CN201058083Y - Automatically run manned robot for fluctuating stairway - Google Patents
Automatically run manned robot for fluctuating stairway Download PDFInfo
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- CN201058083Y CN201058083Y CN 200720012504 CN200720012504U CN201058083Y CN 201058083 Y CN201058083 Y CN 201058083Y CN 200720012504 CN200720012504 CN 200720012504 CN 200720012504 U CN200720012504 U CN 200720012504U CN 201058083 Y CN201058083 Y CN 201058083Y
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Abstract
Disclosed is a self-running robot for carrying a person upstairs and downstairs. In the technical proposal, the utility model is provided with a running mechanism, a slide frame mechanism, a chair pushing mechanism, a self-turning mechanism and a control circuit mechanism. The utility model is designed in mechanical and electrical integration according to the principle of human engineering and driven by a DC motor; the utility model can automatically run and go upstairs and downstairs, achieve self-turning on the last step of the stairs and enter the room; the utility model also can control running speed and direction; the operation is convenient and flexible. The driver is not inclined in the processes of running and going upstairs and downstairs, therefore the utility model is stable, safe and reliable.
Description
Technical field:
This utility model belongs to a kind of robot, particularly a kind ofly travels automatically, the manned robot of stair activity.
Background technology:
The wheelchair that existing people with disability uses can only be moved wheel with hands and drive at level road or the less road traveling of the ratio of slope.Can't travel if run into stairway step, and can only rely on other people to help to solve, very inconvenient.Leaving other people in other words helps oneself then to be at a complete loss as to what to do.
The utility model content:
The purpose of this utility model provides and a kind ofly travels automatically, the manned robot of stair activity.Electromechanical integration adopts the human engineering principle, reasonable in design, and stable performance is travelled conveniently, flexibly.Can solve existing wheelchair effectively can not stair activity, relies on manpower to drive the defective of exercising.
The technical solution of the utility model comprises traveling mechanism, sliding frame mechanism, seat propulsive mechanism, rotation bender structure and control circuit mechanism, it is characterized in that:
In traveling mechanism, connect the push rod stiff end by bolt on the frame, frame is connected by bearing pin with drop-down bridge one end with upper connecting rod one end, form revolute pair respectively, the trailing wheel vertical rod is connected by bearing pin with the drop-down bridge other end with the upper connecting rod other end, form revolute pair respectively, frame, upper connecting rod, drop-down bridge, trailing wheel vertical rod constitute parallel four-bar linkage; The moving rod end of push rod connects slideway shelf by bolt, and slideway shelf connects slideway by bolt, and the moving rod end of push rod connects slideway shelf and slideway; Driving wheel connects the driving wheel fork shaft and inserts frame composition revolute pair, and the connection of driving wheel fork shaft turns to handwheel, and universal wheel is connected on the frame by bolt, and turning rack is connected in the trailing wheel vertical rod by bearing pin, forms revolute pair and constitutes the traveling mechanism of turning certainly;
In sliding frame mechanism, the push rod stiff end connects worm reduction gear by bolt, the worm reduction gear both sides connect two foreleg sleeve pipes by bolt, front axle passes two foreleg sleeve pipes and worm reduction gear, preceding axle key connects worm reduction gear, front axle two terminal link connect slide mechanism lower link one end, the foreleg sleeve pipe connects slide mechanism upper connecting rod one end by bearing pin and forms revolute pair, back leg connects the slide mechanism upper connecting rod and the slide mechanism lower link other end by bearing pin, form revolute pair respectively, the foreleg sleeve pipe, the slide mechanism upper connecting rod, back leg and slide mechanism lower link constitute parallel four-bar linkage; The moving rod end of push rod connects the slideway frame by bolt, and the slideway frame connects sliding bearing by bolt, and slideway connects sliding bearing, and the motor connecting screw rod screws in sliding frame, and screw rod and sliding frame are formed screw pair;
In the seat propulsive mechanism, seat frame connects sliding bearing by bolt, and slideway connects sliding bearing, the motor connecting screw rod, and screw rod screws in seat frame, forms screw pair.
