CN213948630U - Electric walking-instead-of-walk robot with auxiliary function of going upstairs and downstairs - Google Patents
Electric walking-instead-of-walk robot with auxiliary function of going upstairs and downstairs Download PDFInfo
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- CN213948630U CN213948630U CN202120003305.3U CN202120003305U CN213948630U CN 213948630 U CN213948630 U CN 213948630U CN 202120003305 U CN202120003305 U CN 202120003305U CN 213948630 U CN213948630 U CN 213948630U
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Abstract
The utility model belongs to the technical field of building robot, a electronic robot of riding instead of walk with walk up and down stairs auxiliary function is related to. The base of the robot is a rectangular frame structure formed by connecting two longitudinal beams and two cross beams; two supporting beams are vertically arranged on two sides of the base and serve as sliding rails, two driven wheels are arranged on the lower portion of a top cross beam of the two supporting beams, and a steering rod upper fixing seat is arranged on the upper portion of the cross beam. The folding seat is arranged on the fixed seat on the steering rod, can be folded and erected, and can be turned over to the horizontal direction at any time to form a chair for rest. The utility model discloses simple structure, low cost, area is little to it is very practical, have the advantage that the price/performance ratio is high. The electric walking-instead-of-walk robot with the auxiliary function of going upstairs and downstairs can walk instead of walking on the flat ground and drag on the flat ground, has the function of going upstairs and downstairs, has small volume and light weight, is convenient to carry, and can be used for conveying articles.
Description
Technical Field
The utility model belongs to the technical field of building robot, a electronic robot of riding instead of walk with walk up and down stairs auxiliary function is related to.
Background
Many market staircases, old city district floors and the like are below 6 floors, and supporting facilities such as elevators and the like are not provided, so that great difficulty is brought to the traveling of old, weak, sick and disabled people. Therefore, how to solve the problem that the old, soft, sick and disabled people go up and down the stairs is very important to realize the mechanized and automatic research and development improvement that the single person goes up and down the stairs.
The current common upstairs and downstairs machines comprise the following two types:
the first is an escalator-type upstairs and downstairs machine. The escalator is improved, and a set of manned platform capable of moving up and down along the handrail is arranged on the escalator. However, the facilities have large floor area, high installation difficulty and modification cost, low equipment utilization rate, large investment and less output, and one set of facilities takes tens of thousands of yuan.
The second type is a crawler-type stair climbing machine. The crawler-type manned platform is adopted to climb stairs, but the gravity center of the crawler is higher when the crawler is in the alternate process of steps, so that the crawler can easily tip over front and back. For the crawler climbing stairs, the crawler is large in abrasion degree, the behaviors such as turning between stairs and the like are not flexible enough, and the large abrasion of the corners of the stairs and the high energy consumption also become important factors for limiting the development of the crawler climbing stairs system.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the deficiencies in the prior art and providing an electric mobility robot with the auxiliary function of going upstairs and downstairs, which can help the handicapped people to go upstairs and downstairs and can ride instead of walk on the flat ground.
The technical scheme of the utility model as follows:
an electric walking robot with an auxiliary function of going upstairs and downstairs comprises a base, a liftable steering rod, a flat ground driving wheel turnover mechanism, a lifting platform and a driving motor;
the base is a rectangular frame structure formed by connecting two longitudinal beams and two cross beams;
two supporting beams are vertically arranged on two sides of the base and serve as sliding rails, two driven wheels are arranged on the lower portion of a top cross beam of the two supporting beams, and a steering rod upper fixing seat is arranged on the upper portion of the cross beam. The folding seat is arranged on the fixed seat on the steering rod, can be folded and erected, and can be turned over to the horizontal direction at any time to form a chair for rest.
And a lifting platform driven by a worm speed reducing motor and used for people to stand is arranged on the outer side of the support beam on the upper surface of the base. The lifting platform is characterized in that a lifting platform frame is vertically fixed on one side of the lifting platform, lifting platform supports are respectively and vertically fixed on two side edges of the lifting platform frame, and the lifting platform supports are of pulley block structures. The pulley block structure of the lifting platform support is matched with the sliding rail of the supporting beam to realize vertical sliding.
A driving motor fixing base is fixed on the inner side of the supporting beam on the upper surface of the base, and a worm speed reducer and a driving motor are sequentially fixed on the driving motor fixing base;
the worm speed reducer is provided with double D-shaped output shafts, and the double D-shaped output shafts of the worm speed reducer are connected with a D-shaped hole driving wheel;
the lifting rope fixing device is characterized in that a lifting rope fixing bolt is arranged on the driving wheel with the D-shaped hole, a lifting rope is fixed on the lifting rope fixing bolt, the lifting rope is connected with the upper portion of the lifting platform frame through a driven wheel of a top cross beam of the supporting beam, and two sides of the driving motor are symmetrical to a connection structure of the driven wheel. The driving motor drives the lifting platform frame to drive the lifting platform to move upwards and downwards along the sliding rail of the supporting beam through the lifting rope.
The base is provided with a flat ground driving wheel turnover mechanism
The flat ground driving wheel turnover mechanism is normally turned over below the base, and at the moment, wheels of the flat ground driving wheel turnover mechanism are flush with the bottom of the rectangular frame base, and can be easily pulled on a flat ground when inclined at a certain angle. The flat ground driving wheel turnover mechanism can be turned to the other side in a flat ground driving mode, and wheels of the flat ground driving wheel turnover mechanism are located at the bottom of the rectangular frame base and can drive the robot to move on the flat ground.
The bottom surface of the lifting platform is provided with side small wheels for dragging along the step surface.
The lifting platform is characterized in that a first detection switch for detecting whether a person stands on the lifting platform is installed on the bottom surface of the lifting platform, and a second detection switch for detecting whether the robot inclines is installed on the side surface of the lifting platform.
And a third detection switch for detecting the position of the lifting platform and a safety limit switch for preventing the lifting platform from offside are arranged on the slide rail of the robot supporting beam.
The sliding rail of the supporting beam is provided with a storage battery and a control chip, the storage battery is electrically connected with the control chip, and the control chip is electrically connected with a relay for controlling the forward and reverse rotation of the driving motor and limit switches at all positions respectively.
The lifting type steering rod top be continuous with the handle, the lifting type steering rod passes through the hold-down flange and is connected with steering rod upper fixing base, the lifting type steering rod lower part loops through thrust bearing, lift adjustment piece, steering rod lower fixing base and directive wheel and links to each other, can control the direction again can be through lift adjustment piece height-adjusting from top to bottom.
The lifting adjusting block is fixed on the lifting type steering rod through a locking pin rod.
The flat ground driving wheel turnover mechanism is of an L-shaped arc main body structure, flat ground driving wheels are arranged on two sides of one end of the flat ground driving wheel turnover mechanism respectively, and a transverse bolt is arranged at the other end of the L-shaped arc main body structure. Two ends of the transverse bolt are matched and connected with the side round holes of the base. When the flat ground driving wheel turnover mechanism is turned over below the base at ordinary times, the height of the L-shaped arc main body structure and the flat ground driving wheel is matched with the steering wheel to reach the level.
Compared with the prior art, the utility model has the advantages as follows:
1. the utility model discloses simple structure, low cost, area is little to it is very practical, have the advantage that the price/performance ratio is high.
2. The electric walking-instead-of-walk robot with the auxiliary function of going upstairs and downstairs can walk instead of walking on the flat ground and drag on the flat ground, has the function of going upstairs and downstairs, has small volume and light weight, is convenient to carry, and can be used for conveying articles.
3. The handle is provided with a mode change-over switch which is provided with two modes of going upstairs and going downstairs, and the mode change-over between the two modes of going upstairs and going downstairs can be easily realized.
Drawings
FIG. 1 is a structural diagram of the present invention in flat ground mode;
FIG. 2 is a structural diagram of the utility model in the upstairs and downstairs mode;
FIG. 3 is a structural view of a reversible flat ground driving device;
FIG. 4 is a view of the locking pin shaft;
fig. 5 is a structure view of the carriage and the lifting platform.
In the figure: 1-a handle; 2-a folding seat; 3-driven wheel; 4-a support beam; 5-hoisting a lifting rope; 6-lifting platform frame; 7-lifting platform support; 8-lifting the platform; 9-flat ground driving wheel; 10-side small wheels; 11-a base; 12-a liftable steering rod; 13-a steering rod upper fixing seat; 14-a hold-down flange; 15-thrust bearing fixing seats; 16-a lifting adjusting block; 17-locking the pin rod; 18-a drive motor; 19-a steering rod lower fixed seat; 20-worm speed reducer; 21-driving wheel with D-shaped hole; 22-drive motor fixing base; 23-a steering wheel; 24-flatly driving the wheel turnover mechanism.
Detailed Description
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
example 1:
as shown in fig. 1 and 2, an electric walking robot with an auxiliary function for going up and down stairs comprises a base 11, a liftable steering rod 12, a flat ground driving wheel turnover mechanism 24, a lifting platform 8 and a driving motor 18;
the base 11 is a rectangular frame structure formed by connecting two longitudinal beams and two cross beams;
two supporting beams 4 are vertically arranged on two sides of the base 11 to serve as sliding rails, two driven wheels 3 are arranged on the lower portion of a top cross beam of the two supporting beams 4, and a steering rod upper fixing seat 13 is arranged on the upper portion of the cross beam. The upper fixed seat 13 of the steering rod is provided with a folding seat 2, the folding seat 2 can be folded and erected, and can be turned over to the horizontal direction at any time to form a chair for rest.
And a lifting platform 8 driven by a worm speed reducing motor and used for people to stand is arranged outside the upper surface supporting beam 4 of the base 11. Lifting platform 8 one side vertical fixation lifting platform frame 6, lifting platform frame 6's both sides limit respectively vertical fixation lifting platform support 7, lifting platform support 7 be the assembly pulley structure. The pulley block structure of the lifting platform support 7 is matched with the slide rail of the support beam 4 to realize up-and-down sliding.
A driving motor fixing base 22 is fixed on the inner side of the upper surface support beam 4 of the base 11, and a worm speed reducer 20 and a driving motor 18 are sequentially fixed on the driving motor fixing base 22;
the worm speed reducer 20 is provided with double D-shaped output shafts, and the double D-shaped output shafts of the worm speed reducer are connected with a D-shaped hole driving wheel 21;
the lifting rope fixing bolt is arranged on the driving wheel 21 with the D-shaped hole, the lifting rope 5 is fixed on the lifting rope fixing bolt, the lifting rope 5 is connected with the upper part of the lifting platform frame 6 through the driven wheel 3 of the top cross beam of the supporting beam 4, and the two sides of the driving motor 18 are symmetrical to the connection structure of the driven wheel 3. The driving motor 18 drives the lifting platform frame 6 to drive the lifting platform 8 to move upwards and downwards along the sliding rails of the supporting beam 4 through the lifting ropes 5.
The base 11 is provided with a flat ground driving wheel turnover mechanism 24, the flat ground driving wheel turnover mechanism
The flat ground driving wheel turnover mechanism 24 is normally turned over below the base 11, and at the moment, the wheels of the flat ground driving wheel turnover mechanism 24 are flush with the bottom of the rectangular frame base 11, and can be easily pulled on the flat ground when inclined at a certain angle. The flat ground driving wheel turnover mechanism 24 can be turned to the other side in the flat ground driving mode, and at the moment, the wheels of the flat ground driving wheel turnover mechanism 24 are positioned at the bottom of the rectangular frame base 11, so that the robot can be driven to move on the flat ground.
The bottom surface of the lifting platform 8 is provided with a side small wheel 10 for dragging along the step surface.
A first detection switch for detecting whether a person stands on the lifting platform is installed on the bottom surface of the lifting platform 8, and a second detection switch for detecting whether the robot inclines or not is installed on the side surface of the lifting platform.
And a third detection switch for detecting the position of the lifting platform and a safety limit switch for preventing the lifting platform from offside are arranged on the slide rail of the robot supporting beam 4.
And a storage battery and a control chip are arranged on the sliding rail of the supporting beam 4, the storage battery is electrically connected with the control chip, and the control chip is electrically connected with a relay for controlling the forward and reverse rotation of the driving motor and limit switches at various positions respectively.
The top of the liftable steering rod 12 is connected with the handle 1, the liftable steering rod 12 is connected with the upper steering rod fixing seat 13 and the thrust bearing fixing seat 15 through the pressing flange 14, the lower part of the liftable steering rod 12 is connected with the steering wheel through the thrust bearing fixing seat 15, the lifting adjusting block 16, the lower steering rod fixing seat 19 and the steering wheel in sequence, and therefore the direction can be controlled and the height can be adjusted up and down through the lifting adjusting block 16.
The lifting adjusting block 16 is fixed on the lifting steering rod 12 through a locking pin rod 17.
The flat ground driving wheel turnover mechanism 24 is an L-shaped arc main body structure, the flat ground driving wheels 9 are respectively arranged on two sides of one end of the L-shaped arc main body structure, and a transverse bolt is arranged at the other end of the L-shaped arc main body structure. The two ends of the transverse bolt are matched and connected with the side round holes of the base 11. When the flat ground driving wheel turnover mechanism 24 is normally turned over below the base 11, the height of the L-shaped arc main body structure and the flat ground driving wheel 9 is matched with the steering wheel 23 to reach the level.
