CN208813355U - A kind of weight bearing stair climbing robot - Google Patents
A kind of weight bearing stair climbing robot Download PDFInfo
- Publication number
- CN208813355U CN208813355U CN201821005451.4U CN201821005451U CN208813355U CN 208813355 U CN208813355 U CN 208813355U CN 201821005451 U CN201821005451 U CN 201821005451U CN 208813355 U CN208813355 U CN 208813355U
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- CN
- China
- Prior art keywords
- rotating turret
- type rotating
- lifter plate
- car frame
- main car
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Abstract
The utility model relates to a kind of weight bearing stair climbing robots, including main car frame, the first motor being set to below main car frame, the rear axle being connected with first motor, second motor, the front axle being connected with the second motor, it is connected to two groups of rear wheel rotation groups at rear axle both ends, it is connected to two groups of front-wheel wheel groups at front axle both ends, lifter plate above main car frame, lifter plate and the main car frame are articulated and connected, lifter plate is connected by rope with the manual rocker mechanism positioned at the main car frame head end, the folding and unfolding of the rope can be realized to drive the lifter plate around hinge joint rotation and lifting by rotating the manual rocker mechanism, weight bearing can be placed on lifter plate, the utility model can adjust lifter plate manually to eliminate weight bring turning torque；It is relatively simple using planet gear type structure, and in view of the stair size under national standard, it is adapted to various stair；Cost is relatively low, convenient for promoting；Biggish weight can be loaded, is facilitated easy to spread.
Description
Technical field
The utility model relates to stair climbing robot field, specifically a kind of weight bearing stair climbing robot.
Background technique
The research of adjustable weight bearing stair climbing robot has great importance.Can inconvenient personnel activity area and
Situation (such as fire) facilitates the expansion of pick-up operation and the transport of relief goods, can also save a large amount of people for transporting
Power material resources.Simultaneously in actual production and life, production and transport cost can be reduced, working efficiency is improved, so that staff
Safety is more secure.In a sense, it can replace the mankind and delivers weight and avoid danger.
Although existing in a variety of stair climbing robots, most of robot that all do not account for is in a large amount of weights of load
When object is gone upstairs, this problem of turning torque caused by the meeting of weight weight.Therefore, when loading a large amount of weights, there are overturnings
Danger, in terms of there is stability.And existing stair climbing robot, either leg formula, crawler type or it is wheeled all
It there is a problem that in structure excessively complicated.
Utility model content
To solve the above-mentioned problems, the utility model provides a kind of stair climbing robot that can largely bear a heavy burden, Ke Yitong
It crosses manual mode and adjusts lifter plate to eliminate weight bring turning torque；It is relatively simple using planet gear type structure, and consider
Stair size under to national standard, is adapted to various stair；Cost is relatively low, convenient for promoting；Biggish weight can be loaded,
Facilitate easy to spread.
To achieve the goals above, the technical solution of the utility model is as follows:
A kind of weight bearing stair climbing robot, including main car frame, the first motor being set to below the main car frame and first
The connected rear axle of motor, the front axle being connected with the second motor, two groups of rear wheel rotation groups for being connected to rear axle both ends, connects the second motor
Connect two groups of front-wheel wheel groups, lifter plates above the main car frame at front axle both ends, the lifter plate and the main car frame
Articulated connection, the lifter plate are connected by rope with the manual rocker mechanism positioned at the main car frame head end, and the hand is rotated
The folding and unfolding of the rope can be realized to drive the lifter plate around hinge joint rotation and lifting, the lifter plate by shaking linkage
Upper placement weight bearing.
Further, the first motor is connected by one end of first gear rack structure and first rotating shaft, and described the
The other end of one shaft passes through the third gear positioned at its both ends by second gear rack structure and rear axis connection, the rear axle
Rack structure is connect with one end of two the second shafts respectively, and the other end of two second shafts passes through the 4th gear respectively
Rack structure is connect with one end of two transmission shafts, the other end of two transmission shafts connect respectively with two groups of rear wheel rotation groups from
And realize the power transmission of rear wheel rotation group.