The slideway shelf of above-mentioned traveling mechanism connects slideway by bolt, slideway passes the sliding bearing that is connected on the slideway frame, pass the sliding bearing that is connected on the seat frame simultaneously, slideway links together traveling mechanism, sliding frame mechanism and seat propulsive mechanism.
In the above-mentioned seat propulsive mechanism, the motor connecting screw rod screws in seat frame, and seat frame connects sliding bearing, the motor screw rod that is in transmission connection.
In the above-mentioned traveling mechanism, drive motors is connected in the driving wheel in the heart by bolt, the axle of drive motors is connected on the driving wheel fork shaft by nut, the driving wheel fork shaft inserts frame and forms revolute pair, the driving wheel fork shaft connects and to turn to handwheel, is connected on the frame by bolt as the universal wheel of driven pulley.
The advantage that the utlity model has: traveling mechanism, sliding frame mechanism, seat propulsive mechanism are linked together by slideway (1), adding rotation bender structure and control circuit mechanism, and employing human engineering principle, be designed to electromechanical integrated product, finish automatically and travel, the stair activity step, 360 ° the manned function of can turning certainly.This robot is an electromechanical integrated product, adopts the human engineering principle, reasonable in design, and stable performance is travelled conveniently, flexibly.It has solved existing wheelchair effectively can not stair activity, relies on manpower to drive the defective of exercising.
Description of drawings:
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 this utility model traveling mechanism figure.
Fig. 4 is the A-A cutaway view of Fig. 3
Fig. 5 is this utility model sliding frame mechanism map.
Fig. 6 is the B-B cutaway view of Fig. 5.
Fig. 7 is this utility model seat pusher composition.
Fig. 8 is this utility model rotation bender composition.
Fig. 9 is this utility model control circuit schematic diagram.
The specific embodiment:
See Fig. 1-9, concrete structure is as follows: primary structure of the present utility model comprises: traveling mechanism, sliding frame mechanism, seat propulsive mechanism, rotation bender structure, control circuit mechanism.See Fig. 1-4, traveling mechanism is respectively equipped with drive motors 42, it is connected in the driving wheel 41 in the heart by bolt, the axle of drive motors 42 is connected on the driving wheel fork shaft 38 by nut, 38 connections of driving wheel fork shaft turn to handwheel 37, driving wheel fork shaft 38 inserts frame 11 and forms revolute pair, universal wheel 47 is connected on the frame 11 by bolt, push rod 28 stiff ends connect frame 11 by bolt, upper connecting rod 21 1 ends are connected frame 11 with drop-down bridge 22 1 ends by bearing pin, form revolute pair respectively, upper connecting rod 21 other ends are connected trailing wheel vertical rod 20 with drop-down bridge 22 other ends by bearing pin, form revolute pair respectively, frame 11, upper connecting rod 21, drop-down bridge 22, trailing wheel vertical rod 20 constitutes parallel four-bar linkage.Rear axle 39 passes trailing wheel vertical rod 20 and tightens up by nut, and rear axle 39 two ends connect trailing wheel 18 and form revolute pairs.See Fig. 8, turning rack 15 is connected in the trailing wheel vertical rod 20 by bearing pin forms revolute pair, constitutes from turning traveling mechanism.Push rod 28 moving rod ends connect slideway shelf 29 by bolt, slideway shelf 29 connects slideway 1 by bolt, slideway 1 passes the sliding bearing 44 that is connected on the slideway frame 29, pass the sliding bearing 33 that is connected on the seat frame 25 simultaneously, slideway 1 links together traveling mechanism, sliding frame mechanism and seat propulsive mechanism.
