CN112829844A - Intelligent stair climbing carrying robot and method - Google Patents

Intelligent stair climbing carrying robot and method Download PDF

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Publication number
CN112829844A
CN112829844A CN202110009013.5A CN202110009013A CN112829844A CN 112829844 A CN112829844 A CN 112829844A CN 202110009013 A CN202110009013 A CN 202110009013A CN 112829844 A CN112829844 A CN 112829844A
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CN
China
Prior art keywords
lifting
wheel
self
driving wheel
stair
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Pending
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CN202110009013.5A
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Chinese (zh)
Inventor
翟振男
文宇
唐德锋
刘稳
滕韦
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China Yangtze Power Co Ltd
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China Yangtze Power Co Ltd
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Priority to CN202110009013.5A priority Critical patent/CN112829844A/en
Publication of CN112829844A publication Critical patent/CN112829844A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Abstract

An intelligent stair climbing carrying robot and a method thereof are provided, wherein a carrying platform is connected with a fixed support of a stair climbing mechanical system, an interactive induction unit is arranged on a front fixed arm and a front lifting arm, a rotary lifting device is arranged at the lower part of a horizontal frame and connected with the lower part of the horizontal frame, the interactive induction unit is electrically connected with a front self-driving wheel, a rear self-driving wheel, a front lifting mechanism, a rear lifting mechanism, an interactive induction unit and the rotary lifting device, the front self-driving wheel and the rear self-driving wheel are driven to ascend and descend interactively through the front lifting mechanism and the rear lifting mechanism, the front self-driving wheel and the rear self-driving wheel work interactively to carry the carrying platform to climb stairs, and the rotary lifting device realizes steering climbing to another stair. The invention overcomes the problems of low efficiency, high cost and potential safety hazard of the traditional transportation mode of the original unit stair, and has the characteristics of simple structure, no need of manual intervention for climbing and carrying objects on the stair, good adaptability, stable carrying objects, safety, reliability, high transportation efficiency and simple and convenient operation.

Description

Intelligent stair climbing carrying robot and method
Technical Field
The invention belongs to the technical field of hydrological survey, and relates to an intelligent stair climbing carrying robot and a method.
Background
The conventional vertical transportation of materials, instruments, heavy parts and other objects is limited by the reasons of small unit area of the stairs, high erection cost of special rail transportation tools and the like, and is mostly solved by adopting a manual transportation mode. The traditional manual carrying mode not only can cause serious human resource waste, low transportation efficiency and the like, but also can easily cause personal injury accidents and transportation safety accidents.
The traditional special rail transportation mode also has the following defects:
(1) the cost of erection and operation and maintenance is high. The traditional rail transportation comprises equipment facilities such as a transportation rail, a transportation trolley, a winch and an unloading platform, the single erection and operation and maintenance cost is high, and the unnecessary expense of the project is increased.
(2) The occurrence of personal injury accidents and transportation safety accidents is easy to cause. Because the rail transport device belongs to temporary construction equipment, the field operations such as firing operation, temporary electricity taking, mechanical cutting and the like are easy to cause personal injury accidents and transportation safety accidents, and the potential safety hazard is large.
(3) The application range is limited by the working environment and is small. Due to the fact that different stairs are different in size, the parameters such as the track width, the trolley wheel track, the transportation length and the track angle are redesigned by combining the field reality during track erection every time, and even the situation that track transportation cannot be used due to the limited erection space is very easy to happen.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent stair climbing carrying robot and a method, the structure is simple, a carrying platform is connected with a fixed support of a stair climbing mechanical system, an interactive sensing unit is arranged on a front fixed arm and a front lifting arm, a rotary lifting device is positioned at the lower part of a horizontal frame and is connected with the fixed support, an integrated intelligent single chip microcomputer is electrically connected with a front self-driving wheel, a rear self-driving wheel, a front lifting mechanism, a rear lifting mechanism, an interactive sensing unit and the rotary lifting device, the front lifting mechanism and the rear lifting mechanism interactively drive the front self-driving wheel and the rear self-driving wheel to lift, the front self-driving wheel and the rear self-driving wheel interactively work to carry the carrying platform to climb stairs, the rotary lifting device realizes steering climbing to another stair on the stair platform, manual intervention is not needed to climb the stairs, the objects are good in adaptability, stable in carrying, safe, the operation is simple and convenient.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an intelligent stair climbing carrying robot comprises a stair climbing mechanical system, a carrying platform, an interactive sensing unit, an integrated intelligent single chip microcomputer and a rotary lifting device; the object carrying platform is positioned at the upper part of the stair climbing mechanical system and is connected with the fixed support, the ultrasonic sensor of the interactive sensing unit is connected with the front fixed arm, the line patrol sensor is connected with the front lifting arm connected with the lifting wheel, and the rotary lifting device is connected with the horizontal frame of the stair climbing mechanical system; the integrated intelligent single chip microcomputer is electrically connected with the front self-driving wheel, the rear self-driving wheel, the front lifting mechanism, the rear lifting mechanism, the interactive sensing unit and the rotary lifting device.
The stair climbing mechanical system comprises a fixed support connected with the upper side of the horizontal frame, and a front fixed arm and a rear fixed arm connected with the lower side of the horizontal frame.
The horizontal frame is connected with motor bases of the front lifting mechanism and the rear lifting mechanism; the rotary lifting device which is arranged at the lower part of the horizontal frame and connected with the horizontal frame drives the horizontal frame to lift and rotate.