Further, the rear wheel rotation group includes first that a center position is fixedly connected with the transmission the tip of the axis
Y type rotating turret and three rear walking wheels being rotatablely connected respectively with three vertex of the first Y type rotating turret.
Further, each rear walking wheel includes two wheels, and the Y type rotating turret is arranged between two wheels.
Further, the transmission shaft is fixed by fixed plate and main car frame.
Further, second motor is connect by the 5th gear & rack structure with third shaft, the third shaft
Pass through Bevel Gear Transmission structure and preceding axis connection.
Further, the front-wheel wheel group includes the 2nd Y that a center position is fixedly connected with the preceding the tip of the axis
Type rotating turret, the shaft end position of the front axle successively with the center of the center of the 3rd Y type rotating turret, central gear with
And the 2nd the center of Y type rotating turret be fixedly connected, the central gear is engaged with three first planetary gears respectively, each
First planetary gear is engaged with second planetary gear, and the central point of three first planetary gears is separately positioned on
Three vertex positions of three Y type rotating turrets and between the 3rd Y type rotating turret and the 2nd Y type rotating turret, described three second
Planetary gear central point is separately positioned on three vertex positions of the 2nd Y type rotating turret, and each second planetary gear, which has, to be worn
The second Planetary Gear Transmission axis of its central point and the 2nd Y type rotating turret is crossed, each second Planetary Gear Transmission axis passes through
2nd Y type rotating turret is fixed with a front walking wheel for being located at the 2nd Y type rotating turret other side.
Compared with prior art, the utility model has the beneficial effects that the utility model can be adjusted manually
Lifter plate eliminates weight bring turning torque；It is relatively simple using planet gear type structure, and in view of under national standard
Stair size is adapted to various stair；Cost is relatively low, convenient for promoting；Biggish weight can be loaded, is facilitated easy to spread.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model weight bearing stair climbing robot.
Fig. 2 is the front view of the utility model weight bearing stair climbing robot.
Fig. 3 is the side view of the utility model weight bearing stair climbing robot.
Fig. 4 is the utility model weight bearing stair climbing robot rear-wheel schematic diagram.
Fig. 5 is the utility model weight bearing stair climbing robot rear-wheel schematic diagram.
Fig. 6 is the utility model weight bearing stair climbing robot front-wheel schematic diagram.
Fig. 7 is the utility model weight bearing stair climbing robot front-wheel schematic diagram.
Fig. 8 is the utility model planet gear type mechanism stair climbing schematic diagram.
Specific embodiment
With reference to the accompanying drawings of the specification, the utility model is further described.
In conjunction with Fig. 1-3, a kind of weight bearing stair climbing robot including main car frame 4, is set to the of 4 lower section of the main car frame
One motor 11, the rear axle 12 being connected with first motor 11, the second motor 10, the front axle 8 being connected with the second motor 10, be connected to after
Two groups of rear wheel rotation groups 2 at 12 both ends of axis, two groups of front-wheel wheel groups 7 for being connected to 8 both ends of front axle, above the main car frame 4
Lifter plate 13, the lifter plate 13 are articulated and connected with the main car frame 4, and the lifter plate 13 is by rope 14 and is located at the master
The manual rocker mechanism 15 of 4 head end of vehicle frame is connected, rotate the manual rocker mechanism 15 can realize the folding and unfolding of the rope 14 from
And drive the lifter plate 13 that can place weight bearing as needed on hinge joint rotation and lifting, the lifter plate 13.
Further, the first motor 11 is connect by first gear rack structure 3 with one end of first rotating shaft 20, institute
State the other end of first rotating shaft 20 by second gear rack structure (it is similar with 3 structure of first gear rack structure, in figure not again
Signal is drawn) it is connect with rear axle 12, the rear axle 12 is by being located at the third gear & rack structure at its both ends (with first gear tooth
3 structure of structure is similar, does not illustrate to draw again in figure) it is connect respectively with one end of two the second shafts 18, two described second
The other end of shaft 18 pass through respectively the 4th gear & rack structure (it is similar with 3 structure of first gear rack structure, do not show again in figure
Meaning is drawn) it is connect with one end of two transmission shafts 19, the other end of two transmission shafts 19 connects with two groups of rear wheel rotation groups 2 respectively
It connects to realize the power transmission of rear wheel rotation group 2.