See Fig. 5,6, slide mechanism is respectively equipped with foreleg sleeve pipe 4, connect foreleg pick off 45 (k2) and forward foot in a step pick off 5 (k6) by screw, with front sensor 8 (k14), push rod 30 stiff ends connect worm reduction gear 3 by bolt, worm reduction gear 3 both sides connect two foreleg sleeve pipes 4 by bolt, front axle 46 passes two foreleg sleeve pipes 4 and worm reduction gear 3, front axle 46 connects worm reduction gear 3 by flat key, front axle 46 two ends connect slide mechanism lower link 23 1 ends by flat key, foreleg sleeve pipe 4 connects slide mechanism upper connecting rod 24 1 ends by bearing pin and forms revolute pair, back leg 16 connects slide mechanism upper connecting rod 24 by bearing pin and slide mechanism lower link 23 other ends are formed revolute pair respectively, foreleg sleeve pipe 4, slide mechanism upper connecting rod 24, back leg 16, slide mechanism lower link 23 constitutes parallel four-bar linkage.Back leg 16 connects back leg pick off 17 (k8) by screw.Vertically slideway 1 rise and fall of push rod 30 stiff ends.Push rod 30 moving rod ends connect slideway frame 7 by bolt, slideway frame 7 connects sliding bearing 44 by bolt, and slideway 1 connects sliding bearing 44, and motor 43 connecting screw rods 2 screw in sliding frame 7, screw rod 2 is formed screw pair with sliding frame 7, and sliding frame mechanism is slided on slideway 1.
See Fig. 7, the seat frame 25 on the seat propulsive mechanism connects sliding bearing 33 by bolt, and slideway 1 connects sliding bearing 33, and motor 31 connecting screw rods 35, screw rod 35 screw in seat frame 25 and form screw pair, and seat frame 25 is slided on slideway 1.
See Fig. 9, control circuit mechanism is as follows:
Go upstairs circuit: main switch K and 24V power supply is connected on the way circuit.
Drive motors (42) circuit: drive motors (42) connects two-way switch k1, and forward circuit is k1 series connection foreleg pick off k2 and front sensor k14, is connected in parallel on the way circuit; Negater circuit is connected in parallel on the way circuit.Push rod (28) circuit: push rod (28) connects two-way switch k3, and forward circuit is k3 series connection front wheel sensor k11 series connection back wheel sensor k12 and the interior limit switch of push rod (28), is connected in parallel on the way circuit; Negater circuit is the interior limit switch of k3 series connection push rod (28), is connected in parallel on the way circuit.Motor (43) circuit: motor (43) connects two-way switch k4, and forward circuit is downstairs pick off k15 series connection front sensor k12 and limit switch k10 of k4 series connection, is connected in parallel on the way circuit; Negater circuit is k4 series connection limit switch k17, is connected in parallel on the way circuit.Motor (6) circuit: motor (6) connects two-way switch k7, and forward circuit is k7 series connection forward foot in a step pick off k6, is connected in parallel on the way circuit; Negater circuit is that k7 series connection rear foot pick off k8 is connected in parallel on the way circuit.Push rod (30) circuit: push rod (30) connects two-way switch k5, and forward circuit is the interior limit switch of k5 series connection forward foot in a step pick off k6 series connection rear foot pick off k8 series connection push rod (30), is connected in parallel on the way circuit; Negater circuit is the interior limit switch of k5 series connection push rod (30), is connected in parallel on the way circuit.Motor (31) circuit: motor (31) connects two-way switch k13, and forward circuit is k13 series connection limit switch k9, is connected in parallel on the way circuit; Negater circuit is k13 series connection limit switch k17, is connected in parallel on the way circuit.Motor (27) circuit: motor (27) connects the two-way k16 that opens, and forward circuit is k16 series connection front wheel sensor k11, is connected in parallel on the way circuit; Negater circuit is k16 series connection back wheel sensor k12, is connected in parallel on the way circuit.
Go downstairs circuit: main switch K and 24V power supply is connected on the way circuit.
