CN111907614B

CN111907614B - Stair transport robot

Info

Publication number: CN111907614B
Application number: CN202010863710.2A
Authority: CN
Inventors: 荆红莉; 李增生; 白榕; 马超
Original assignee: Yulin University
Current assignee: Yulin University
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2021-07-16
Anticipated expiration: 2040-08-25
Also published as: CN111907614A

Abstract

The invention discloses a stair carrying robot, comprising: two supporting plates which are oppositely arranged; the clamping mechanism is arranged at the upper end of one of the supporting plates; the left end and the right end of the tray are respectively connected to the surface of the supporting plate in a rotating mode through a first bearing, and the bottom of the tray is provided with a gyroscope; the angle adjusting mechanism is arranged below the tray; the two bearing sets are arranged at the lower ends of the supporting plates, one end of each bearing set is connected to one of the supporting plates through a first motor, the other end of each bearing set is connected to the other supporting plate through a first bearing, and a plurality of travelling mechanisms are arranged on the surface of each bearing set along the length direction of the bearing set. The stair railing can move along the direction of the stair railing, and the electric propeller and the roller wheel are combined, so that the stair railing can walk stably when going upstairs and downstairs, manual carrying of articles can be omitted, and articles cannot collide with each other in the carrying process.

Description

Stair transport robot

Technical Field

The invention relates to the field of carrying machinery, in particular to a stair carrying robot.

Background

In the current building, the stairs are arranged to provide people with upstairs and downstairs services, namely, the stairs are also arranged in the building with the elevator, so that the requirements of people for upstairs and downstairs can be still met when the elevator breaks down. However, when people need to carry objects, if only stairs are inconvenient, especially, when some large luggage objects are carried, the people can go up and down the stairs with great effort, and moreover, due to manual carrying, the carried objects are easy to collide with each other.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provide a stair transport robot which can move along the direction of a stair handrail and can walk stably when going upstairs and downstairs through the combination of an electric propeller and a roller, so that manual transport of articles can be avoided, and the articles cannot collide with each other in the transport process.

To this end, the present invention provides a stair-handling robot comprising: backup pad, fixture, tray, angle adjustment mechanism, second pivot, central processing unit and power supply unit. Wherein, the quantity of backup pad has two and two backup pads relative settings. The clamping mechanism is used for clamping a handrail of a stair and is arranged at the upper end of one of the supporting plates. The tray is arranged between the two supporting plates, the left end and the right end of the tray are respectively connected to the surfaces of the supporting plates in a rotating mode through a first rotating shaft, and the bottom of the tray is provided with a gyroscope. The angle adjusting mechanism is arranged below the tray and used for adjusting an included angle between the tray and a horizontal plane. The quantity of second pivot is two at least, sets up respectively between the backup pad, be located the lower extreme of backup pad, the one end of each second pivot is passed through first motor and is connected in one of them in the backup pad, the other end of each second pivot is connected in another through first bearing in the backup pad, each the surface of second pivot is provided with a plurality of advancing mechanisms along its length direction respectively, includes three even edge in each advancing mechanism the electric propulsion ware of second pivot surface circumference setting, electric propulsion ware's propulsion end is provided with the gyro wheel, and the gyro wheel actuating mechanism drives. And the central processing unit receives the angle data detected by the gyroscope, controls the angle adjusting mechanism to adjust the included angle between the tray and the horizontal plane according to the angle data, and controls the working state of the first motor. And the power supply device is used for supplying power to the gyroscope, the first motor, the angle adjusting mechanism and the driving mechanism.

The number of the elastic ropes is even, the elastic ropes are respectively and uniformly arranged at the front end and the rear end of the supporting plate, one end of each elastic rope is connected to one supporting plate, and the other end of each elastic rope is connected to the other supporting plate.

Further, the clamping mechanism includes: l-shaped supporting rod, clamping rod and electromagnet. Wherein, the horizontal end of L type branch is connected the top of backup pad, its vertical end with the backup pad is parallel, and the spout has been seted up along its length direction to the bottom surface of its horizontal end, and sliding connection has the slider on the spout. The clamping rod is parallel to the vertical end of the L-shaped supporting rod, and the top of the clamping rod is fixedly connected with the sliding block. The two electromagnets are respectively and oppositely arranged on the opposite surfaces of the clamping rod and the supporting plate, and magnetic force of the same level is generated between the two electromagnets after the two electromagnets are electrified; which provides power supply services through a power supply device.