The fixed support is respectively in sliding fit with the front lifting arm and the rear lifting arm, and the front lifting arm and the rear lifting arm are respectively in sliding fit with the lifting wheel and the rear self-driving wheel; the lifting wheels are universal wheels.
The front fixed arm is connected with the front self-driving wheel, and the rear fixed arm is connected with the fixed wheel; the fixed wheel is a universal wheel.
The lifting mechanisms of the front lifting mechanism and the rear lifting mechanism comprise gears meshed with racks, the racks are connected with the front lifting arm and the rear lifting arm, and the gears are connected with the output end of the lifting motor.
The carrying platform is of a hollow box structure with an opening at the upper side, and the lower side of the carrying platform is connected with the fixed support.
The driving wheels of the front self-driving wheel and the rear self-driving wheel are automatic steering driving wheels, and comprise wheel shafts connected with wheels, driving motors connected with the wheel shafts, wheel seats matched with the wheel shafts, and steering machines connected with the wheel seats, wherein the steering machines are connected with the front fixing arms and the rear lifting arms.
The interactive sensing unit comprises an ultrasonic sensor and a line patrol sensor, wherein the ultrasonic sensor is used for sensing obstacles, and the line patrol sensor is used for horizontal linear tracking.
The stair climbing carrying method of the intelligent stair climbing carrying robot comprises the following steps:
s1, walking, wherein when a driving motor of the front self-driving wheel or the rear self-driving wheel works, the driving motor drives a wheel shaft to drive the wheel to rotate and walk; in the process, wheels of the lifting wheel, the fixed wheel, the front self-driving wheel and the rear self-driving wheel are all in contact with the ground;
s2, the front self-driving wheel avoids obstacles, when the ultrasonic sensor senses the vertical surface of the stair step, the front lifting mechanism and the rear lifting mechanism work simultaneously to drive the front lifting arm and the rear lifting arm to move downwards along the fixed support to lift the horizontal frame, so that the front self-driving wheel and the fixed wheel are suspended; when the ultrasonic sensor cannot sense the vertical surface of the stair step, the front lifting mechanism and the rear lifting mechanism stop working, and at the moment, the ground clearance of the front self-driving wheel is consistent with the height of the stair step; in the step, the lifting motors of the front lifting mechanism and the rear lifting mechanism rotate clockwise;
s3, climbing, enabling a driving motor of the rear self-driving wheel to work, and enabling the driving motor to drive the wheel to rotate to walk to push the wheel of the front self-driving wheel to be in contact with the stair step; in the process, the lifting wheel and the wheels of the rear self-driving wheel synchronously run;
s4, lifting the lifting wheel, and after the wheels of the front self-driving wheel are contacted with the stair steps, simultaneously working the front self-driving wheel and the rear self-driving wheel to jointly carry the loading platform; when the line patrol sensor senses a stair step horizontal line, the driving motors of the front self-driving wheel and the rear self-driving wheel stop working, the lifting motor of the front lifting mechanism works, and the lifting motor drives the front lifting arm to ascend along the fixed support to drive the lifting wheel to lift; when the height of the lifting wheel is consistent with that of the front self-driving wheel and the fixed wheel, the lifting motor stops working; in this step, the lift motor reverses;
s5, lifting the rear self-driven wheel, simultaneously working the front self-driven wheel and the rear self-driven wheel to carry the loading platform, and sequentially contacting and rolling the lifting wheel and the fixed wheel with the stair steps; when the wheels of the rear self-driving wheel are in contact with the vertical surface of the stair step, the front self-driving wheel and the rear self-driving wheel stop working, the lifting motor of the rear lifting mechanism works, the lifting motor drives the rear lifting arm to ascend along the fixed support to drive the rear self-driving wheel to lift, and the rear self-driving wheel is in a suspended state; in this step, the lift motor reverses;
s6, climbing again, enabling the front self-driving wheel to work to drive the wheels of the rear self-driving wheel to contact and roll with the step of the previous stage, and repeating S2-S5 in sequence when the ultrasonic sensor senses the vertical surface of the step of the previous stage of the stair until the self-driving wheel stops climbing to the stair platform;
s7, steering, rotating the lifting device to work, extending the telescopic end of the hydraulic cylinder to contact with the landing to jack the horizontal frame, and separating the lifting wheel, the fixed wheel, the front self-driving wheel and the rear self-driving wheel from contacting with the landing; the rotary platform rotates to drive the horizontal frame to rotate 90 degrees, and S2-S6 are repeated to climb up a stair.
An intelligent stair climbing carrying robot comprises a stair climbing mechanical system, a carrying platform, an interactive sensing unit, an integrated intelligent single chip microcomputer and a rotary lifting device; the object carrying platform is positioned at the upper part of the stair climbing mechanical system and is connected with the fixed support, the ultrasonic sensor of the interactive sensing unit is connected with the front fixed arm, the line patrol sensor is connected with the front lifting arm connected with the lifting wheel, and the rotary lifting device is connected with the horizontal frame of the stair climbing mechanical system; the integrated intelligent single chip microcomputer is electrically connected with the front self-driving wheel, the rear self-driving wheel, the front lifting mechanism, the rear lifting mechanism, the interactive sensing unit and the rotary lifting device. Simple structure, be connected through cargo platform and the fixed bolster of climbing building mechanical system, mutual induction unit sets up preceding fixed arm and preceding lifing arm, gyration elevating gear is located horizontal frame lower part and is connected with it, through integrated form intelligent singlechip and preceding self-driving wheel, back self-driving wheel, preceding elevating system, back elevating system, mutual induction unit and gyration elevating gear electric connection, self-driving wheel and back self-driving wheel go up and down before the interactive drive of elevating system and back elevating system, preceding self-driving wheel and back self-driving wheel are worked alternately and are carried cargo platform and climb stair, realize turning to climb to another stair at stair platform through gyration elevating gear, it climbs the thing to need not artificial intervention on stair, adaptability is good, it is steady to carry the thing, safety and reliability, high transportation efficiency, easy operation is convenient.