Drive motors (42) circuit: drive motors (42) connects two-way switch k1, and forward circuit is k1 series connection foreleg pick off k2 and front sensor k14, is connected in parallel on the way circuit; Negater circuit is connected in parallel on the way circuit.Push rod (28) circuit: push rod (28) connects two-way switch k3, and forward circuit is k3 series connection front wheel sensor k11 series connection back wheel sensor k12 and the interior limit switch of push rod (28), is connected in parallel on the way circuit; Negater circuit is the interior limit switch of k3 series connection push rod (28), is connected in parallel on the way circuit.Motor (43) circuit: motor (43) connects two-way switch k4, and forward circuit is downstairs pick off k15 series connection front sensor k12 and limit switch k10 of k4 series connection, is connected in parallel on the way circuit; Negater circuit is k4 series connection limit switch k17, is connected in parallel on the way circuit.Motor (6) circuit: motor (6) connects two-way switch k7, and forward circuit is k7 series connection forward foot in a step pick off k6, is connected in parallel on the way circuit; Negater circuit is connected in parallel on the way circuit.Push rod (30) circuit: push rod (30) connects two-way switch k5, and forward circuit is the interior limit switch of k5 series connection forward foot in a step pick off k6 series connection rear foot pick off k8 series connection push rod (30), is connected in parallel on the way circuit; Negater circuit is the interior limit switch of k5 series connection push rod (30), is connected in parallel on the way circuit.Motor (31) circuit: motor (31) connects two-way switch k13, and forward circuit is k13 series connection limit switch k9, is connected in parallel on the way circuit; Negater circuit is k13 series connection limit switch k17, is connected in parallel on the way circuit.Motor (27) circuit: motor (27) connects the two-way k16 that opens, and forward circuit is k16 series connection front wheel sensor k11, is connected in parallel on the way circuit; Negater circuit is connected in parallel on the way circuit.
This utility model operation principle:
One, selects the program of travelling
Insert car key energized 40 K switch.1, closed drive motors 42 switch k1, driving wheel 41 rotates robot ride.Rotation steering tiller 37 can be finished to travel and turn to.
Two, select the program of going upstairs
1, closed drive motors 42 switch k1 (forward), robot ride touches stairway step to foreleg pick off 45k2, and k2 (normally closed) opens, and robot stops to travel.
2, closed push rod 28 switch k3 (forward), push rod 28 moving rod ends connect frame 11 and accompanying drawing 1 dotted line inner part rises to push rod 28 inner limit switches disconnections, and push rod 28 rises and stops.
3, closed motor 43 switch k4 (forward), motor 43 connecting screw rods 2 rotate, and sliding frame 7 moves forward, and touches stairway step k2 (normally closed) to foreleg pick off 45k2 and opens mobile stopping.
4, closed push rod 30 switch k5 (forward), push rod 30 stiff ends move down, and open to move to forward foot in a step pick off 5k6 contact stairway step k6 (normally closed) to stop.K6 (normally closed) opens, while motor 6 switch k7 (oppositely) closed (k6, k7 interlock), motor 6 connects front axle 46, slide mechanism lower link 23 and slide mechanism upper connecting rod 24 and rotates, the rear foot 16 moves down, contacting stairway step k8 (normally closed) to rear foot pick off 17k8 opens, motor 6 stops operating, and the rear foot 28 moves down and stops.
5, closed motor 31 switches 54 (k13) (forward), motor 31 connecting screw rods 35 rotate, and drive seat frame 25 and move forward to contact limit switch 34 (k9) (normally closed) and move and stop.
6, push rod 28 switch k3 (oppositely) closures, push rod 28 stiff ends disconnect to rising to push rod 28 inner limit switches, and push rod 28 rises and stops.
7, simultaneously closed motor 43 switch k4 (oppositely), 31 switch k13 are reverse for motor, motor 43 connecting screw rods 2 backward rotation, motor 31 connecting screw rods 35 backward rotation, motor 43 is synchronous with motor 31, and frame 11 moves forward to contact limit switch 32 (k17) (normally closed) and opens mobile stopping.
8, closed push rod 28 switch k3 (forward), push rod 28 stiff ends are moved downward to driving wheel 41, and universal wheel 47 touches stairway step k11 (normally closed) synchronously with front wheel sensor 9 (k11) and opens, and push rod 28 stiff ends move down and stop.While closed motor 27 switch k16 (k11 and k16 interlock), motor 27 connection reducers 26 connecting screw rods 14 rotate, drop-down bridge 22 rotates around bearing pin 10, touches stairway step k12 (normally closed) to trailing wheel 18 synchronously with back wheel sensor 19k12 and opens, and trailing wheel 18 moves down and stops.The above-mentioned repeatedly action of last second level step.Because of the first order is highly identical to the third level, the forward foot in a step does not change with the back placement of foot, so the 4th, 8 steps are omitted during last third level step.
