted in the mounting groove 33 on mounting plate 23;As shown in figure 18, it is equipped between 32 bottom surface of guide post 27 and pilot hole Compressed spring 29;As shown in figure 20, limit teeth 26 are mounted on triggering drive block 28 and are located at the outside of mounting plate 23;Such as figure Shown in 23, the side of triggering fixture block 30 has V-shape protrusion;One end of triggering fixture block 30 is mounted on frizzen 24;Such as Figure 19 Shown, triggering fixture block 30 is fitted to 23 inside of mounting plate by frizzen 24 and guide groove 31, and remote on frizzen 24 One end from triggering fixture block 30 is located at the outside of mounting plate 23;It triggers in the V-shape protrusion and triggering drive block 28 on fixture block 30 V-notch 34 cooperate.
As shown in figure 17, the adjustment gear 25 and adjacent angular in the above-mentioned angle item section unit for being located at 2 inside of climbing blade Degree adjusts the limit teeth 26 triggered on drive block 28 in unit 55 and cooperates;Far from touching on frizzen 24 in angle regulating unit 55 One end of hair fastener block 30 is connect with the triggering fixture block 30 in adjacent angle regulating unit 55;Close to an angle of triggering connection 21 Degree adjusts 21 connection of frizzen 24 and triggering connection in unit 55.
Above-mentioned driving mounting disc 10 is mounted in the installation round hole on mounting shell 4 by bearing.
Above-mentioned climbing blade 2 has certain elasticity.
The inner headed face of above-mentioned driving adjusting rod 12 one end and mounting shell 4 far from driving cylinder 11 cooperates.
In summary:
The trilobed wheel that the robot for the speeling stairway that the present invention designs uses can be adapted to different by automatically adjusting Stair;The trilobed wheel that the robot for the speeling stairway that the present invention designs simultaneously uses, which passes through in the process of walking on trilobed wheel, to be adjusted Contact of the arc shape climbing blade 2 of section with stair step surface can make robot more steady in the process of walking;It prevents Shaking, which occurs, in climbing robot impacts user.
Driving motor 1 is mounted on the mounting rack in robot in the present invention;Mounting shell 4 is not provided with installation circular port 16 One end is connect with the output shaft 6 in driving motor 1;Servo motor mounting shell 5, which is mounted on mounting shell 4, is provided with installation circular port 16 One end;Servo motor 9 is mounted on 5 inside of servo motor mounting shell far from the side of 4 one end of mounting shell;Drive mounting disc 10 It is mounted in the installation circular port 16 on mounting shell 4, and the servo motor shaft 8 on mounting disc 10 and servo motor 9 is driven to connect It connects;One end of drive shaft 14 is mounted in driving mounting disc 10;Driving gear 13 is mounted in drive shaft 14;Three gears On the circumferential end face for being uniformly mounted to be provided with installation 16 side of circular port in mounting shell 4 of shaft 22;Three transmission gears 7 are distinguished It is mounted on three rotary gear shafts 22;Three transmission gears 7 are engaged with driving gear 13 respectively;Three guiding connections 57 are circumferential It is mounted on the end face for being provided with installation 16 side of circular port in mounting shell 4 evenly;It installs respectively one end of three support teeth bars 3 In three guiding connections 57;The other end of three support teeth bars 3 is each passed through three targeting ports 15 on mounting shell 4 and is located at peace Fill the outside of shell 4;It is engaged respectively at three transmission gears 7 one end that three support teeth bars 3 are located at 4 inside of mounting shell;Driving Cylinder 11 is mounted on the other end of drive shaft 14;Three driving adjusting rods 12 are circumferential to be uniformly mounted to the outer of driving cylinder 11 On disc;One end of guiding circular hole 56 is not provided on three guiding arc blocks 20 by being fitted to three blade guide grooves 18 In mounting shell 4;Three driving adjusting rods 12 are each passed through guiding circular hole 56 on three guiding arc blocks 20;Three triggerings connect 21 points It is not mounted on three guiding arc blocks 20;Pacified respectively by the cooperation with three blade guide grooves 18 one end of three climbing blades 2 In mounting shell 4, and three climbing blades 2 are respectively at three 21 cooperations of triggering connection;The other end point of three climbing blades 2 Not Chuan Guo three blade targeting ports 17 on mounting shell 4 be located at the outside of mounting shell 4, and three climbing blades 2 are located at mounting shell 4 The one end in outside is connected with corresponding three support teeth bar 3 by drive connection bar 19 respectively;It is watched when servo motor 9 works Taking motor 9 can drive driving mounting disc 10 to rotate by servo motor shaft 8;The rotation of mounting disc 10 is driven to drive drive shaft 14 Rotation;The rotation of drive shaft 14 drives driving gear 13 to rotate;Drive the rotation of gear 13 that three transmission gears 7 is driven to rotate;It passes The rotation of moving gear 7 will make three support teeth bars 3 mobile;When drive shaft 14 rotates, drive shaft 14 be will drive simultaneously Cylinder 11 is driven to rotate;Drive the rotation of cylinder 11 that three driving adjusting rods 12 is driven to rotate around the axis of drive shaft 14;Three A rotation of driving adjusting rod 12 just will drive three guiding arc blocks 20 and rotate;Since guiding circle is not provided on three guiding arc blocks 20 The one end in hole 56 with three blade guide grooves 18 by being fitted in mounting shell 4;So being rotated in three guiding arc blocks 20 During be oriented to arc block 20 can be moved along corresponding three blade guide grooves 18.