Example 2:
the utility model discloses work flow as follows:
after the machine is started, the controller controls the driving motor 18 to drive the lifting platform 8 to automatically descend to the bottom;
in the case of walking on flat ground, the liftable steering rod 12 with the steering wheel mounted thereon needs to be adjusted downward, and the flat ground driving wheel turnover mechanism 24 is turned over from the lower portion of the supporting beam 4 to the lower portion of the base 11 on the opposite side of the handle 1, so that the electric walking robot can be used on flat ground.
When the mode of going upstairs is selected, the liftable steering rod 12 provided with the steering wheel needs to be adjusted upwards, and the driving wheel turnover mechanism 24 needs to be turned over to the lower part of the base 11 at one side of the handle 1.
In this mode, the driving motor 18 controls the lifting platform 8 to descend to the bottom, and after someone steps on the lifting platform 8, the driving motor 18 drives the lifting platform 8 to ascend to a position slightly higher than the next step. After targetting in place, the people remove to next stage step from lift platform 8, this moment as long as the user presses the side steamboat 10 of robot lift platform to next stage step on, when the limit switch of detection robot inclination was triggered or the manual lift platform control limit switch that triggers of user, driving motor 18 drive lift platform 8 descends, lift platform falls on the step face, under the drive of motor, whole robot main part rebound is to next stage step department, the user puts the robot right, begin next circulation.
When the mode of going downstairs is selected, the liftable steering rod 12 provided with the steering wheel needs to be adjusted upwards, and the flat ground driving wheel turnover mechanism needs to be turned over to the lower part of the base 11 on one side of the handle 1. In this mode, driving motor 18 controls lift platform and descends to the lower part, when the user inclines the robot, side steamboat 10 supports, and move whole robot forward to the step border, as long as the limit switch who detects the robot inclination of riding instead of walk is triggered or the user triggers the lift control switch manually this moment, motor drive lift platform 8 rises, the robot main part descends to next stage step face this moment, the user puts the robot upright, and on going up the lift platform, motor drive lift platform moves down to next stage step face this moment. After the robot is in place, the person leaves the lifting platform, the robot is inclined again, the side wheels are used for supporting, the whole robot is moved forwards to the edge of the step, and the next cycle is started, so that the operation is repeated.
The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. An electric walking robot with an auxiliary function of going upstairs and downstairs is characterized by comprising a base (11), a liftable steering rod (12), a flat ground driving wheel turnover mechanism (24), a lifting platform (8) and a driving motor (18);
the base (11) is a rectangular frame structure; two supporting beams (4) are vertically arranged on two sides of the base (11) and used as sliding rails, two driven wheels (3) are arranged on the lower portion of a top cross beam of the two supporting beams (4), and an upper steering rod fixing seat (13) is arranged on the upper portion of the cross beam; the upper fixed seat (13) of the steering rod is provided with a folding seat (2), and the folding seat (2) can be folded and erected and can be turned over to the horizontal direction at any time to form a chair for rest;
meanwhile, a lifting platform (8) driven by a worm speed reducing motor and used for people to stand is arranged on the outer side of the support beam (4) on the upper surface of the base (11); a lifting platform frame (6) is vertically fixed on one side of the lifting platform (8), lifting platform supports (7) are respectively vertically fixed on two side edges of the lifting platform frame (6), and the lifting platform supports (7) are of a pulley block structure; the pulley block structure of the lifting platform support (7) is matched with the slide rail of the support beam (4) to realize up-and-down sliding;
a driving motor fixing base (22) is fixed on the inner side of the support beam (4) on the upper surface of the base (11), and a worm speed reducer (20) and a driving motor (18) are sequentially fixed on the driving motor fixing base (22);
the worm speed reducer (20) is connected with a driving wheel, a lifting rope fixing bolt is arranged on the driving wheel, a lifting rope (5) is fixed on the lifting rope fixing bolt, the lifting rope (5) is connected with the upper part of the lifting platform frame (6) through a driven wheel (3) of a top cross beam of the supporting beam (4), and two sides of the driving motor (18) are symmetrical to the connection structure of the driven wheel (3); the driving motor (18) drives the lifting platform frame (6) to drive the lifting platform (8) to move upwards and downwards along the sliding rail of the supporting beam (4) through the lifting rope (5);
the base (11) is provided with a flat ground driving wheel turnover mechanism (24), the flat ground driving wheel turnover mechanism (24) is normally turned over below the base (11), at the moment, wheels of the flat ground driving wheel turnover mechanism (24) are flush with the bottom of the rectangular frame base (11), and the flat ground driving wheel turnover mechanism can be easily pulled on the flat ground when inclined at a certain angle; the flat ground driving wheel turnover mechanism (24) can be turned to the other side in a flat ground driving mode, and wheels of the flat ground driving wheel turnover mechanism (24) are positioned at the bottom of the rectangular frame base (11) and can drive the robot to move on the flat ground;
the bottom surface of the lifting platform (8) is provided with a side small wheel (10) for dragging along the step surface; the top of the liftable steering rod (12) is connected with the handle (1), the liftable steering rod (12) is connected with the upper steering rod fixing seat (13) and the thrust bearing fixing seat (15) through the pressing flange (14), the lower part of the liftable steering rod (12) is connected with the steering wheel through the thrust bearing fixing seat (15), the lifting adjusting block (16), the lower steering rod fixing seat (19) and the steering wheel in sequence, so that the direction can be controlled, and the height can be adjusted up and down through the lifting adjusting block (16);
the lifting adjusting block (16) is fixed on the lifting steering rod (12) through a locking pin rod (17); the flat ground driving wheel turnover mechanism (24) is of an L-shaped arc main body structure, flat ground driving wheels (9) are respectively arranged on two sides of one end of the L-shaped arc main body structure, and a transverse bolt is arranged at the other end of the L-shaped arc main body structure; two ends of the transverse bolt are matched and connected with the side round hole of the base (11); when the flat ground driving wheel turnover mechanism (24) is turned over below the base (11) at ordinary times, the L-shaped arc main body structure and the height of the flat ground driving wheel (9) are matched with the steering wheel (23) to reach the level.