9, when rising to the afterbody step, closed motor 43 switch k4 (forward), motor 43 connecting screw rods 2 rotate, and sliding frame 7 moves forward.Open mobile stopping to touching limit switch 36 (k10) (normally closed).
10, closed push rod 30 switch k5 (forward), push rod 30 stiff ends move down, to rear foot pick off 17 (k8) contact stairway step k8 (often opening) closure.While motor 6 switch k7 (forward) closed (k8, k7 interlock), motor 6 connects worm reduction gears 3 and connects that front axles 46 connect slide mechanism lower links 23 and slide mechanism upper connecting rod 24 rotates, and the rear foot 16 is moved upward to forward foot in a step pick off 5 (k6) and touches stairway step push rod 30 stiff ends and move down and stop.
11, closed motor 31 switch 54k13 (forward), motor 31 connecting screw rods 35 rotate, and drive seat frame 25 and move forward to contact limit switch 34 (k9) (normally closed) and move and stop.
12, push rod 28 switch k3 (oppositely) closures, push rod 28 stiff ends disconnect to rising to push rod 28 inner limit switches, and push rod 28 rises and stops.
13, closed motor 43 switch k4 (oppositely) of while, motor 31 switches 54 (k13) are oppositely, motor 43 connecting screw rods 2 backward rotation, motor 31 connecting screw rods 35 backward rotation, motor 43 is synchronous with motor 31, and frame 11 moves forward to contact limit switch 32 (k10) (normally closed) and opens mobile stopping.
14, closed push rod 28 switch k3 (forward), push rod 28 stiff ends are moved downward to back wheel sensor 31 (k12) and touch stairway step k12 (often opening) closure synchronously, while closed motor 27 switches 55 (k16) (k12 and k6 interlock), motor 27 connection reducers 26 and screw rod 14 rotate, drop-down bridge 22 upwards rotates around bearing pin 10, touch stairway step k11 (normally closed) to front wheel sensor 9 (k11) and open, push rod 28 stiff ends move down and stop.
Three, select the program of going downstairs
1, robot ride arrives apart from the stairway step edge, and front sensor 8 (k14) is opened, and driving wheel 41 stops operating.Closed motor 43 switch k4 (forward), motor 43 connecting screw rods 2 rotate, and sliding frame 7 connects sliding frame mechanisms and moves forward to downstairs pick off 12 (k15) and open and stop.
2, closed push rod 30 switch k5 (forward), push rod 30 stiff ends move down, to rear foot pick off 17 (k8) k8 (often opening) closure when touching stairway step, closed motor 6 switch k7 (forward) of while, motor 6 connects worm reduction gear 3, transmission front axle 46, slide mechanism lower link 23, slide mechanism upper connecting rod 24 and back leg 16, parallel four-bar linkage rotates around front axle 46, back leg 16 moves up, rear foot pick off 17 (k8) touches stairway step synchronously with forward foot in a step pick off 5 (k6), and push rod 30 stiff ends move down and stop.
3, closed motor 31 switch k13 (forward), motor 31 connecting screw rods 35 rotate, and move to contact limit switch 34 (k9) before the driving seat frame 25 and stop.
4, motor 43 switch k4 (oppositely) closures, synchronous motor 31 switch k13 (oppositely) closures, motor 43 connecting screw rods 2 backward rotation, motor 31 connecting screw rods 35 backward rotation, motor 31 is synchronous with motor 43, and frame 11 moves forward to contact limit switch 32 (k17) and stops.