In a preferred embodiment, the stair climbing mechanical system comprises a fixed support connected with the upper side of the horizontal frame and a front fixed arm and a rear fixed arm connected with the lower side of the horizontal frame. Simple structure, during the use, the fixed stay upper end is connected with cargo platform, and preceding fixed arm and back fixed arm are connected with the horizontal frame, and elevating system and back elevating system during operation jacking horizontal frame upward movement in the front.
In a preferred scheme, the horizontal frame is connected with motor bases of the front lifting mechanism and the rear lifting mechanism; the rotary lifting device which is arranged at the lower part of the horizontal frame and connected with the horizontal frame drives the horizontal frame to lift and rotate. The lifting device is simple in structure, when the lifting device is used, the front lifting mechanism and the rear lifting mechanism work simultaneously to drive the front lifting arm and the rear lifting arm to lift the horizontal frame, and when the front lifting mechanism and the rear lifting mechanism work alternately, the front lifting arm and the rear lifting arm are lifted respectively; the rotary lifting device jacks up the horizontal frame and drives the horizontal frame to rotate to adjust the angle.
In a preferred scheme, the fixed support is respectively in sliding fit with a front lifting arm and a rear lifting arm, and the front lifting arm and the rear lifting arm are respectively in sliding fit with a lifting wheel and a rear self-driving wheel; the lifting wheels are universal wheels. Simple structure, during the use, preceding lifing arm and back lifing arm lift in-process, lifting wheel and back self-driven wheel lift thereupon.
In a preferred scheme, the front fixing arm is connected with a front self-driving wheel, and the rear fixing arm is connected with a fixing wheel; the fixed wheel is a universal wheel. Simple structure, during the use, at the jacking in-process of horizontal frame, the preceding self-driving wheel and the tight pulley of being connected with preceding fixed arm and back fixed arm rise thereupon.
In a preferred scheme, the lifting mechanisms of the front lifting mechanism and the rear lifting mechanism comprise gears meshed with racks, the racks are connected with the front lifting arm and the rear lifting arm, and the gears are connected with the output end of the lifting motor. Simple structure, during the use, elevator motor drive gear is rotatory, and the gear meshes with the rack, and the horizontal frame of jacking when the rack is along the fixed stay downstream, lift preceding lifing arm and back lifing arm when the rack is along the fixed stay upward movement.
In a preferred scheme, the carrying platform is a hollow box structure with an opening at the upper side, and the lower side is connected with the fixed support. Simple structure, during the use, cargo platform is used for loading article, is in the horizontality all the time at the carrying in-process of climbing.
In a preferred scheme, the driving wheels of the front self-driving wheel and the rear self-driving wheel are automatic steering driving wheels and comprise wheel shafts connected with the wheels, driving motors connected with the wheel shafts and wheel seats matched with the wheel shafts, and steering machines connected with the wheel seats are connected with the front fixing arms and the rear lifting arms. The steering device has a simple structure, when in use, the driving motor drives the wheel shaft to drive the wheels to rotate and walk, and the steering machine can also drive the wheel seat to steer under the condition of not climbing stairs, so that the fixed wheels and the lifting wheels of the universal wheels can steer along with the fixed wheels and the lifting wheels.
In a preferred scheme, the interaction sensing unit comprises an ultrasonic sensor and a line patrol sensor, wherein the ultrasonic sensor is used for sensing obstacles, and the line patrol sensor is used for horizontal linear tracking. Simple structure, during the use, send to integrated form intelligent singlechip after ultrasonic sensor and patrolling line sensor sense the signal, receive and handle by integrated form intelligent singlechip, send the execution instruction after handling.