Above-mentioned adjustment gear 25 is mounted on mounting plate 23 and is not provided on the end face of 33 side of mounting groove;Trigger drive block 28 The other side is equipped with guide post 27;Triggering drive block 28 is fitted on mounting plate 23 by guide post 27 and pilot hole 32 Mounting groove 33 in;Guide post 27 and pilot hole are equipped with compressed spring 29 between 32 bottom surface;Limit teeth 26 are mounted on triggering Outside on drive block 28 and positioned at mounting plate 23;One end of triggering fixture block 30 is mounted on frizzen 24;It is logical to trigger fixture block 30 That crosses frizzen 24 and guide groove 31 is fitted to 23 inside of mounting plate, and one end far from triggering fixture block 30 on frizzen 24 Positioned at the outside of mounting plate 23;The V-notch 34 triggered on V-shape protrusion and the triggering drive block 28 on fixture block 30 cooperates;Position Adjustment gear 25 and adjacent angular in the angle item section unit of 2 inside of climbing blade, which are adjusted, triggers drive block 28 in unit 55 On limit teeth 26 cooperate;One end and adjacent angle in angle regulating unit 55 far from triggering fixture block 30 on frizzen 24 The triggering fixture block 30 adjusted in unit 55 connects;Close to triggering connection 21 an angle regulating unit 55 in frizzen 24 with 21 connection of triggering connection;When guiding arc block 20 is moved along corresponding blade guide groove 18, if being oriented to arc block 20 towards installation The center of shell 4 is mobile, and it is mobile towards the center of mounting shell 4 that guiding arc block 20 just will drive triggering connection 21;Triggering connection 21 moves It is dynamic to drive frizzen 24 connected to it mobile;Frizzen 24 is mobile just to will drive the movement of trigger card block 30;Fixture block 30 is triggered to move The dynamic triggering drive block 28 that will squeeze moves triggering drive block 28 to the side far from triggering block along pilot hole 32;Triggering Drive block 28 is mobile to drive limit teeth 26 mobile away from the side of adjustment gear 25;When limit teeth 26 and adjustment gear 25 when completely disengaging, and can rotate automatically between two adjacent angle regulating units 55;Two adjacent angulars can be adjusted Degree adjusts the angle between unit 55;That is its own adjustable radian of climbing blade 2;Frizzen 24 continues to move to just at this time Meeting is so that triggering fixture block 30 and mounting groove 33 are stuck;I.e. frizzen 24 continues to move to drive by triggering fixture block 30 corresponding Angle regulating unit 55 moves integrally;Drive climbing blade 2 mobile towards the center of mounting shell 4;If being oriented to 20 court of arc block The center far from mounting shell 4 it is mobile when, guiding arc block 20 just will drive triggering connection 21 and move away from the center of mounting shell 4 It is dynamic;Triggering connection 21 is mobile to drive frizzen 24 connected to it mobile;Frizzen 24 is mobile just to will drive the shifting of trigger card block 30 It is dynamic;Triggering 30 movement of fixture block will squeeze triggering drive block 28 and to trigger drive block 28 along pilot hole 32 to far from triggering block Side it is mobile;Trigger the mobile side movement for driving limit teeth 26 away from adjustment gear 25 of drive block 28;Work as limit When teeth 26 and adjustment gear 25 completely disengage, it can be rotated automatically between two adjacent angle regulating units 55;? To adjust the angle between two adjacent angulars adjusting units 55;That is its own adjustable radian of climbing blade 2;It touches at this time Hair bar 24 continues to move to trigger fixture block 30 and mounting groove 33 is stuck;I.e. frizzen 24 continues to move to that triggering will be passed through Fixture block 30 drives corresponding angle regulating unit 55 to move integrally;Drive climbing blade 2 away from the one of 4 center of mounting shell Side is mobile.