5, closed push rod 28 switch k3 (forward), push rod 28 stiff ends connect frame 11 and are moved downward to trailing wheel 18 and back wheel sensor 19 (k12) (often opening) when touching stairway step, closed motor 27 switches 55 (k16) (forward), motor 27 connection reducers 26 connecting screw rods 14 connect drop-down bridge 22 connection upper connecting rods 21 and trailing wheel vertical rod 20 parallel four-bar linkages upwards rotate around bearing pin 10, to driving wheel 41, universal wheel 47, front wheel sensor 9k11 and trailing wheel 18, back wheel sensor 19 (k12) touch stairway step synchronously, and push rod 28 stiff ends move down and stop.The above-mentioned repeatedly action of following second level step.
6, be the ground rear foot when being the afterbody stairway step to the forward foot in a step instantly, closed motor 43 switch k4 (forward), motor 43 connecting screw rods 2 rotate, and sliding frame 7 connects sliding frame mechanisms and moves forward to limit switch 36 (k10) and open and stop.
7, closed push rod 30 switch k5 (forward), push rod 30 stiff ends move down, to rear foot pick off 17 (k8) k8 (often opening) closure when touching stairway step, closed motor 6 switch k7 (oppositely) of while, motor 6 connects worm reduction gear 3 connection front axles 46 connection lower links, 23 connection upper connecting rods 24 and back leg 16 parallel four-bar linkages rotate around front axle 46, move up rear foot pick off 17 (k8) and forward foot in a step pick off 5 (k6) of back leg 16 touches stairway step synchronously, and push rod 30 stiff ends move down and stop.(with the 16th step)
8, closed motor 31 switch k13 (forward), motor 31 connecting screw rods 35 rotate, and move to contact limit switch 34 (k9) before the driving seat 25 and stop.(with the 17th step)
9, motor 43 switch k4 are reversed closed, 31 switch k13 are reversed closed for synchronous motor, motor 43 connecting screw rods 2 backward rotation, motor 31 connecting screw rods 35 backward rotation, motor 31 is synchronous with motor 43, and frame 11 moves forward to contact limit switch 32 (k17) and stops.(with the 18th step)
10, closed push rod 28 switch k3, push rod 28 stiff ends connect frame 11 and are moved downward to trailing wheel 18 and back wheel sensor 19 (k12) (often opening) when touching stairway step, closed motor 27 (oppositely) switch k16, motor 27 connection reducer connecting screw rods 14 connect drop-down bridge 22 connection upper connecting rods 21 and trailing wheel vertical rod 20 parallel four-bar linkages upwards rotate around bearing pin 10, to driving wheel 41, universal wheel 47, front wheel sensor 9 (k11) touch stairway step synchronously with trailing wheel 18, back wheel sensor 19 (k12), and push rod 28 stiff ends move down and stop.(with the 19th step)
Four, the program of turning certainly
Drive motors 42 is connected in the driving wheel 41 in the heart by bolt, the axle of drive motors 42 is connected on the driving wheel fork shaft 38 by nut, 38 connections of driving wheel fork shaft turn to handwheel 37, driving wheel fork shaft 38 inserts frame 11 and forms revolute pair, universal wheel 47 is connected on the frame 11 by bolt, as the power of robot ride, operation turns to handwheel 37 to turn to.Driving wheel 41, universal wheel 47, trailing wheel 18 are finished to travel and are turned to function.When the little turning of needs turned to, the moving rod ends of push rod 30 were retracted to hour, and foreleg sleeve pipe 4, back leg 16 ground height 40mm, whereabouts turning rack 15 make trailing wheel 18 built on stilts.Robot is by driving wheel 41, universal wheel 47, turning rack 15 supported at three points.Driving wheel 41 rotates to support 15 from turning.
