CN207029354U - Stair climbing robot - Google Patents
Stair climbing robot Download PDFInfo
- Publication number
- CN207029354U CN207029354U CN201720396601.8U CN201720396601U CN207029354U CN 207029354 U CN207029354 U CN 207029354U CN 201720396601 U CN201720396601 U CN 201720396601U CN 207029354 U CN207029354 U CN 207029354U
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- China
- Prior art keywords
- frame
- central controller
- console
- seat
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
A kind of stair climbing robot disclosed in the utility model, motor, battery pack and central controller is fixed with frame, motor and battery pack are connected with central controller；Rotary shaft is equipped with frame, sprocket wheel is socketed with the rotating shaft of rotary shaft and motor, each sprocket wheel is driven by being inserted in and engaging a driving chain, the end of rotary shaft is socketed with each star angle hexagonal star-wheel with rubber nahlock, the top surface of frame is connected with seat, the front of seat is provided with console, seat is provided with safety belt, voice cue module, lock and pressure inductor, touch sensor is provided with lock, console is connected to frame top surface, voice cue module, console, pressure inductor and touch sensor transmit with central controller signal to be connected.Its is compact-sized reliable, and the elderly of legs and feet inconvenience and physical disabilities can be helped to carry out upstairs or go downstairs；Gone downstairs upstairs it can in addition contain transport the article of rated weight, and using also it is more convenient it is reliable, effect is preferable.
Description
Technical field
It the utility model is related to a kind of equipment for being used to carry out stair climbing automatically, especially stair climbing robot.
Background technology
Robot is now more and more ripe, increasingly facilitates the production and living of the mankind, the invention of robot after all is exactly to be
The help mankind.Current, material requisite also obtains basic guarantee, and the thing followed is exactly to enjoy science and technology to bring the mankind quick
Convenient service.
With the fast development of Re-search on Urbanization, small high building is more and more, and virtually social development also increasingly strengthens, but
It is the aging of population so that increasing the elderly is stayed in such small high building, is gone downstairs upstairs everyday all very inconvenient,
The particularly the elderly and physical disabilities of those legs and feet inconvenience, is not only filled with challenge, while also increase for them upstairs
Uncertain potential safety hazard.
Therefore, in view of in the presence of above-mentioned life at present the shortcomings that, inventor is directed to the road of aforesaid drawbacks Improvement,
It has developed the utility model.
Utility model content
The purpose of this utility model is to solve the hidden danger in the presence of above-mentioned life and a kind of improve designed uses
The stair climbing robot of effect and practical performance.
Stair climbing robot designed by the utility model, it specifically includes frame, be fixed with frame motor, battery pack and
Central controller, motor and battery pack are connected with central controller；
The leading section of frame and rearward end are equipped with rotary shaft, and sprocket wheel is socketed with the rotating shaft of rotary shaft and motor, and respectively
Sprocket wheel is driven by being inserted in and engaging a driving chain, and the end of rotary shaft is socketed with Magen David wheel, hexagonal star-wheel it is each
Star angle is respectively and fixedly provided with rubber nahlock；
The top surface of frame is connected with one, and the seat with frame keeping parallelism, the front of seat are provided with console, seat all the time
It is provided with safety belt, voice cue module and lock for snapping safety belt and whether has human body to be seated at seat for sensing
Pressure inductor on chair, lock is interior to be provided with the touch sensor that can be touched with the buckle of safety, and console be connected to frame
Top surface, voice cue module, pressure inductor, touch sensor and console are transmitted with central controller signal and connected.
Further preferably, in addition to vehicle frame, vehicle frame are fixed by socket pre- in being fixed with the bucking ladder of frame, in front of vehicle frame
Alert radar detection head, motor, battery pack and central controller are in the bucking ladder of frame, early warning radar detecting head and center
Controller connects.
Further preferably, in addition to tightener sprocket, tightener sprocket are socketed in the rotary shaft of frame, and driving chain also covers
In and be engaged on tightener sprocket.
Further preferably, console is provided with forward key, locking button, starts button and manual rocker, forward key,
Locking button, beginning button and manual rocker are connected with central controller respectively.
Further preferably, the bottom of frame is fixed with rotation electric cylinders, rotates and inverted liter is fixed with the spill spin block of electric cylinders
Electric cylinders are dropped, lifts and support plate is fixed with the piston rod of electric cylinders, and rotates electric cylinders and lifts electric cylinders and be connected with central controller.
Further preferably, transparent shield is also covered with vehicle frame, oxygen mask is fixed with transparent shield.