The adjustable trilobed wheel that the present invention designs can be realized on level road in conjunction with normally travel wheel when driving.
Specific embodiment: it when the adjustable trilobed wheel that people are designed using the present invention, first has to adjust in trilobed wheel Climbing blade 2 adapts it to the stair for needing to climb;Driving servo motor 9 works at this time;The servo electricity when servo motor 9 works Machine 9 can drive driving mounting disc 10 to rotate by servo motor shaft 8;The rotation of mounting disc 10 is driven to drive 14 turns of drive shaft It is dynamic;The rotation of drive shaft 14 drives driving gear 13 to rotate;Drive the rotation of gear 13 that three transmission gears 7 is driven to rotate;Transmission The rotation of gear 7 will make three support teeth bars 3 mobile;When drive shaft 14 rotates, drive shaft 14 will drive drive simultaneously Dynamic cylinder 11 rotates;Drive the rotation of cylinder 11 that three driving adjusting rods 12 is driven to rotate around the axis of drive shaft 14;Three The driving rotation of adjusting rod 12 just will drive three guiding arc blocks 20 and rotate;Due to not being provided with guiding circular hole on three guiding arc blocks 20 56 one end with three blade guide grooves 18 by being fitted in mounting shell 4;So being oriented to what arc block 20 rotated at three Guiding arc block 20 can be moved along corresponding three blade guide grooves 18 in the process.Teeth bar 3 and corresponding three is supported by adjusting A climbing blade 2 adapts to stair;Driving driving motor 1 works so that driving motor 37 drives output shaft 6 to rotate at this time;Such as figure Shown in 25a, output shaft 6 drives mounting shell 4 to rotate;As shown in figure 25b, mounting shell 4 just will drive three climbing blades 2 around peace Fill the axis rotation of shell 4;As shown in Figure 25 c, when the step surface that three are climbed one of them and stair in blades 2 completely disengages When, another climbing blade 2 outermost just with the step face contact of stair;And three climbing blades 2 are arc shape at this time, The uniform rotation of trilobed wheel may be implemented by three climbing blades 2;That is robot can remain a constant speed row when going downstairs It sails.

Claims (5)

1. a kind of adjustable trilobed wheel of the robot of speeling stairway, it is characterised in that: it includes driving motor, climbing blade, support Teeth bar, mounting shell, servo motor mounting shell, output shaft, transmission gear, servo motor shaft, servo motor, driving installation Disk, driving cylinder, driving adjusting rod, driving gear, drive shaft, targeting port, installation circular port, blade targeting port, Leaf Conductance Slot, drive connection bar, guiding arc block, triggering connection, rotary gear shaft, angle regulating unit, guiding circular hole, guiding connection, wherein Driving motor is mounted on the mounting rack in robot;Leaf Conductance there are three circumferentially equably being opened on the periphery of mounting shell one end To slot;It is opened on the periphery of the mounting shell other end and is evenly directed to mouth there are three circumferential;Mounting shell is provided with the end of targeting port one end Installation circular port is provided on face;Mounting shell, which is provided on the inner side end of blade guide groove one end to open, is uniformly distributed spiral shell there are three circumferential Revolve the blade guide groove of shape;Mounting shell is not provided with one end of installation circular port and the output axis connection of driving motor;Servo motor peace Dress shell is mounted on one end that installation circular port is provided on mounting shell;Servo motor is mounted on the inside of servo motor mounting shell far from peace On the side for filling shell one end;Driving mounting disc is mounted in the installation circular port on mounting shell, and drives mounting disc and servo electricity Servo motor shaft connection on machine;One end of drive shaft is mounted in driving mounting disc, and drive shaft is located at mounting shell It is interior;Driving gear is mounted in drive shaft;Three rotary gear shafts are circumferentially uniformly mounted to be provided with installation circle in mounting shell On the end face of mouth side;Three transmission gears are separately mounted on three rotary gear shafts;Three transmission gears respectively with sliding tooth Wheel engagement;On three circumferential end faces for being uniformly mounted to be provided with installation circular port side in mounting shell of guiding connection;Three branch It is installed in three guiding connections respectively one end of support teeth bar;The other end of three support teeth bars is each passed through on mounting shell Three targeting ports are located at the outside of mounting shell;Three support teeth bars are located at one end on the inside of mounting shell respectively at three driving cogs Wheel engagement;Driving cylinder is mounted on the other end of drive shaft;Three driving adjusting rods are circumferentially uniformly mounted to driving cylinder Periphery on;It is oriented in the cambered