Claims (4)
- One kind travel automatically, the manned robot of stair activity, comprise traveling mechanism, sliding frame mechanism, the seat propulsive mechanism, rotation bender structure, control circuit mechanism is characterized in that:In traveling mechanism, connect the push rod stiff end by bolt on the frame, frame is connected by bearing pin with drop-down bridge one end with upper connecting rod one end, form revolute pair respectively, the trailing wheel vertical rod is connected by bearing pin with the drop-down bridge other end with the upper connecting rod other end, form revolute pair respectively, frame, upper connecting rod, drop-down bridge, trailing wheel vertical rod constitute parallel four-bar linkage; The moving rod end of push rod connects slideway shelf by bolt, and slideway shelf connects slideway by bolt, and the moving rod end of push rod connects slideway shelf and slideway; Driving wheel connects the driving wheel fork shaft and inserts frame composition revolute pair, and the connection of driving wheel fork shaft turns to handwheel, and universal wheel is connected on the frame by bolt, and turning rack is connected in the trailing wheel vertical rod by bearing pin, forms revolute pair and constitutes the traveling mechanism of turning certainly;In sliding frame mechanism, the push rod stiff end connects worm reduction gear by bolt, the worm reduction gear both sides connect two foreleg sleeve pipes by bolt, front axle passes two foreleg sleeve pipes and worm reduction gear, preceding axle key connects worm reduction gear, front axle two terminal link connect slide mechanism lower link one end, the foreleg sleeve pipe connects slide mechanism upper connecting rod one end by bearing pin and forms revolute pair, back leg connects the slide mechanism upper connecting rod and the slide mechanism lower link other end by bearing pin, form revolute pair respectively, the foreleg sleeve pipe, the slide mechanism upper connecting rod, back leg and slide mechanism lower link constitute parallel four-bar linkage; The moving rod end of push rod connects the slideway frame by bolt, and the slideway frame connects sliding bearing by bolt, and slideway connects sliding bearing, and the motor connecting screw rod screws in sliding frame, and screw rod and sliding frame are formed screw pair;In the seat propulsive mechanism, seat frame connects sliding bearing by bolt, and slideway connects sliding bearing, the motor connecting screw rod, and screw rod screws in seat frame, forms screw pair.
- 2. according to claim 1ly travel automatically, the manned robot of stair activity, it is characterized in that: the slideway shelf of traveling mechanism connects slideway by bolt, slideway passes the sliding bearing that is connected on the slideway frame, pass the sliding bearing that is connected on the seat frame simultaneously, slideway links together traveling mechanism, sliding frame mechanism and seat propulsive mechanism.
- 3. according to claim 1ly travel automatically, the manned robot of stair activity, it is characterized in that: in the seat propulsive mechanism, the motor connecting screw rod screws in seat frame, and seat frame connects sliding bearing, the motor screw rod that is in transmission connection.
- 4. according to claim 1ly travel automatically, the manned robot of stair activity, it is characterized in that: in the traveling mechanism, drive motors is connected in the driving wheel in the heart by bolt, the axle of drive motors is connected on the driving wheel fork shaft by nut, the driving wheel fork shaft inserts frame and forms revolute pair, the driving wheel fork shaft connects and to turn to handwheel, is connected on the frame by bolt as the universal wheel of driven pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720012504 CN201058083Y (en) | 2007-06-08 | 2007-06-08 | Automatically run manned robot for fluctuating stairway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720012504 CN201058083Y (en) | 2007-06-08 | 2007-06-08 | Automatically run manned robot for fluctuating stairway |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201058083Y true CN201058083Y (en) | 2008-05-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200720012504 Expired - Fee Related CN201058083Y (en) | 2007-06-08 | 2007-06-08 | Automatically run manned robot for fluctuating stairway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201058083Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357653B (en) * | 2008-08-14 | 2012-09-26 | 任海 | Domestic stair porter robot |
| CN106038105A (en) * | 2016-06-07 | 2016-10-26 | 洛阳理工学院 | Belt-conveyed mechanism for going up and going down stairs |
| CN108214447A (en) * | 2018-01-05 | 2018-06-29 | 何镜连 | Intelligent robot mobile platform |
-
2007
- 2007-06-08 CN CN 200720012504 patent/CN201058083Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357653B (en) * | 2008-08-14 | 2012-09-26 | 任海 | Domestic stair porter robot |
| CN106038105A (en) * | 2016-06-07 | 2016-10-26 | 洛阳理工学院 | Belt-conveyed mechanism for going up and going down stairs |
| CN108214447A (en) * | 2018-01-05 | 2018-06-29 | 何镜连 | Intelligent robot mobile platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080514 Termination date: 20110608 |