CN208698926U - Step-by-step machine people suitable for various road conditions - Google Patents
Step-by-step machine people suitable for various road conditions Download PDFInfo
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- CN208698926U CN208698926U CN201820984776.5U CN201820984776U CN208698926U CN 208698926 U CN208698926 U CN 208698926U CN 201820984776 U CN201820984776 U CN 201820984776U CN 208698926 U CN208698926 U CN 208698926U
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- electric pushrod
- machine people
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Abstract
The utility model discloses the step-by-step machine people for being suitable for various road conditions, step-by-step machine people is made of electric pushrod A, electric pushrod B, electric pushrod C, electric pushrod D, aluminum section bar frame and linear motion unit；It can complete the function to level walking and speeling stairway.Step-by-step machine people is mainly made of three parts, i.e. its main body frame, upper and lower level leg structure and linear motion unit.Main body frame is built by aluminum profile.The leg structure of upper and lower level is then using electric pushrod, and linear motion unit selection uses ball screw guide rail slide block group.Step-by-step machine people can be realized the function of walking, carry under the road conditions of different condition.Step-by-step machine people can imitate the process for completing quadruped speeling stairway, the support without external force.
Description
Technical field
The utility model is that one kind applies to carry more heavy article and auxiliary the elderly's walking in walk-up building
Robot, belong to Robot Design field.
Background technique
With the development of current science and technology, the step that the mankind explore is also throughout the topography and geomorphology of various complexity.This just needs one
Kind is adapted to the haulage equipment of complicated landform to complete the transports such as weight, equipment under complex working condition.Meanwhile it can also
To serve the inaccessiable danger zone of the mankind and complicated operating environment.Step-by-step machine people can be complete in daily life
At the completing stair activity carrying heavy goods in walk-up building of the task；Big quality can be smoothly carried in laboratory
Instrument and equipment；In military aspect, it can also transport supply, walk in the road conditions for being not suitable for running car.In conclusion this
Step-by-step machine people can greatly facilitate people's lives.It is directed to present society simultaneously, old people oneself go on a journey not
Convenient and stair activity can also have some potential safety problems, which can become a kind of mode helped the elderly.
Utility model content
Step-by-step machine people is a to be mainly used for into walk-up building completion stair activity carrying heavy goods task
And the robot of power-assisted is provided for the elderly's walking.It can complete the function to level walking and speeling stairway.Stepping
Formula robot is mainly made of three parts, i.e. its main body frame, upper and lower level leg structure and linear motion unit.
Suitable for the step-by-step machine people of various road conditions, step-by-step machine people is by electric pushrod A, electric pushrod B, electronic
Push rod C, electric pushrod D, aluminum section bar frame and linear motion unit composition.Aluminum section bar frame be by corner fittings connected with bolt a
Composition.Electric pushrod A, electric pushrod B, electric pushrod C and electric pushrod D are the leg structure of step-by-step machine people；It is electronic
Push rod A, electric pushrod B, electric pushrod C and electric pushrod D quantity be two.Electric pushrod A and electric pushrod B setting exists
The other side of aluminum section bar frame is arranged in the side of aluminum section bar frame, electric pushrod C and electric pushrod D；Electric pushrod A and electricity
Dynamic push rod C by bolt b with aluminum section bar frame by being fixedly connected with；Electric pushrod B and electric pushrod D is connected by rectangle
Fishplate bar and bolt c are fixedly connected with linear motion unit.Two electric pushrod B are disposed in parallel between two electric pushrod A, and two
Root electric pushrod D is disposed in parallel between two electric pushrod C.The interposition of aluminum section bar frame is arranged in linear motion unit
It sets；
Linear motion unit includes ball-screw, guide rail, sliding block and square connecting plate.Ball-screw and guide rail are parallel to each other
And be installed on rectangle connecting plate in the horizontal direction, sliding block is directly installed on guide rail.Square connecting plate, aluminum section bar frame and
Sliding block is fixedly connected with by bolt d, so that linear motion unit is fixedly connected with aluminum section bar frame.
Main body frame is built by aluminum profile, is 600mm × 600mm × 180mm cuboid.It ties the leg of upper and lower level
Structure is then using electric pushrod, and linear motion unit selection uses ball-screw guide rail slide block group.The control of step-by-step machine people
System processed selects Siemens S7-200PLC as master controller, then upper sensor appropriate of arranging in pairs or groups, build one it is relatively simple
Feedback system, complete control to step-by-step machine people.Step-by-step machine people can complete 300mm barrier in vertical direction
Leap, the leap of 200mm barrier in horizontal direction.