Further, still include: an entry device and an electric propeller. Wherein, the entering device is arranged on the supporting plate and used for entering the level height of the staircase. And the central processor adjusts the length of the electric propeller according to the level height of the stairs recorded by the recorder. The recording device and the electric propeller provide power supply service through a power supply device.

Further, the angle adjusting mechanism includes: regulating plate, second motor and second bearing. Wherein, the regulating plate is arranged below the tray and is connected with the bottom of the tray through a support body. The second motor is arranged right below one of the first rotating shafts and fixed on the supporting plate, and an output shaft of the second motor is fixedly connected with one side surface of the adjusting plate; which provides power supply services through a power supply device. And the second bearing is arranged right below the other first rotating shaft and is fixedly connected with the other side surface of the adjusting plate. The central processing unit adjusts the included angle between the tray and the horizontal plane by controlling the rotating angle of the second motor.

Furthermore, the supporter is the spring, the quantity of spring has a plurality of, and even distribution is in on the regulating plate, the one end of spring with the higher authority of regulating plate is connected, the other end of spring with the bottom surface of tray is connected.

Further, a dragging pad is arranged in the tray.

Further, the first rotating shaft is connected with the surface of the supporting plate through a third bearing.

The stair carrying robot provided by the invention has the following beneficial effects:

1. the stair railing can move along the direction of the stair railing, and the electric propeller and the roller wheel are combined, so that the stair railing can walk stably when going upstairs and downstairs, the manual carrying of articles can be avoided, and the articles cannot be collided in the carrying process;

2. according to the invention, the current tray angle is obtained through the gyroscope sensor, namely the current state of the robot is obtained, and the tray angle is adjusted according to the current state of the robot, so that the tray is always in a horizontal state, and thus, articles can be prevented from being bumpy during going upstairs;

3. the tray is supported by the spring, so that a certain buffering effect is generated when the adjusting plate adjusts the angle of the tray, and articles can be more stable on the tray.

Drawings

FIG. 1 is a schematic cross-sectional view of the overall structure of the present invention;

FIG. 2 is a schematic view of the connection structure of the support plates of the present invention;

FIG. 3 is a schematic view of a connection structure of the roller according to the present invention.

Description of reference numerals:

1. a chute; 2. an L-shaped strut; 3. a clamping rod; 4. a first rotating shaft; 5. a third bearing; 6. a second motor; 7. a support plate; 8. a first motor; 9. a roller; 10. an electric thruster; 11. a second rotating shaft; 12. a first bearing; 13. a second bearing; 14. an input device; 15. an elastic cord; 16. a slider; 17. an electromagnet; 18. a tray; 19. an adjusting plate; 20. a gyroscope; 21. a spring; 22. and (6) dragging the pad.

Detailed Description

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.

In the present application, the type and structure of components that are not specified are all the prior art known to those skilled in the art, and those skilled in the art can set the components according to the needs of the actual situation, and the embodiments of the present application are not specifically limited.

Specifically, as shown in fig. 1 to 3, an embodiment of the present invention provides a stair-moving robot, including: the device comprises a supporting plate 7, a clamping mechanism, a tray 18, an angle adjusting mechanism, a second rotating shaft 11, a central processing unit and a power supply device. Wherein, the quantity of backup pad 7 has two and two backup pads 7 sets up relatively. The clamping mechanism is used for clamping a handrail of a stair and is arranged at the upper end of one of the supporting plates 7. The tray 18 is disposed between the two support plates 7, the left and right ends of the tray are respectively rotatably connected to the surfaces of the support plates 7 through a first rotating shaft 4, and the bottom of the tray is provided with a gyroscope 20. The angle adjusting mechanism is arranged below the tray 18 and used for adjusting an included angle between the tray 18 and a horizontal plane. The quantity of second pivot 11 is two at least, sets up respectively between the backup pad 7, be located the lower extreme of backup pad 7, the one end of each second pivot 11 is connected through first motor 8 in one of them backup pad 7 is last, and the other end of each second pivot 11 is connected through first bearing 12 is another backup pad 7 is last, each the surface of second pivot 11 is provided with a plurality of advancing mechanisms along its length direction respectively, includes three even edge in each advancing mechanism the electric propulsor 10 that 11 surperficial circumferences of second pivot set up, the propulsion end of electric propulsor 10 is provided with gyro wheel 9, and gyro wheel 9 actuating mechanism drives. The central processing unit receives the angle data detected by the gyroscope 20, controls the angle adjusting mechanism to adjust the included angle between the tray 18 and the horizontal plane according to the angle data, and controls the working state of the first motor 8. The power supply device is used for supplying power to the gyroscope 20, the first motor 8, the angle adjusting mechanism and the driving mechanism.