Stair climbing robot designed by the utility model, its is compact-sized reliable, can help legs and feet inconvenience the elderly and
Physical disabilities carry out the effect upstairs or gone downstairs；It can in addition contain transport the article of nominal-mass upstairs go downstairs effect, and
Using also more convenient reliable.
Brief description of the drawings
Fig. 1 is the overall structure diagram of embodiment 1；
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, every other embodiment that those of ordinary skill in the art are obtained all belongs to
In the scope of the utility model protection.
Embodiment 1：
As shown in figure 1, the stair climbing robot described by the present embodiment, it specifically includes frame 1, electricity is fixed with frame 1
Machine 5, battery pack 23 and central controller 22, motor 5 and battery pack 23 are connected with central controller 22；
The both ends of frame 1, which are worn, is equipped with rotary shaft 2, and sprocket wheel 3, and each sprocket wheel are socketed with the rotating shaft of rotary shaft 2 and motor 5
3 are driven by being inserted in and engaging a driving chain 4, and the end of rotary shaft 2 is socketed with Magen David wheel 6, hexagonal star-wheel 6 it is each
Star angle is respectively and fixedly provided with rubber nahlock 7；
The top surface of frame 1 is connected with one, and the seat 11 with frame keeping parallelism, the front of seat 11 are provided with console all the time
18, seat 11, which is provided with safety belt 12, voice cue module 24 and lock 9 for the full band 12 of snapping and for sensing, is
It is no to have the pressure inductor 14 that human body is seated on seat, the touch sensor that can be touched with the buckle of safety is provided with lock 9
10, console 18 is connected to the top surface of frame 1, voice cue module 24, pressure inductor 14, touch sensor 10 and console
18 transmit connection with the signal of central controller 22.Wherein voice cue module 24 is formed using loudspeaker and power amplifier.
Also include vehicle frame 8 in the present embodiment, vehicle frame 8 is fixed by socket on the bucking ladder of frame 1, is fixed with front of vehicle frame
Early warning radar detecting head 25, in the bucking ladder of frame 1, early warning radar is visited for motor 5, battery pack 23 and central controller 22
Gauge head 25 is connected with central controller 22.Its structure during overall robot moves, to detect by early warning radar
First 25 detection is made accordingly with being alarmed after the distance between front obstacle to the transmission signal of central controller 22
Action.
Also include tightener sprocket 21 in the present embodiment, tightener sprocket 21 is socketed in the rotary shaft of frame 1, and driving chain
4 are also placed on and are engaged on tightener sprocket 21.Its structure make it that the Synchronous Transmission effect of driving chain 4 is more preferable, and is driven dynamic
Power is more sufficient.
Forward key 15, locking button 16 are provided with by console 18 in the present embodiment, starts button 19 and shakes manually
Bar 20, forward key 15, locking button 16, beginning button 19 and manual rocker 20 are connected with central controller 22 respectively.It is tied
Structure in order that control of the human body to robot it is more convenient, improve performance.
Rotation electric cylinders 26 are fixed with by the bottom of frame 1 in the present embodiment, rotates and is fixed with the spill spin block of electric cylinders 26
Inverted lifting electric cylinders 27, lift and support plate 28 are fixed with the piston rod of electric cylinders 27, and rotate electric cylinders 26 and lifting electric cylinders 27
It is connected with central controller 22.Its structure causes early warning radar detecting head 25 to detect front when having barrier, robot
It is automatically stopped and walks about, prompt human body to carry out angle adjustment using manual rocker 20 by voice cue module 24, and is directed at stair
Mouthful, after lifting electric cylinders 27 receive signal by central controller 22, propped up simultaneously by the support plate 28 for lifting electric cylinders 27
Rise robot, after rising, rotation electric cylinders 26, which are started working, to rotate to an angle so that robot also follows rotation certain
Angle, stopped the rotation after rotating to an angle, lifting electric cylinders 27 are started working, and decline robot, are dropped to and are supported with ground
After touch, robot starts to walk about continuation upstairs.
By being also covered with transparent shield 17 on vehicle frame 8 in the present embodiment, oxygen mask is fixed with transparent shield 17
13.Its structure causes nature unexpected such as earthquake, fire is occurring have the function that emergency escape.
Wherein above-mentioned central controller 22 is controlled using single-chip microcomputer, and its single-chip microcomputer model uses
C8051F310.Integral-rack 1 and vehicle frame 8 are made of the high stainless steel of lighter intensity, and complete vehicle quality is controlled in 100KG
Within.
Operation principle：When the elderly or physical disabilities are taken on the seat 11 of robot, pressure sensor 14 senses people
Body, i.e. voice cue module 24 send voice message notice human body and carry out latching safety belt 12, when the buckle and lock of safety belt 12
9 snappings are detained, i.e. buckle is touched with touch sensor 10, so as to reach the prompting for stopping voice cue module；And operating desk is only
There are three buttons, one is forward key 15, and one is locking button 16, and one is to start button 19.Press and start button 19,
Robot is activated, and by various kinds of sensors, checks power status, checks whether each several part is in normal condition, and early radar warning is visited
Gauge head 25 scans corridor periphery situation.Wait to all go well, can voice message.Now utilize the control lifting electric cylinders 26 of manual rocker 20
Rise robot, complete to recycle the control rotation electric cylinders 26 of the manual rocker 20 rotary machine people side of being adjusted after robot rises
To, and alignment corridor is carried out, control lifting electric cylinders 27 to work using manual rocker 20 after robot alignment corridor and decline machine
People, drop to hexagonal star-wheel 6 rubber nahlock 7 contacted with ground after, press forward key 15, central controller 22 is to electricity
Motor 5 is started working after machine 5 sends instruction, so as to realize that hexagonal star-wheel 6 rotates, reaches whole robot step by step along stair
Climb up, when climbing to required floor, press lock key, vehicle is out of service.
Also there are unexpected safeguard procedures, contingency occurs in way of being gone downstairs upstairs, can automatic stopping；By being controlled with center
The gyro sensor 29 and communication module 30 that device 22 processed connects, realizing can be carried out when the contingency that robot turns on one's side
The urgent ambulance call of automatic dialing.
The utility model is not limited to above-mentioned preferred forms, and anyone can draw under enlightenment of the present utility model
Other various forms of products, however, make any change in its shape or structure, it is every that there is same as the present application or phase
Approximate technical scheme, all falls within the scope of protection of the utility model.
Claims (6)
1. a kind of stair climbing robot, including frame, it is characterised in that：
Motor, battery pack and central controller are fixed with frame, motor and battery pack are connected with central controller；
The leading section of frame and rearward end are equipped with rotary shaft, and sprocket wheel, and each chain are socketed with the rotating shaft of rotary shaft and motor
Wheel is driven by being inserted in and engaging a driving chain, and the end of rotary shaft is socketed with Magen David wheel, each star of hexagonal star-wheel
Angle is respectively and fixedly provided with rubber nahlock；
The top surface of frame is connected with one, and the seat with frame keeping parallelism, the front of seat are provided with console, set on seat all the time
There are safety belt, voice cue module and lock for snapping safety belt and whether there is human body to be seated at seat for sensing
Pressure inductor, be provided with the touch sensor that can be touched with the buckle of safety in lock, console be connected to frame top surface,
Voice cue module, console, pressure inductor and touch sensor are transmitted with central controller signal and connected.
2. stair climbing robot according to claim 1, it is characterised in that：Also include vehicle frame, vehicle frame is fixed by socket in frame
Bucking ladder on, be fixed with early warning radar detecting head in front of vehicle frame, motor, battery pack and central controller are located at frame
In bucking ladder, early warning radar detecting head is connected with central controller.
3. stair climbing robot according to claim 1, it is characterised in that：Also include tightener sprocket, tightener sprocket is socketed on
In the rotary shaft of frame, and driving chain is also placed on and is engaged on tightener sprocket.
4. stair climbing robot according to claim 1, it is characterised in that：Console be provided with forward key, locking button,
Start button and manual rocker, forward key, locking button, beginning button and manual rocker are connected with central controller respectively.
5. stair climbing robot according to claim 1, it is characterised in that：The bottom of frame is fixed with rotation electric cylinders, rotation
Inverted lifting electric cylinders are fixed with the spill spin block of electric cylinders, lifts and support plate is fixed with the piston rod of electric cylinders, and rotate electric cylinders
It is connected with lifting electric cylinders with central controller.
6. stair climbing robot according to claim 2, it is characterised in that：Transparent shield is also covered with vehicle frame, it is transparent
Oxygen mask is fixed with protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720396601.8U CN207029354U (en) | 2017-04-14 | 2017-04-14 | Stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720396601.8U CN207029354U (en) | 2017-04-14 | 2017-04-14 | Stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207029354U true CN207029354U (en) | 2018-02-23 |
Family
ID=61478858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720396601.8U Expired - Fee Related CN207029354U (en) | 2017-04-14 | 2017-04-14 | Stair climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207029354U (en) |
-
2017
- 2017-04-14 CN CN201720396601.8U patent/CN207029354U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20190414 |