Further, in conjunction with Fig. 4-5, the rear wheel rotation group 2 includes the end of a center position and the transmission shaft 19
After the first Y type rotating turret 21 that is fixedly connected and three be rotatablely connected respectively with three vertex of the first Y type rotating turret 21
Traveling wheel.
Further, in conjunction with Fig. 4, each rear walking wheel includes two wheels, and the setting of Y type rotating turret 21 is taken turns at two
Between son, two wheels may make rear-wheel to land more stable while can also be improved weight bearing ability.
Further, the transmission shaft 19 is fixed by fixed plate 1 and main car frame 4.
Further, continuing with Fig. 1, second motor 10 is connected by the 5th gear & rack structure 5 with third shaft 6
It connects, the third shaft 6 is connect by Bevel Gear Transmission structure 9 with front axle 8.
Further, in conjunction with Fig. 6-7, the front-wheel wheel group 7 includes that a center position and the end of the front axle 8 are fixed
2nd Y type rotating turret 26 of connection, the shaft end position of the front axle 8 successively center, the center with the 3rd Y type rotating turret 23
The center of gear 22 and the center of the 2nd Y type rotating turret 26 are fixedly connected, and the central gear 22 is respectively with three
A first planetary gear 17 engages, and each first planetary gear 17 is engaged with second planetary gear 16, and described three the
The central point of one planetary gear 17 is separately positioned on three vertex positions of the 3rd Y type rotating turret 23 and is located at the 3rd Y type and rotates
Between frame 23 and the 2nd Y type rotating turret 26, the central point of three second planetary gears 16 is separately positioned on the rotation of the 2nd Y type
Three vertex positions of frame 26, each second planetary gear 16 have second put through its center with the 2nd Y type rotating turret 26
Planetary Gear Transmission axis, each second Planetary Gear Transmission axis pass through the 2nd Y type rotating turret 26 and rotate with the 2nd Y type is located at
One front walking wheel of 26 other side of frame is fixed.
The robot ambulation of the utility model and the process and principle for climbing building are as follows: can band after front axle 8 rotates when normal walking
Dynamic threeth Y type rotating turret 23, central gear 22 and the twoth Y type rotating turret 26 fixed with its both ends rotate together, due to three
Three vertex positions of the 2nd Y type rotating turret 26 are arranged in front walking wheel, therefore the rotation of the 2nd Y type rotating turret 26 will drive three
A front walking wheel common rotation so that form the effect that three front walking wheels constantly overturn in turn contiguously face on the ground, simultaneously
The rotation of central gear 22 drives three first planetary gears, 17, three the second planetary gears 16 to rotate final drive three and moves ahead
Wheel rotation is walked, therefore the walking manner of final front walking wheel is to surround central axis rotation while surrounding front axle 8 and overturning；
Transmission shaft 19 drives the rotation of the first Y type rotating turret 21 to advance to the overturning of three rear walking wheels of realization when rear walking wheel is walked,
It is the utility model planet gear type mechanism stair climbing schematic diagram in conjunction with Fig. 8, it (b) is first that (a), which is before coming stair, in figure
Traveling wheel touches stair, and other two wheel is being overturn so that (c) there is a wheel to fall on first order stair simultaneously
On, wheel continue to overturn final (d) it is completely upper to first order stair, simultaneously because during climbing building the height of robot,
Center of gravity, which can constantly change, to be easy to cause " overturning ", therefore can manually be adjusted lifter plate and be turned over to eliminate weight bring
Torque, so that it is more stable to climb building process.
The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change
And improvement, these various changes and improvements fall within the scope of the claimed invention.The utility model requires protection scope
It is defined by the appending claims and its equivalent thereof.