When the stair transportation robot provided by the invention is used, firstly, the clamping mechanism provided by the invention is clamped on the handrail of a stair, then an article to be transported is placed on the tray 18, at the moment, the power supply device is started to transport the article, after the power supply device is started, the power supply device supplies power to the gyroscope 20, the first motor 8, the angle adjusting mechanism and the driving mechanism, at the moment, under the action of the power supply device, the driving mechanism enables the roller 9 to move, the supporting plate 7 can move forwards, meanwhile, the central processing unit receives angle data detected by the gyroscope 20 in real time and controls the angle adjusting mechanism to adjust the included angle between the tray 18 and the horizontal plane according to the angle data and controls the working state of the first motor 8, when the first motor 8 works, the second rotating shaft 11 rotates, so that the electric propeller 10 rotates around the second rotating shaft 11, the present invention can travel on stairs to perform a stair climbing motion. In the invention, two states are included, wherein the first state is that the invention is positioned on a plane, and the second state is that the invention is positioned on stairs. When in the first state, the gyroscope 20 detects the state level value in principle, and at this time, if the gyroscope 20 detects that the state level value is not detected, the included angle between the tray 18 and the horizontal plane is adjusted through the angle adjusting mechanism, so that the gyroscope 20 detects the state level value, and meanwhile, in the state, the first motor 8 does not work; when in the second state, the gyroscope 20 detects in principle a value of the state inclination, at which time the angle between the tray 18 and the horizontal plane is adjusted by the angle adjustment mechanism, so that the gyroscope 20 detects a value of the state level, and at the same time, in this state, the first motor 8 is operated. In the invention, since the advancing mechanism comprises three electric thrusters 10 uniformly arranged along the circumferential direction of the surface of the second rotating shaft 11, when the first motor 8 works, the first motor 8 goes upstairs by one step every time the first motor 8 rotates by 120 degrees. When the first motor 8 is not in operation, the connection line of the three rollers 9 can form a triangle with the vertical line parallel to the horizontal plane. Meanwhile, the clamping mechanism is always clamped on the handrail of the stair, so that the stair handrail can move along the handrail of the stair all the time.

In the present embodiment, the first rotating shaft 4 is connected to the surface of the supporting plate 7 through a third bearing 5. This can make the rotation effect of the first rotating shaft 4 more favorable.

In the present invention, the first motor 8 uses a stepping motor. The first motor 8 rotates 120 degrees at a time.

In this embodiment, the tray further comprises elastic cords 15, the number of the elastic cords 15 is even, the elastic cords 15 are respectively and uniformly arranged at the front end and the rear end of the support plate 7, one end of each elastic cord is connected to one support plate 7, and the other end of each elastic cord is connected to an included angle between the tray 18 and the horizontal plane on the other support plate 7. Therefore, when the articles are conveyed, the articles are perfectly limited on the tray 18 through the elastic ropes 15 at the front end and the rear end of the articles and the supporting plates 7 at the left side and the right side, and the articles can be placed to fall off in the conveying process.

In this embodiment, the clamping mechanism includes: l-shaped supporting rod 2, clamping rod 3 and electromagnet 17. Wherein, the horizontal end of L type branch 2 is connected the top of backup pad 7, its vertical end with backup pad 7 is parallel, and spout 1 has been seted up along its length direction to the bottom surface of its horizontal end, and sliding connection has slider 16 on spout 1. The clamping rod 3 is parallel to the vertical end of the L-shaped supporting rod 2, and the top of the clamping rod is fixedly connected with the sliding block 16. The two electromagnets 17 are respectively and oppositely arranged on the opposite surfaces of the clamping rod 3 and the supporting plate 7, and after the two electromagnets 17 are electrified, the same-level magnetic force is generated between the two electromagnets 17; which provides power supply services through a power supply device.

Among the above-mentioned technical scheme, when the user will press from both sides fixture on the handrail of stair, at first place L type branch 2 on the handrail of stair, make the horizontal segment of L type branch 2 be located the top of the handrail of stair, the vertical segment of L type branch 2 is located the side of the handrail of stair, make supporting rod 3 be located stair handrail another side, at this moment, start power supply unit provides power supply service for electro-magnet 17, produce the magnetic force of same grade between two electro-magnets 17 after the circular telegram, make between produce the repulsion, make and produce the repulsion between supporting rod 3 and the backup pad 7, just so can make the vertical segment of supporting rod 3 and L type branch 2 fasten the handrail centre gripping. In a specific implementation, since friction is generated between the vertical sections of the clamping bar 3 and the L-shaped strut 2 and the stair railing, a lubricating layer may be provided on the contact surfaces thereof to reduce the friction.

In this embodiment, the method further includes: an entry device 14 and an electric propeller 10. Wherein, the recording device 14 is arranged on the supporting plate 7 and is used for recording the level height of the stairs. The central processor adjusts the length of the electric propeller 10 according to the level height of the stairs recorded by the recorder 14. The recorder 14 and the electric thruster 10 provide power supply service through a power supply device. In the invention, the height of the stair is automatically recorded by a user, so that the stair with each level height can be adapted by adjusting the length of the electric propeller 10, and the length of each electric propeller 10 is consistent after adjustment.

In this embodiment, the angle adjustment mechanism includes: an adjusting plate 19, a second motor 6 and a second bearing 13. Wherein, the adjusting plate 19 is arranged below the tray 18 and is connected with the bottom of the tray 18 through a support body. The second motor 6 is arranged right below one of the first rotating shafts 4 and fixed on the supporting plate 7, and an output shaft of the second motor is fixedly connected with one side surface of the adjusting plate 19; which provides power supply services through a power supply device. The second bearing 13 is disposed right below the other first rotating shaft 4 and fixedly connected to the other side surface of the adjusting plate 19. The central processor adjusts the included angle between the tray 18 and the horizontal plane by controlling the rotation angle of the second motor 6.

In the above technical solution, the central processing unit determines the current state according to the change state of the value detected by the gyroscope 20. When the value change state detected by the gyroscope 20 is a negative state, it indicates that the second state is switched to the first state, and the first state is about to be in the first state, i.e. the state about to be horizontal; when the change state of the value detected by the gyroscope 20 is positive, it indicates that the state is switched from the first state to the second state, and the state is about to be in the second state, i.e. the state is about to be in the inclined state. At this time, in order to keep the tray 18 horizontal all the time, the cpu is enabled to adjust the included angle between the tray 18 and the horizontal plane by controlling the rotation angle of the second motor 6. Therefore, the included angle between the adjusting plate 19 and the horizontal plane can be adjusted, and meanwhile, the tray 18 and the adjusting plate 19 are parallel under the action of the supporting body, namely, the included angle between the tray 18 and the horizontal plane is adjusted, so that the tray 18 is always kept in a horizontal state.

Simultaneously, the supporter is spring 21, the quantity of spring 21 has a plurality of, and even distribution is in on the regulating plate 19, spring 21's one end with the higher authority of regulating plate 19 is connected, spring 21's the other end with the bottom surface of tray 18 is connected.

Among the above-mentioned technical scheme, through setting up the supporter into spring 21, can make like this have a buffering between tray 18 and the regulating plate 19, just so can make tray 18 and regulating plate 19 when carrying out angle modulation, can not make tray 18 produce huge rocking, also can effectually prevent like this that the article on the tray 18 from dropping.

In this embodiment, a drag pad 22 is disposed within the tray 18. The tow pad 22 in the tray 18 not only provides increased friction against the surface on which the item is placed, but also protects the bottom of the item from damage that may occur during transport.

The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.