In a preferred embodiment, the stair climbing carrying method of the intelligent stair climbing carrying robot comprises the following steps:
s1, walking, wherein when a driving motor of the front self-driving wheel or the rear self-driving wheel works, the driving motor drives a wheel shaft to drive the wheel to rotate and walk; in the process, wheels of the lifting wheel, the fixed wheel, the front self-driving wheel and the rear self-driving wheel are all in contact with the ground;
s2, the front self-driving wheel avoids obstacles, when the ultrasonic sensor senses the vertical surface of the stair step, the front lifting mechanism and the rear lifting mechanism work simultaneously to drive the front lifting arm and the rear lifting arm to move downwards along the fixed support to lift the horizontal frame, so that the front self-driving wheel and the fixed wheel are suspended; when the ultrasonic sensor cannot sense the vertical surface of the stair step, the front lifting mechanism and the rear lifting mechanism stop working, and at the moment, the ground clearance of the front self-driving wheel is consistent with the height of the stair step; in the step, the lifting motors of the front lifting mechanism and the rear lifting mechanism rotate clockwise;
s3, climbing, enabling a driving motor of the rear self-driving wheel to work, and enabling the driving motor to drive the wheel to rotate to walk to push the wheel of the front self-driving wheel to be in contact with the stair step; in the process, the lifting wheel and the wheels of the rear self-driving wheel synchronously run;
s4, lifting the lifting wheel, and after the wheels of the front self-driving wheel are contacted with the stair steps, simultaneously working the front self-driving wheel and the rear self-driving wheel to jointly carry the loading platform; when the line patrol sensor senses a stair step horizontal line, the driving motors of the front self-driving wheel and the rear self-driving wheel stop working, the lifting motor of the front lifting mechanism works, and the lifting motor drives the front lifting arm to ascend along the fixed support to drive the lifting wheel to lift; when the height of the lifting wheel is consistent with that of the front self-driving wheel and the fixed wheel, the lifting motor stops working; in this step, the lift motor reverses;
s5, lifting the rear self-driven wheel, simultaneously working the front self-driven wheel and the rear self-driven wheel to carry the loading platform, and sequentially contacting and rolling the lifting wheel and the fixed wheel with the stair steps; when the wheels of the rear self-driving wheel are in contact with the vertical surface of the stair step, the front self-driving wheel and the rear self-driving wheel stop working, the lifting motor of the rear lifting mechanism works, the lifting motor drives the rear lifting arm to ascend along the fixed support to drive the rear self-driving wheel to lift, and the rear self-driving wheel is in a suspended state; in this step, the lift motor reverses;
s6, climbing again, enabling the front self-driving wheel to work to drive the wheels of the rear self-driving wheel to contact and roll with the step of the previous stage, and repeating S2-S5 in sequence when the ultrasonic sensor senses the vertical surface of the step of the previous stage of the stair until the self-driving wheel stops climbing to the stair platform;
s7, steering, rotating the lifting device to work, extending the telescopic end of the hydraulic cylinder to contact with the landing to jack the horizontal frame, and separating the lifting wheel, the fixed wheel, the front self-driving wheel and the rear self-driving wheel from contacting with the landing; the rotary platform rotates to drive the horizontal frame to rotate 90 degrees, and S2-S6 are repeated to climb up a stair. The method is simple and convenient to operate, high in intelligent degree, free of manual intervention for climbing stairs, and capable of enabling the carried goods to be in a horizontal state all the time.
An intelligent stair climbing carrying robot and a method thereof, comprising a stair climbing mechanical system, a carrying platform, an interactive induction unit, an integrated intelligent single chip microcomputer and a rotary lifting device, wherein the carrying platform is connected with a fixed support of the stair climbing mechanical system, the interactive induction unit is arranged on a front fixed arm and a front lifting arm, the rotary lifting device is arranged at the lower part of a horizontal frame and is connected with the horizontal frame, the integrated intelligent single chip microcomputer is connected with a front self-driving wheel, a rear self-driving wheel, a front lifting mechanism, a rear lifting mechanism, the interactive induction unit and the rotary lifting device, the front self-driving wheel and the rear self-driving wheel are driven to ascend and descend by the interaction of the front lifting mechanism and the rear lifting mechanism, the front self-driving wheel and the rear self-driving wheel work alternately to carry the carrying platform to climb stairs, and the rotary lifting device realizes steering. The invention overcomes the problems of low efficiency, high cost and potential safety hazard of the traditional transportation mode of the original unit stair, and has the characteristics of simple structure, no need of manual intervention for climbing and carrying objects on the stair, good adaptability, stable carrying objects, safety, reliability, high transportation efficiency and simple and convenient operation.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the lifting mechanism of the present invention.
Fig. 3 is a simplified diagram of an integrated intelligent single-chip microcomputer according to the present invention.
Fig. 4 is a walking state diagram of the present invention.
FIG. 5 is a diagram illustrating a horizontal frame jacking state according to the present invention.
Fig. 6 is a climbing initial state diagram of the invention.
FIG. 7 is a diagram illustrating the raised state of the front lift arm according to the present invention.
FIG. 8 is a state diagram during climb of the present invention.
Fig. 9 is a diagram illustrating a state where the rear lift arm is raised according to the present invention.
In the figure: stair climbing mechanical system 1, horizontal frame 11, fixed stay 12, preceding fixed arm 13, back fixed arm 14, preceding elevating system 15, back elevating system 16, preceding lift arm 17, back lift arm 18, lifting wheel 19, back self-driving wheel 20, preceding self-driving wheel 21, fixed wheel 22, cargo platform 2, mutual induction unit 3, ultrasonic sensor 31, patrol line sensor 32, integrated form intelligence singlechip 4, gyration elevating gear 5.
Detailed Description
As shown in fig. 1 to 9, an intelligent stair climbing carrying robot comprises a stair climbing mechanical system 1, a carrying platform 2, an interactive sensing unit 3, an integrated intelligent single chip microcomputer 4 and a rotary lifting device 5; the loading platform 2 is positioned at the upper part of the stair climbing mechanical system 1 and is connected with the fixed support 12, the ultrasonic sensor 31 of the interactive sensing unit 3 is connected with the front fixed arm 13, the line patrol sensor 32 is connected with the front lifting arm 17 connected with the lifting wheel 19, and the rotary lifting device 5 is connected with the horizontal frame 11 of the stair climbing mechanical system 1; the integrated intelligent single chip microcomputer 4 is electrically connected with the front self-driving wheel 21, the rear self-driving wheel 20, the front lifting mechanism 15, the rear lifting mechanism 16, the interactive induction unit 3 and the rotary lifting device 5. The structure is simple, the object carrying platform is connected with a fixed support 12 of a stair climbing mechanical system 1 through an object carrying platform 2, an interactive sensing unit 3 is arranged on a front fixed arm 13 and a front lifting arm 17, a rotary lifting device 5 is positioned at the lower part of a horizontal frame 11 and connected with the lower part of the horizontal frame, the interactive sensing unit 3 is electrically connected with a front self-driving wheel 21, a rear self-driving wheel 20, a front lifting mechanism 15, a rear lifting mechanism 16, the interactive sensing unit 3 and the rotary lifting device 5 through an integrated intelligent single chip microcomputer 4, the front self-driving wheel 21 and the rear self-driving wheel 20 are driven to lift in an interactive mode through the front lifting mechanism 15 and the rear lifting mechanism 16, the front self-driving wheel 21 and the rear self-driving wheel 20 work in an interactive mode to carry the object carrying platform 2 to climb stairs, steering and climbing to another stair are realized on the stair platform through the rotary lifting device, the operation is simple and convenient.
In a preferred embodiment, the stair climbing mechanical system 1 comprises a fixed support 12 connected with the upper side of the horizontal frame 11, and a front fixed arm 13 and a rear fixed arm 14 connected with the lower side of the horizontal frame 11. Simple structure, during the use, fixed stay 12 upper end is connected with cargo platform 2, and preceding fixed arm 13 and back fixed arm 14 are connected with horizontal frame 11, and preceding elevating system 15 and back elevating system 16 during operation lift horizontal frame 11 upwards moves.
In a preferred scheme, the horizontal frame 11 is connected with motor bases of a front lifting mechanism 15 and a rear lifting mechanism 16; the rotary lifting device 5 which is arranged at the lower part of the horizontal frame 11 and connected with the horizontal frame drives the horizontal frame 11 to lift and rotate. The structure is simple, when the lifting device is used, the front lifting mechanism 15 and the rear lifting mechanism 16 work simultaneously to drive the front lifting arm 17 and the rear lifting arm 18 to lift the horizontal frame 11, and when the front lifting mechanism 15 and the rear lifting mechanism 16 work alternately, the front lifting arm 17 and the rear lifting arm 18 are lifted respectively; the rotary lifting device 5 lifts the horizontal frame 11 and drives the horizontal frame 11 to rotate for adjusting the angle.
Preferably, the rotary lifting device 5 comprises a hydraulic cylinder connected with a rotary platform, the rotary platform is connected with the horizontal frame 11, and a supporting plate connected with the hydraulic cylinder is suspended downwards; the hydraulic cylinder is connected with the hydraulic station, and the hydraulic station and the rotary platform are connected with the integrated intelligent single chip microcomputer 4.
Preferably, the charging power source is located between the fixed supports 12 on the upper portion of the horizontal frame 11 and is connected and fixed with the fixed supports, the charging power source provides power for the front self-driving wheel 21, the rear self-driving wheel 20, the front lifting mechanism 15, the rear lifting mechanism 16, the interactive sensing unit 3 and the rotary lifting device 5, the integrated intelligent single chip microcomputer 4 is electrically connected with the charging power source, receives signals of the interactive sensing unit 3 for processing, and controls the front self-driving wheel 21, the rear self-driving wheel 20, the front lifting mechanism 15, the rear lifting mechanism 16 and the rotary lifting device 5 to work.
In a preferred scheme, the fixed support 12 is respectively in sliding fit with a front lifting arm 17 and a rear lifting arm 18, and the front lifting arm 17 and the rear lifting arm 18 are respectively in sliding fit with a lifting wheel 19 and a rear self-driving wheel 20; the lifting wheels 19 are universal wheels. The structure is simple, and when the lifting device is used, the lifting wheels 19 and the rear self-driving wheels 20 lift along with the lifting process of the front lifting arm 17 and the rear lifting arm 18.
In a preferred scheme, the front fixing arm 13 is connected with a front self-driving wheel 21, and the rear fixing arm 14 is connected with a fixed wheel 22; the fixed wheel 22 is a universal wheel. The structure is simple, and when the lifting device is used, in the lifting process of the horizontal frame 11, the front self-driving wheel 21 and the fixed wheel 22 connected with the front fixed arm 13 and the rear fixed arm 14 ascend along with the lifting process.
In a preferred embodiment, the lifting mechanisms of the front lifting mechanism 15 and the rear lifting mechanism 16 include gears engaged with racks, the racks are connected with the front lifting arm 17 and the rear lifting arm 18, and the gears are connected with the output end of the lifting motor. Simple structure, during the use, elevator motor drive gear is rotatory, and the gear meshes with the rack, and jacking horizontal frame 11 when the rack is along fixed stay 12 downstream promotes preceding lifing arm 17 and back lifing arm 18 when the rack is along fixed stay 12 upstream.
Preferably, when the lifting motor rotates clockwise, the rack moves downwards along the fixed support 12; when the elevator motor reverses, the rack moves upward along the fixed support 12.
Preferably, the fixed support 12 has an opening at one side to expose the rack to engage with the gear.
In a preferred embodiment, the loading platform 2 is a hollow box structure with an open upper side, and the lower side is connected to the fixed support 12. Simple structure, during the use, cargo platform 2 is used for loading article, is in the horizontality all the time at the carrying in-process of climbing.