Step-by-step machine people design has following several features:
(1) step-by-step machine people can be realized the function of walking, carry under the road conditions of different condition.
(2) step-by-step machine people can imitate the process for completing quadruped speeling stairway, the support without external force.
Detailed description of the invention
Fig. 1 is the overall schematic of step-by-step machine people.
Fig. 2 is the electric pushrod installation diagram of step-by-step machine people.
Fig. 3 is the linear motion unit installation diagram of step-by-step machine people.
Fig. 4 is step-by-step machine people level walking schematic diagram.
Fig. 5 is step-by-step machine people speeling stairway schematic diagram.
Specific embodiment
The overall structure of step-by-step machine people is as shown in Figure 1, be suitable for the step-by-step machine people of various road conditions, the step-by-step movement
Robot is by electric pushrod A (1), electric pushrod B (2), electric pushrod C (3), electric pushrod D (4), aluminum section bar frame (5) and straight
Line moving cell (6) composition.Aluminum section bar frame (5) by corner fittings (7) and bolt a (8) connection form.Electric pushrod A (1),
Electric pushrod B (2), electric pushrod C (3) and electric pushrod D (4) are the leg structure of step-by-step machine people；Electric pushrod A
(1), the quantity of electric pushrod B (2), electric pushrod C (3) and electric pushrod D (4) are two.Electric pushrod A (1) and electronic
Push rod B (2) setting is arranged in the side of aluminum section bar frame (5), electric pushrod C (3) and electric pushrod D (4) in aluminum section bar frame
(5) the other side；Electric pushrod A (1) and electric pushrod C (3) by bolt b (14) with aluminum section bar frame (5) by being fixedly connected with；
Electric pushrod B (2) and electric pushrod D (4) is then by rectangle connecting plate (15) and bolt c (16) and linear motion unit
(6) it is fixedly connected with.Two electric pushrod B (2) are disposed in parallel between two electric pushrod A (1), and two electric pushrod D (4) are arranged side by side
It is arranged between two electric pushrod C (3).Linear motion unit (6) is arranged in the middle position of aluminum section bar frame (5)；
Linear motion unit (6) includes ball-screw (9), guide rail (10), sliding block (11) and square connecting plate (12).Rolling
Ballscrew (9) and guide rail (10) are parallel to each other and are installed on rectangle connecting plate (15) in the horizontal direction, and sliding block (11) is direct
It is mounted on guide rail (10).Square connecting plate (12), aluminum section bar frame (5) and sliding block (11) are fixedly connected with by bolt d (13),
So that linear motion unit (6) is fixedly connected with aluminum section bar frame (5), as shown in Fig. 3.
Step-by-step machine people can complete linear motion and speeling stairway.It is to move along a straight line its motion process first most to open
Beginning robot is in steady state；Secondly electric pushrod A (1) and electric pushrod C (3) stretches out, and rises and reaches specified position, electricity
Dynamic push rod B (2) and electric pushrod D (4) are therefore hanging；And then linear motion unit (6) makes electric pushrod B (2) and electronic
Push rod D (4) reaches designated position；Then electric pushrod B (2) and electric pushrod D (4) stretches out, and stops after reaching ground, with electricity
Dynamic push rod A (1) and electric pushrod C (3) are supported together；Last electric pushrod A (1) and electric pushrod C (3) retraction reaches specified
Position so that it is hanging, thus four groups of electric pushrods cooperations linear motion unit (6) complete step-by-step machine people it is continuous before
Into as shown in Figure 4.
First robot is in steady state headed by the motion process of speeling stairway, apart from stair in specified location；It is electronic
Push rod A (1) and electric pushrod C (3) rises, and lifting height is greater than a riser height (150mm), electric pushrod B (2) and electricity
Dynamic push rod D (4) are therefore hanging；Linear motion unit (6) makes electric pushrod B (2) and electric pushrod D (4) travel forward,
Less than one tread run (300mm) of rectilinear translation；Electric pushrod B (2) and electric pushrod D (4) stretches out, and stops after reaching ground
Only, electric pushrod A (1) and electric pushrod C (3) are supported together；Electric pushrod A (1) and electric pushrod C (3) retraction reaches specified
Position, so that it is hanging；Linear motion unit (6) makes electric pushrod A (1) and electric pushrod C (3) travel forward, straight line
Translate less than one tread run (300mm)；Electric pushrod A (1) and electric pushrod C (3) stretches out, and stops after reaching ground, with
Electric pushrod B (2) and electric pushrod D (4) are supported together；Four groups of electric pushrods stretch out simultaneously, and height is to mark time greater than one
Highly；Electric pushrod B (2) and electric pushrod D (4) retraction, retraction distance are greater than a riser height；Linear motion unit (6)
So that electric pushrod B (2) and electric pushrod D (4) travel forward, designated position is reached；Electric pushrod B (2) and electric pushrod D
(4) it stretches out, until touching ground, is supported together with electric pushrod A (1) and electric pushrod C (3)；Electric pushrod A (1) and electricity
Dynamic push rod C (3) retraction, retraction distance are greater than a riser height；Linear motion unit (6) makes electric pushrod A (1) and electricity
Dynamic push rod C (3), which travel forward, reaches designated position；Electric pushrod A (1) and electric pushrod C (3) stretches out, until contacting ground.By
This is moved back and forth, and realizes the continuous speeling stairway of robot, as shown in Figure 5.
Claims (2)
1. being suitable for the step-by-step machine people of various road conditions, it is characterised in that: step-by-step machine people is by electric pushrod A (1), electricity
Dynamic push rod B (2), electric pushrod C (3), electric pushrod D (4), aluminum section bar frame (5) and linear motion unit (6) composition；Aluminium profiles
Material frame (5) by corner fittings (7) and bolt a (8) connection form；Electric pushrod A (1), electric pushrod B (2), electric pushrod C
(3) and electric pushrod D (4) be step-by-step machine people leg structure；Electric pushrod A (1), it electric pushrod B (2), electronic pushes away
The quantity of bar C (3) and electric pushrod D (4) are two；Electric pushrod A (1) and electric pushrod B (2) is arranged in aluminum section bar frame
(5) other side of side, electric pushrod C (3) and electric pushrod D (4) setting in aluminum section bar frame (5)；Electric pushrod A (1)
With electric pushrod C (3) by being fixedly connected with by bolt b (14) with aluminum section bar frame (5)；Electric pushrod B (2) and electric pushrod D
It (4) is then to be fixedly connected with by rectangle connecting plate (15) and bolt c (16) with linear motion unit (6)；Two electric pushrod B
(2) it is disposed in parallel between two electric pushrod A (1), two electric pushrod D (4) are disposed in parallel in two electric pushrod C (3)
Between；Linear motion unit (6) is arranged in the middle position of aluminum section bar frame (5).
2. the step-by-step machine people according to claim 1 suitable for various road conditions, it is characterised in that: linear motion unit
(6) comprising ball-screw (9), guide rail (10), sliding block (11) and square connecting plate (12)；Ball-screw (9) and guide rail (10) phase
Mutually parallel and be installed on rectangle connecting plate (15) in the horizontal direction, sliding block (11) is directly installed on guide rail (10)；It is rectangular
Connecting plate (12), aluminum section bar frame (5) and sliding block (11) are fixedly connected with by bolt d (13), so that linear motion unit (6) and aluminium
Section material framework (5) is fixedly connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820984776.5U CN208698926U (en) | 2018-06-26 | 2018-06-26 | Step-by-step machine people suitable for various road conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820984776.5U CN208698926U (en) | 2018-06-26 | 2018-06-26 | Step-by-step machine people suitable for various road conditions |
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| Publication Number | Publication Date |
|---|---|
| CN208698926U true CN208698926U (en) | 2019-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820984776.5U Active CN208698926U (en) | 2018-06-26 | 2018-06-26 | Step-by-step machine people suitable for various road conditions |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645775A (en) * | 2020-06-08 | 2020-09-11 | 燕山大学 | Novel pneumatic transfer robot |
| WO2022020974A1 (en) * | 2020-07-31 | 2022-02-03 | Shi Gao Rong | Intelligent motion platform robot |
| CN114162232A (en) * | 2022-01-17 | 2022-03-11 | 尊道（上海）自动化设备有限公司 | Multi-foot walking robot |
-
2018
- 2018-06-26 CN CN201820984776.5U patent/CN208698926U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645775A (en) * | 2020-06-08 | 2020-09-11 | 燕山大学 | Novel pneumatic transfer robot |
| WO2022020974A1 (en) * | 2020-07-31 | 2022-02-03 | Shi Gao Rong | Intelligent motion platform robot |
| CN114162232A (en) * | 2022-01-17 | 2022-03-11 | 尊道（上海）自动化设备有限公司 | Multi-foot walking robot |
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