Claims

1. A stair-handling robot, comprising:

two support plates (7) arranged oppositely;

the clamping mechanism is used for clamping a handrail of a stair and is arranged at the upper end of one of the supporting plates (7);

the tray (18) is arranged between the two supporting plates (7), the left end and the right end of the tray are respectively and rotatably connected to the surfaces of the supporting plates (7) through a first rotating shaft (4), and the bottom of the tray is provided with a gyroscope (20);

the angle adjusting mechanism is arranged below the tray and used for adjusting an included angle between the tray (18) and the horizontal plane; the angle adjusting mechanism comprises an adjusting plate (19), a second motor (6) and a second bearing (13), wherein the adjusting plate (19) is arranged below the tray (18) and is connected with the bottom of the tray (18) through a support body; the second motor (6) is arranged right below one of the first rotating shafts (4) and fixed on the supporting plate (7), and an output shaft of the second motor is fixedly connected with one side surface of the adjusting plate (19); it provides power supply service through a power supply device; the second bearing (13) is arranged right below the other first rotating shaft (4) and is fixedly connected with the other side surface of the adjusting plate (19);

the device comprises at least two second rotating shafts (11), wherein the second rotating shafts (11) are arranged between the supporting plates (7) and positioned at the lower ends of the supporting plates (7), one end of each second rotating shaft (11) is connected to one of the supporting plates (7) through a first motor (8), the other end of each second rotating shaft (11) is connected to the other supporting plate (7) through a first bearing (12), the surface of each second rotating shaft (11) is provided with a plurality of advancing mechanisms along the length direction of the surface respectively, each advancing mechanism comprises three electric propellers (10) which are uniformly arranged along the circumferential direction of the surface of the second rotating shaft (11), the advancing end of each electric propeller (10) is provided with a roller (9), and the rollers (9) are driven by a driving mechanism;

the central processing unit is used for receiving angle data detected by the gyroscope (20), controlling the angle adjusting mechanism to adjust an included angle between the tray (18) and a horizontal plane according to the angle data, and controlling the working state of the first motor (8); the central processor adjusts the included angle between the tray (18) and the horizontal plane by controlling the rotation angle of the second motor (6);

and the power supply device is used for supplying power to the gyroscope (20), the first motor (8), the angle adjusting mechanism and the driving mechanism.

2. A stair transfer robot as claimed in claim 1, further comprising an even number of said bungee cords (15), said bungee cords (15) being evenly disposed at each of the front and rear ends of said support plates (7), one end of each of said bungee cords being attached to one of said support plates (7) and the other end of each of said bungee cords being attached to the other of said support plates (7).

3. A stair-handling robot as claimed in claim 1, wherein said clamping mechanism comprises:

the horizontal end of the L-shaped support rod (2) is connected to the top of the support plate (7), the vertical end of the L-shaped support rod is parallel to the support plate (7), the bottom surface of the horizontal end of the L-shaped support rod is provided with a sliding chute (1) along the length direction of the L-shaped support rod, and the sliding chute (1) is connected with a sliding block (16) in a sliding manner;

the clamping rod (3) is parallel to the vertical end of the L-shaped supporting rod (2), and the top of the clamping rod is fixedly connected with the sliding block (16);

the two electromagnets (17) are oppositely arranged on the opposite surfaces of the clamping rod (3) and the supporting plate (7), and magnetic force of the same level is generated between the two electromagnets (17) after the two electromagnets are electrified; which provides power supply services through a power supply device.

4. A stair-handling robot as recited in claim 1, further comprising:

the logging device (14) is arranged on the supporting plate (7) and is used for logging the level height of the stairs;

the central processor adjusts the length of the electric propeller (10) according to the level height of the stairs recorded by the recorder (14);

the recording device (14) and the electric propeller (10) provide power supply service through a power supply device.

5. A stair handling robot according to claim 1, wherein the support is a plurality of springs (21), the number of springs (21) being evenly distributed over the adjustment plate (19), one end of the springs (21) being connected to the upper side of the adjustment plate (19), the other end of the springs (21) being connected to the bottom side of the tray (18).

6. A stair-handling robot as claimed in claim 1, wherein a tow pad (22) is provided within the tray (18).

7. A stair-handling robot as claimed in claim 1, characterised in that said first shaft (4) is connected to the surface of said support plate (7) by means of a third bearing (5).