In a preferred scheme, the driving wheels of the front self-driving wheel 21 and the rear self-driving wheel 20 are automatic steering driving wheels, and comprise wheel shafts connected with the wheels, driving motors connected with the wheel shafts, and wheel seats matched with the wheel shafts, and steering motors connected with the wheel seats are connected with the front fixing arm 13 and the rear lifting arm 18. The structure is simple, when in use, the driving motor drives the wheel shaft to drive the wheels to rotate and walk, and the steering machine can also drive the wheel seat to steer under the condition of not climbing stairs, so that the fixed wheel 22 and the lifting wheel 19 of the universal wheel can steer along with the steering.
Preferably, the steering engine is electrically connected with the charging power supply and the integrated intelligent single chip microcomputer 4, the charging power supply provides power, and the integrated intelligent single chip microcomputer 4 controls starting and steering.
Preferably, the integrated intelligent single-chip microcomputer 4 comprises processing circuits c-g for processing sensor input signals, circuits a, b, h for the front lifting mechanism 15, the rear lifting mechanism 16 and the driving wheels, and a central processor SCM in which an intelligent mobile control program is recorded. The intelligent mobile control program is written by adopting Arduino single-chip microcomputer programming language, and is burnt to an SCM central processing unit after being written, the software programming environment is Windows10 and Arduino-1.8.13, and the underlying framework language is C language.
In a preferred embodiment, the interaction sensing unit 3 comprises an ultrasonic sensor 31 and a line patrol sensor 32, wherein the ultrasonic sensor 31 is used for sensing obstacles, and the line patrol sensor 32 is used for horizontal linear tracking. Simple structure, during the use, send to integrated form intelligent singlechip 4 after ultrasonic sensor 31 and patrol line sensor 32 sense the signal, receive and handle by integrated form intelligent singlechip 4, send the execution instruction after the processing.
In a preferred embodiment, the stair climbing carrying method of the intelligent stair climbing carrying robot includes the following steps:
s1, walking, wherein when the driving motor of the front self-driving wheel 21 or the rear self-driving wheel 20 works, the driving motor drives the wheel shaft to drive the wheel to rotate and walk; in the process, the wheels of the lifting wheel 19, the fixed wheel 22, the front self-driving wheel 21 and the rear self-driving wheel 20 are all in contact with the ground;
s2, the front self-driving wheel avoids obstacles, when the ultrasonic sensor 31 senses the vertical surface of the stair step, the front lifting mechanism 15 and the rear lifting mechanism 16 work simultaneously to drive the front lifting arm 17 and the rear lifting arm 18 to move downwards along the fixed support 12 to lift the horizontal frame 11, so that the front self-driving wheel 21 and the fixed wheel 22 are suspended; when the ultrasonic sensor 31 cannot sense the vertical surface of the stair step, the front lifting mechanism 15 and the rear lifting mechanism 16 stop working, and at the moment, the ground clearance of the front self-driving wheel 21 is consistent with the height of the stair step; in this step, the lifting motors of the front lifting mechanism 15 and the rear lifting mechanism 16 rotate clockwise;
s3, climbing, wherein a driving motor of the rear self-driving wheel 20 works, and the driving motor drives the wheel to rotate to move to push the wheel of the front self-driving wheel 21 to be in contact with the stair step; in the process, the lifting wheel 19 and the rear self-driving wheel 20 synchronously run;
s4, lifting the lifting wheel, and after the wheels of the front self-driving wheel 21 are contacted with the stair steps, the front self-driving wheel 21 and the rear self-driving wheel 20 work simultaneously to carry the loading platform 2 together; when the line patrol sensor 32 senses a stair step horizontal line, the driving motors of the front self-driving wheel 21 and the rear self-driving wheel 20 stop working, the lifting motor of the front lifting mechanism 15 works, and the lifting motor drives the front lifting arm 17 to ascend along the fixed support 12 to drive the lifting wheel 19 to lift; when the height of the lifting wheel 19 is consistent with the height of the front self-driving wheel 21 and the fixed wheel 22, the lifting motor stops working; in this step, the lift motor reverses;
s5, the rear self-driving wheel is lifted, the front self-driving wheel 21 and the rear self-driving wheel 20 work simultaneously to carry the loading platform 2, and the lifting wheel 19 and the fixed wheel 22 sequentially contact with the stair steps to roll; when the wheels of the rear self-driving wheel 20 contact with the vertical surface of the stair step, the front self-driving wheel 21 and the rear self-driving wheel 20 stop working, the lifting motor of the rear lifting mechanism 16 works, the lifting motor drives the rear lifting arm 18 to ascend along the fixed support 12 to drive the rear self-driving wheel 20 to ascend, and the rear self-driving wheel 20 is in a suspended state; in this step, the lift motor reverses;
s6, climbing again, the front self-driving wheel 21 works to drive the wheels of the rear self-driving wheel 20 to contact and roll with the step of the previous stage of the stair, and when the ultrasonic sensor 31 senses the vertical surface of the step of the previous stage of the stair, S2-S5 are repeated in sequence until the step is stopped after climbing to the stair platform;
s7, steering, rotating the lifting device 5 to work, extending the telescopic end of the hydraulic cylinder to contact with the landing to jack the horizontal frame 11, and separating the lifting wheel 19, the fixed wheel 22, the front self-driving wheel 21 and the rear self-driving wheel 20 from contact with the landing; the rotary platform rotates to drive the horizontal frame 11 to rotate 90 degrees, and S2-S6 are repeated to climb up a stair. The method is simple and convenient to operate, high in intelligent degree, free of manual intervention for climbing stairs, and capable of enabling the carried goods to be in a horizontal state all the time.