surface of arc block one end and is provided with guiding circular hole;It is not provided with the one of guiding circular hole on three guiding arc blocks End with three blade guide grooves by being fitted in mounting shell;Three driving adjusting rods are each passed through on three guiding arc blocks Guiding circular hole;Three triggering connections are separately mounted on three guiding arc blocks;Three climbing blade one end respectively by with Three blade guide grooves are fitted in mounting shell, and three climbing blades are respectively at three triggerings connection cooperations;Three are climbed Climb the outside that three blade targeting ports that the other end of blade is each passed through on mounting shell are located at mounting shell, and three climbing blades One end on the outside of mounting shell is connected with corresponding three support teeth bars by drive connection bar respectively;Three climbing blades Inside multiple angle regulating units are uniformly in turn installed;
Above-mentioned angle regulating unit includes mounting plate, frizzen, adjustment gear, limit teeth, guide post, triggering drive block, pressure Contracting spring, triggering fixture block, guide groove, pilot hole, mounting groove, V-notch, are wherein provided with the guiding of perforation on the inside of mounting plate Slot;The lower end surface of guide groove side is provided with mounting groove;The lower end surface of mounting groove is provided with pilot hole;Adjustment gear is mounted on mounting plate It is not provided on the end face of mounting groove side;The side of triggering drive block is provided with V-notch;The other side of triggering drive block is equipped with Guide post;Drive block is triggered to pass through in the mounting groove of guide post and pilot hole being coupled on a mounting board;Guide post with lead Compressed spring is installed between the bottom surface of hole;Limit teeth are mounted on triggering drive block and are located at the outside of mounting plate;Triggering The side of fixture block has V-shape protrusion;One end of triggering fixture block is mounted on frizzen;It triggers fixture block and passes through frizzen and guiding Slot is fitted on the inside of mounting plate, and one end far from triggering fixture block on frizzen is located at the outside of mounting plate;Trigger card The V-notch in V-shape protrusion and triggering drive block on block cooperates;
Adjustment gear and adjacent angular in the above-mentioned angle item section unit being located on the inside of climbing blade, which adjust to trigger in unit, drives Limit teeth cooperation on motion block;One end and adjacent angular adjustment in angle regulating unit far from triggering fixture block on frizzen Triggering fixture block connection in unit;Frizzen and triggering connection connection in an angle regulating unit of triggering connection.
2. a kind of adjustable trilobed wheel of robot of speeling stairway according to claim 1, it is characterised in that: above-mentioned driving peace Sabot is mounted in the installation round hole on mounting shell by bearing.
3. a kind of adjustable trilobed wheel of robot of speeling stairway according to claim 1, it is characterised in that: above-mentioned climbing leaf Piece has certain elasticity.
4. a kind of adjustable trilobed wheel of robot of speeling stairway according to claim 1, it is characterised in that: above-mentioned close to touching The frizzen sent out in an angle regulating unit of connection does not have elasticity, other non-angle regulating units close to triggering connection In frizzen there is certain elasticity.
5. a kind of adjustable trilobed wheel of robot of speeling stairway according to claim 1, it is characterised in that: above-mentioned driving tune The inner headed face of pole one end and mounting shell far from driving cylinder cooperates.
CN201811080496.2A 2017-12-20 2018-09-17 Adjustable three-impeller of robot for climbing stairs Active CN109288633B (en)

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CN2017113840608 2017-12-20
CN201711384060.8A CN108030606A (en) 2017-12-20 2017-12-20 A kind of adjustable trilobed wheel of the robot of speeling stairway

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CN201811080496.2A Active CN109288633B (en) 2017-12-20 2018-09-17 Adjustable three-impeller of robot for climbing stairs

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CN104382704A (en) * 2014-11-25 2015-03-04 广西大学 Variable wheel type stair climbing wheelchair
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2055560C1 (en) * 1992-05-27 1996-03-10 Александр Дмитриевич Элизов Method for movement of self-propelled invalid wheeled chair over flights of stairs and self-propelled invalid wheeled chair
KR20090047702A (en) * 2007-11-08 2009-05-13 현대자동차주식회사 Parking gear releasing device for auto transmission of vehicle
CN201337599Y (en) * 2009-01-21 2009-11-04 徐州工程学院 Electric walking assistant vehicle capable of moving on stairs
CN101823514A (en) * 2010-03-18 2010-09-08 王正发 Multi-function power-operated staircase vehicle
CN102860906A (en) * 2011-07-05 2013-01-09 谢哲 Wheelchair capable of climbing stairs
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