2. The electric walking robot with the function of assisting in going upstairs and downstairs as claimed in claim 1, wherein the worm reducer (20) is provided with a double D-shaped output shaft, a driving wheel (21) with a D-shaped hole is adopted as the driving wheel, and the double D-shaped output shaft of the worm reducer is connected with the D-shaped hole driving wheel (21).
3. The robot with the assistant function for going up and down stairs as claimed in claim 1 or 2, wherein the lifting platform (8) is installed with a first detection switch on the bottom surface for detecting whether a person stands on it and a second detection switch on the side surface for detecting whether the robot is inclined.
4. The electric walking robot with the auxiliary function of going upstairs and downstairs as claimed in claim 1 or 2, wherein the sliding rail of the supporting beam (4) is provided with a third detection switch for detecting the position of the lifting platform and a safety limit switch for preventing the lifting platform from going beyond the position.
5. The electric walking robot with the auxiliary function of going upstairs and downstairs as claimed in claim 3, wherein the sliding rail of the supporting beam (4) is provided with a third detection switch for detecting the position of the lifting platform and a safety limit switch for preventing the lifting platform from going beyond the position.
6. The electric walking robot with the assistant function of going upstairs and downstairs as claimed in claim 1, 2 or 5, wherein the sliding rail of the supporting beam (4) is provided with a storage battery and a control chip, the storage battery and the control chip are electrically connected, and the control chip is electrically connected with the relay for controlling the driving motor to rotate forward and backward and the limit switches at each position respectively.
7. The electric walking robot with the auxiliary function of going upstairs and downstairs as claimed in claim 3, wherein the sliding rail of the supporting beam (4) is provided with a storage battery and a control chip, the storage battery is electrically connected with the control chip, and the control chip is electrically connected with the relay for controlling the driving motor to rotate forward and backward and the limit switches at each position respectively.
8. The electric walking robot with the function of assisting in going upstairs and downstairs as claimed in claim 4, wherein the sliding rail of the supporting beam (4) is provided with a storage battery and a control chip, the storage battery is electrically connected with the control chip, and the control chip is electrically connected with a relay for controlling the driving motor to rotate forward and backward and limit switches at each position respectively.
9. An electric walking robot with assistant function for going up and down stairs according to claim 1, 2 or 5 wherein said base (11) is a rectangular frame structure formed by connecting two longitudinal beams and two cross beams.
10. The electric walking robot with the function of assisting in going up and down stairs according to claim 3, wherein the base (11) is a rectangular frame structure formed by connecting two longitudinal beams and two cross beams with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120003305.3U CN213948630U (en) | 2021-01-04 | 2021-01-04 | Electric walking-instead-of-walk robot with auxiliary function of going upstairs and downstairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120003305.3U CN213948630U (en) | 2021-01-04 | 2021-01-04 | Electric walking-instead-of-walk robot with auxiliary function of going upstairs and downstairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213948630U true CN213948630U (en) | 2021-08-13 |
Family
ID=77198814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120003305.3U Active CN213948630U (en) | 2021-01-04 | 2021-01-04 | Electric walking-instead-of-walk robot with auxiliary function of going upstairs and downstairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213948630U (en) |
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2021
- 2021-01-04 CN CN202120003305.3U patent/CN213948630U/en active Active
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