When the intelligent stair climbing carrying robot and the method are installed and used, the object carrying platform 2 is connected with a fixed support 12 of a stair climbing mechanical system 1, the interactive sensing unit 3 is arranged on a front fixed arm 13 and a front lifting arm 17, the rotary lifting device 5 is positioned at the lower part of a horizontal frame 11 and is connected with the horizontal frame, the integrated intelligent single chip microcomputer 4 is electrically connected with a front self-driving wheel 21, a rear self-driving wheel 20, a front lifting mechanism 15, a rear lifting mechanism 16, the interactive sensing unit 3 and the rotary lifting device 5, the front lifting mechanism 15 and the rear lifting mechanism 16 interactively drive the front self-driving wheel 21 and the rear self-driving wheel 20 to lift, the front self-driving wheel 21 and the rear self-driving wheel 20 interactively work to carry the object carrying platform 2 to climb stairs, the rotary lifting device 5 realizes steering climbing to another stair on the stair platform without manual intervention, the adaptability is good, the object carrying is stable, safe and reliable, the conveying efficiency is high, and easy operation is convenient.
When the lifting device is used, the upper end of the fixed support 12 is connected with the carrying platform 2, the front fixed arm 13 and the rear fixed arm 14 are connected with the horizontal frame 11, and the horizontal frame 11 is lifted to move upwards when the front lifting mechanism 15 and the rear lifting mechanism 16 work.
When the lifting device is used, the front lifting mechanism 15 and the rear lifting mechanism 16 work simultaneously to drive the front lifting arm 17 and the rear lifting arm 18 to lift the horizontal frame 11, and when the front lifting mechanism 15 and the rear lifting mechanism 16 work alternately, the front lifting arm 17 and the rear lifting arm 18 are lifted respectively; the rotary lifting device 5 lifts the horizontal frame 11 and drives the horizontal frame 11 to rotate for adjusting the angle.
When the lifting device is used, the lifting wheels 19 and the rear self-driving wheels 20 lift along with the lifting process of the front lifting arm 17 and the rear lifting arm 18.
When the lifting device is used, in the lifting process of the horizontal frame 11, the front self-driving wheel 21 and the fixed wheel 22 connected with the front fixed arm 13 and the rear fixed arm 14 ascend along with the lifting device.
In use, the gear is driven by the lifting motor to rotate, the gear is engaged with the rack, the horizontal frame 11 is jacked up when the rack moves downwards along the fixed support 12, and the front lifting arm 17 and the rear lifting arm 18 are lifted when the rack moves upwards along the fixed support 12.
When the lifting device is used, the loading platform 2 is used for loading articles and is always in a horizontal state in the carrying and climbing process.
When the steering device is used, the driving motor drives the wheel shaft to drive the wheels to rotate and walk, and the steering machine can also drive the wheel seat to steer under the condition of not climbing stairs, so that the fixed wheel 22 and the lifting wheel 19 of the universal wheel can steer along with the steering.
During the use, send to integrated form intelligent singlechip 4 after ultrasonic sensor 31 and the sensor 32 of patrolling the line sense the signal, receive and handle by integrated form intelligent singlechip 4, send out the execution command after handling.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims (10)

1. The utility model provides an intelligence stair climbing carrying robot, characterized by: the intelligent stair climbing device comprises a stair climbing mechanical system (1), an object carrying platform (2), an interactive induction unit (3), an integrated intelligent single chip microcomputer (4) and a rotary lifting device (5); the loading platform (2) is positioned at the upper part of the stair climbing mechanical system (1) and is connected with a fixed support (12), an ultrasonic sensor (31) of the interactive sensing unit (3) is connected with a front fixed arm (13), a line patrol sensor (32) is connected with a front lifting arm (17) connected with a lifting wheel (19), and a rotary lifting device (5) is connected with a horizontal frame (11) of the stair climbing mechanical system (1); the integrated intelligent single chip microcomputer (4) is electrically connected with the front self-driving wheel (21), the rear self-driving wheel (20), the front lifting mechanism (15), the rear lifting mechanism (16), the interaction sensing unit (3) and the rotary lifting device (5).
2. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the stair climbing mechanical system (1) comprises a fixed support (12) connected with the upper side of a horizontal frame (11), and a front fixed arm (13) and a rear fixed arm (14) connected with the lower side of the horizontal frame (11).
3. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the horizontal frame (11) is connected with motor bases of the front lifting mechanism (15) and the rear lifting mechanism (16); the rotary lifting device (5) which is arranged at the lower part of the horizontal frame (11) and connected with the horizontal frame drives the horizontal frame (11) to lift and rotate.
4. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the fixed support (12) is respectively in sliding fit with a front lifting arm (17) and a rear lifting arm (18), and the front lifting arm (17) and the rear lifting arm (18) are respectively in sliding fit with a lifting wheel (19) and a rear self-driving wheel (20); the lifting wheels (19) are universal wheels.
5. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the front fixing arm (13) is connected with a front self-driving wheel (21), and the rear fixing arm (14) is connected with a fixing wheel (22); the fixed wheel (22) is a universal wheel.
6. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the lifting mechanisms of the front lifting mechanism (15) and the rear lifting mechanism (16) comprise gears meshed with racks, the racks are connected with the front lifting arm (17) and the rear lifting arm (18), and the gears are connected with the output end of the lifting motor.
7. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the carrying platform (2) is a hollow box structure with an opening at the upper side, and the lower side is connected with the fixed support (12).
8. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the driving wheels of the front self-driving wheel (21) and the rear self-driving wheel (20) are automatic steering driving wheels, and comprise wheel shafts connected with wheels, driving motors connected with the wheel shafts and wheel seats matched with the wheel shafts, and steering gears connected with the wheel seats are connected with the front fixing arm (13) and the rear lifting arm (18).
9. The intelligent stair climbing carrying robot as set forth in claim 1, wherein: the interaction sensing unit (3) comprises an ultrasonic sensor (31) and a line patrol sensor (32), wherein the ultrasonic sensor (31) is used for sensing an obstacle, and the line patrol sensor (32) is used for horizontal linear tracking.
10. The stair climbing carrying method of the intelligent stair climbing carrying robot as claimed in claims 1 to 9, comprising the following steps:
s1, walking, wherein when the driving motor of the front self-driving wheel (21) or the rear self-driving wheel (20) works, the driving motor drives the wheel shaft to drive the wheel to rotate and walk; in the process, wheels of the lifting wheel (19), the fixed wheel (22), the front self-driving wheel (21) and the rear self-driving wheel (20) are all in contact with the ground;
s2, the front self-driving wheel avoids obstacles, when the ultrasonic sensor (31) senses the vertical surface of the stair step, the front lifting mechanism (15) and the rear lifting mechanism (16) work simultaneously to drive the front lifting arm (17) and the rear lifting arm (18) to move downwards along the fixed support (12) to lift the horizontal frame (11), so that the front self-driving wheel (21) and the fixed wheel (22) are suspended; when the ultrasonic sensor (31) cannot sense the vertical surface of the stair steps, the front lifting mechanism (15) and the rear lifting mechanism (16) stop working, and at the moment, the ground clearance of the front self-driving wheel (21) is consistent with the height of the stair steps; in the step, the lifting motors of the front lifting mechanism (15) and the rear lifting mechanism (16) rotate clockwise;
s3, climbing, enabling a driving motor of the rear self-driving wheel (20) to work, and enabling the driving motor to drive the wheel to rotate to move to push the wheel of the front self-driving wheel (21) to be in contact with the stair step; in the process, the lifting wheel (19) and the wheel of the rear self-driving wheel (20) synchronously run;
s4, lifting the lifting wheel, and carrying the loading platform (2) by the front self-driving wheel (21) and the rear self-driving wheel (20) working together after the wheels of the front self-driving wheel (21) contact with the stair steps; when the line patrol sensor (32) senses a stair step horizontal line, the driving motors of the front self-driving wheel (21) and the rear self-driving wheel (20) stop working, the lifting motor of the front lifting mechanism (15) works, and the lifting motor drives the front lifting arm (17) to ascend along the fixed support (12) to drive the lifting wheel (19) to lift; when the height of the lifting wheel (19) is consistent with the height of the front self-driving wheel (21) and the fixed wheel (22), the lifting motor stops working; in this step, the lift motor reverses;
s5, lifting the rear self-driving wheel, simultaneously working the front self-driving wheel (21) and the rear self-driving wheel (20) to carry the loading platform (2), and sequentially contacting and rolling the lifting wheel (19) and the fixed wheel (22) with the stair steps; when the wheels of the rear self-driving wheel (20) are in contact with the vertical surface of the stair step, the front self-driving wheel (21) and the rear self-driving wheel (20) stop working, the lifting motor of the rear lifting mechanism (16) works, the lifting motor drives the rear lifting arm (18) to ascend along the fixed support (12) to drive the rear self-driving wheel (20) to lift, and the rear self-driving wheel (20) is in a suspended state; in this step, the lift motor reverses;
s6, climbing again, enabling the front self-driving wheel (21) to work to drive the wheels of the rear self-driving wheel (20) to contact and roll with the step of the previous stage, and when the ultrasonic sensor (31) senses the vertical surface of the step of the previous stage of the stair, repeating S2-S5 in sequence until the step is stopped after climbing to the stair platform;
s7, steering, rotating the lifting device (5) to work, extending the telescopic end of the hydraulic cylinder to contact with the landing to jack the horizontal frame (11), and separating the lifting wheel (19), the fixed wheel (22), the front self-driving wheel (21) and the rear self-driving wheel (20) from contact with the landing; the rotary platform rotates to drive the horizontal frame (11) to rotate 90 degrees, and S2-S6 are repeated to climb up a stair.
CN202110009013.5A 2021-01-05 2021-01-05 Intelligent stair climbing carrying robot and method Pending CN112829844A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110009013.5A CN112829844A (en) 2021-01-05 2021-01-05 Intelligent stair climbing carrying robot and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110009013.5A CN112829844A (en) 2021-01-05 2021-01-05 Intelligent stair climbing carrying robot and method

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CN112829844A true CN112829844A (en) 2021-05-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113428251A (en) * 2021-07-29 2021-09-24 中建八局第三建设有限公司 Sectional type electric loading upstairs going device and loading upstairs going method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113428251A (en) * 2021-07-29 2021-09-24 中建八局第三建设有限公司 Sectional type electric loading upstairs going device and loading upstairs going method
CN113428251B (en) * 2021-07-29 2022-04-12 中建八局第三建设有限公司 Sectional type electric loading upstairs going device and loading upstairs going method

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