Claims (7)
1. a kind of weight bearing stair climbing robot, which is characterized in that including main car frame (4), be set to below the main car frame (4)
First motor (11), the rear axle (12) being connected with first motor (11), the second motor (10), be connected with the second motor (10) before
Axis (8), two groups of rear wheel rotation groups (2) for being connected to rear axle (12) both ends, two groups of front-wheel wheel groups (7) for being connected to front axle (8) both ends,
Lifter plate (13) above the main car frame (4), the lifter plate (13) and the main car frame (4) are articulated and connected, described
Lifter plate (13) is connected by rope (14) with the manual rocker mechanism (15) for being located at the main car frame (4) head end, described in rotation
The folding and unfolding of the rope (14) can be achieved to drive the lifter plate (13) to rotate around hinge joint in manual rocker mechanism (15)
It goes up and down, weight bearing is placed on the lifter plate (13).
2. a kind of weight bearing stair climbing robot according to claim 1, which is characterized in that the first motor (11) passes through
First gear rack structure (3) is connect with one end of first rotating shaft (20), and the other end of the first rotating shaft (20) passes through second
Gear & rack structure is connect with rear axle (12), the rear axle (12) by be located at its both ends third gear & rack structure respectively with
One end connection of two the second shafts (18), the other end of two second shafts (18) pass through the 4th rack-and-pinion knot respectively
Structure is connect with one end of two transmission shafts (19), the other end of two transmission shafts (19) respectively with two groups of rear wheel rotation groups (2)
Connection is to realize the power transmission of rear wheel rotation group (2).
3. a kind of weight bearing stair climbing robot according to claim 2, which is characterized in that the rear wheel rotation group (2) includes
The first Y type rotating turret (21) and turn with the first Y type that one center position is fixedly connected with the end of the transmission shaft (19)
Three rear walking wheels that three vertex of moving frame (21) are rotatablely connected respectively.
4. a kind of weight bearing stair climbing robot according to claim 3, which is characterized in that each rear walking wheel includes two
Wheel, the Y type rotating turret (21) are arranged between two wheels.
5. a kind of weight bearing stair climbing robot according to claim 4, which is characterized in that the transmission shaft (19) passes through solid
Fixed board (1) and main car frame (4) are fixed.
6. a kind of weight bearing stair climbing robot according to claim 1-5, which is characterized in that second motor
(10) it is connect by the 5th gear & rack structure (5) with third shaft (6), the third shaft (6) passes through Bevel Gear Transmission knot
Structure (9) is connect with front axle (8).
7. a kind of weight bearing stair climbing robot according to claim 6, which is characterized in that the front-wheel wheel group (7) includes
The 2nd Y type rotating turret (26) that one center position is fixedly connected with the end of the front axle (8), the shaft end of the front axle (8)
Position successively with the center of the 3rd Y type rotating turret (23), the center of central gear (22) and the 2nd Y type rotating turret
(26) center is fixedly connected, and the central gear (22) is engaged with three first planetary gears (17) respectively, Mei Ge
One planetary gear (17) is engaged with second planetary gear (16), the central point point of three first planetary gears (17)
Not She Zhi the 3rd Y type rotating turret (23) three vertex positions and be located at the 3rd Y type rotating turret (23) and the 2nd Y type rotating turret
(26) between, the central point of three second planetary gears (16) is separately positioned on three tops of the 2nd Y type rotating turret (26)
Point position, each second planetary gear (16) have the second planetary gear put through its center with the 2nd Y type rotating turret (26)
Transmission shaft, each second Planetary Gear Transmission axis pass through the 2nd Y type rotating turret (26) and are located at the 2nd Y type rotating turret (26)
One front walking wheel of the other side is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821005451.4U CN208813355U (en) | 2018-06-28 | 2018-06-28 | A kind of weight bearing stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821005451.4U CN208813355U (en) | 2018-06-28 | 2018-06-28 | A kind of weight bearing stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208813355U true CN208813355U (en) | 2019-05-03 |
Family
ID=66270338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821005451.4U Expired - Fee Related CN208813355U (en) | 2018-06-28 | 2018-06-28 | A kind of weight bearing stair climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208813355U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021072830A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Robot capable of climbing stairs |
| WO2021072829A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Execution device for stair climbing robot |
-
2018
- 2018-06-28 CN CN201821005451.4U patent/CN208813355U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021072830A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Robot capable of climbing stairs |
| WO2021072829A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Execution device for stair climbing robot |
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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 |
Granted publication date: 20190503 Termination date: 20210628 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |