CN216508671U

CN216508671U - Stair climbing device

Info

Publication number: CN216508671U
Application number: CN202123134905.2U
Authority: CN
Inventors: 吴琳波
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-05-13
Anticipated expiration: 2031-12-13

Abstract

The utility model discloses a stair climbing device, which is characterized by comprising: the shell, the bottom of shell is equipped with the die cavity, fixedly connected with elevating system in the middle part of shell, elevating system's bottom is worn out the bottom of shell is located the die cavity, elevating system wears out the one end of shell is rotated and is connected with universal drive arrangement. Design more than adopting realizes rising of shell and universal actuating mechanism through setting up elevating gear, realizes the removal of shell through setting up universal actuating mechanism in the shell, through the cooperation of translation motor and rack, realizes the relative track support of shell and removes, realizes climbing of step. By adopting the design, the structure is simple, the design is reasonable, the multidirectional movement can be realized, and the market application value is high.

Description

Stair climbing device

Technical Field

The utility model relates to the technical field of mechanical structures, in particular to a stair climbing device.

Background

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.

The body of the sweeping robot is a wireless machine, mainly in a disc shape. The rechargeable battery is used for operation, and the operation mode is a remote controller or an operation panel on the machine. Generally, the time can be set for cleaning in a reserved mode, and the automatic charging is realized. The front is provided with a sensor which can detect obstacles, such as touching a wall or other obstacles, can turn by itself, and can walk different routes according to different manufacturers, thereby planning cleaning areas. (some of the models of the older generations may lack some functions), because of the simple operation function and convenience, they are now becoming popular and common home appliances for office workers and modern homes.

The existing sweeping robot can only work on a flat ground generally, but for houses constructed by skip floors, villas and the like, the sweeping robot cannot operate on stairs and can only operate manually.

Therefore, there is a need to design a stair climbing device to overcome the disadvantages of the prior art.

SUMMERY OF THE UTILITY MODEL

The technical scheme adopted by the utility model to achieve the technical purpose is as follows: a stair climbing device comprising: the shell, the bottom of shell is equipped with the die cavity, fixedly connected with elevating system in the middle part of shell, elevating system's bottom is worn out the bottom of shell is located the die cavity, elevating system wears out the one end of shell is rotated and is connected with universal drive arrangement, universal drive arrangement includes: the crawler belt comprises a crawler belt bracket, crawler wheels and a driving motor; the crawler wheel set up respectively in crawler support's both sides, driving motor is fixed to be located crawler support's one end and with crawler wheel transmission is connected, sliding connection has the translation board between crawler support's the both sides, the middle part of translation board with elevating system's bottom is rotated and is connected, be equipped with the rack in crawler support's one side, the translation board with the adjacent one of rack is served fixedly connected with translation motor, translation motor's output with rack transmission connects.

In a preferred embodiment, the elevating mechanism includes: a lifting motor, a screw rod and a threaded sleeve; the lifting motor is fixedly connected with the top wall of the shell, the screw rod is fixedly connected with the output end of the lifting motor, external threads are arranged on the side wall of the screw rod, internal threads matched with the external threads are arranged on the inner wall of the screw sleeve, the screw sleeve is in threaded connection with the screw rod, and the bottom of the screw sleeve penetrates out of the bottom of the shell and is in sliding connection with the bottom of the shell.

In a preferred embodiment, the outer wall of the insert is in the shape of a regular polygon.

In a preferred embodiment, a vertical sliding sleeve is arranged in the bottom of the housing, the sliding sleeve corresponds to the lifting mechanism, and the sliding sleeve is sleeved on the outer wall of the threaded sleeve.

In a preferred embodiment, a surface of the housing corresponding to the advancing direction of the universal driving device and the bottom surface of the housing are respectively provided with a cleaning sheet.

In a preferred embodiment, the track frame comprises: the crawler belt comprises two towing supports arranged at intervals, crawler wheels are arranged on the towing supports, one ends of the towing supports are fixedly connected through a connecting plate, driving motors are arranged on the connecting plate, racks are arranged on one of the towing supports, T-shaped grooves are formed in the opposite surfaces of the towing supports respectively, T-shaped sliding blocks matched with the grooves are arranged at the two ends of a translation plate respectively, and the translation plate is located between the two towing supports.

The utility model has the beneficial effects that: the lifting device is arranged to realize the lifting of the shell and the universal driving mechanism, the universal driving mechanism is arranged in the shell to realize the movement of the shell, and the translation motor is matched with the rack to realize the movement of the shell relative to the crawler support and realize the climbing of the steps. By adopting the design, the structure is simple, the design is reasonable, the multidirectional movement can be realized, and the market application value is high.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an exploded view of the present invention;

FIG. 3 is a schematic structural view of the track frame of the present invention;

FIG. 4 is a schematic view of the construction of the translator of the present invention;

FIG. 5 is a schematic diagram of the lifting mechanism and the universal driving mechanism of the present invention;

FIG. 6 is a schematic cross-sectional view of the present invention;

FIG. 7 is a diagram of the usage state I of the present invention;

FIG. 8 is a state diagram II of the present invention in use;

FIG. 9 is a state diagram III of the present invention in use;

FIG. 10 is a state diagram IV of the present invention in use;

fig. 11 is a use state diagram V of the present invention.

In the figure:

10. a housing; 101. a cavity; 102. a sliding sleeve; 11. a lifting mechanism; 111. a lifting motor; 112. A screw; 113. a threaded sleeve; 12. a universal drive mechanism; 121. a track frame; 1211. a towing bracket; 1212. a connecting plate; 1213. a groove; 122. a crawler wheel; 123. a drive motor; 124. a translation plate; 1241. a slider; 125. a translation motor; 126. a rack.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

As shown in fig. 1-6, the present invention provides a stair climbing device, comprising: shell 10, the bottom of shell 10 is equipped with die cavity 101, and this die cavity 101 is to the inside sunken and one side opening form of shell 10, fixedly connected with elevating system 11 in the middle part of shell 10, the bottom of elevating system 11 is worn out the bottom of shell 10 is located in die cavity 101, and the bottom of this elevating system 11 and the bottom of shell 10 are sliding fit, drive shell 10 and go up and down when elevating system 11 moves in the operation, elevating system 11 wears out the one end of shell 10 is rotated and is connected with universal actuating mechanism 12 for drive shell 10 advances or retreats or turns, universal actuating mechanism 12 includes: a crawler support 121, crawler wheels 122, a driving motor 123; the crawler wheels 122 are respectively arranged at two sides of the crawler support 121, the driving motor 123 is fixedly arranged at one end of the crawler support 121 and is in transmission connection with the crawler wheels 122, wherein two driving motors 123 are respectively in transmission connection with the corresponding crawler wheels 122, a translation plate 124 is slidably connected between two sides of the crawler support 121, the middle part of the translation plate 124 is rotatably connected with the bottom end of the lifting mechanism 11, a rack 126 is arranged in one side of the crawler support 121, a translation motor 125 is fixedly connected to one end of the translation plate 124 adjacent to the rack 126, the output end of the translation motor 125 is in transmission connection with the rack 126, when the lifting mechanism 11 operates, the lifting mechanism 10 can be driven to ascend or descend, it can be understood that when the housing 10 is limited by the outside and cannot descend, the lifting mechanism 11 can drive the universal driving mechanism 12 connected therewith to ascend or descend when operating, when the universal driving mechanism 12 needs to advance or retreat, the housing 10 can be driven to advance or retreat or turn, when the housing needs to advance or retreat, the two driving motors 123 can be controlled to synchronously rotate forwards or reversely, so that the track wheels 122 can be driven to rotate forwards or reversely, when the housing needs to turn, because the translation plate 124 is rotatably connected with the bottom end of the lifting mechanism 11, the track support 121 can be driven to rotate by controlling the operation of one motor or controlling the two motors to mutually rotate reversely, and then the turning is realized, the translation motor 125 is used for controlling the housing 10 to move relative to the universal driving mechanism 12, namely, when the translation motor 125 operates, because the rack 126 on the track support 121 is in transmission connection with the translation motor 125, the translation motor 125 can drive the housing 10 to move, but the track support 121 does not move, or the translation motor 125 drives the track support 121 to move, but the housing 10 does not move.

Further, in the present embodiment, the lifting mechanism 11 includes: a lifting motor 111, a screw rod 112 and a threaded sleeve 113; the lifting motor 111 is fixedly connected with the top wall of the shell 10, the screw 112 is fixedly connected with the output end of the lifting motor 111, an external thread is arranged on the side wall of the screw 112, an internal thread matched with the external thread is arranged on the inner wall of the threaded sleeve 113, the threaded sleeve 113 is in threaded connection with the screw 112, and the bottom end of the threaded sleeve 113 penetrates out of the bottom of the shell 10 and is in sliding connection with the bottom of the shell 10; specifically, when the lifting motor 111 operates, the screw 112 is driven by the lifting motor 111 to rotate in the threaded sleeve 113, and meanwhile, the threaded sleeve 113 is in sliding connection with the bottom of the housing 10, so that when the screw 112 moves up and down in the threaded sleeve 113, the housing 10 is driven to slide up and down relative to the threaded sleeve 113, thereby realizing the lifting or lowering of the housing 10.

Further, in the present embodiment, the outer wall of the screw sleeve 113 has a regular polygonal shape; specifically, in order to prevent the problem that the screw 112 cannot drive the housing 10 to ascend or descend due to the rotation of the screw 113 along with the rotation of the screw 112 when the screw 112 rotates in the screw 113, the screw 113 is set to be a regular polygon, and the contact position between the bottom of the housing 10 and the screw 113 is also the same regular polygon, so as to limit the rotation of the screw 113 along with the screw 112, wherein the regular polygon may be a regular triangle, a square, a regular pentagon, a regular hexagon, or other shapes having rhombus that can limit the rotation of the screw 113.

Further, in this embodiment, a vertical sliding sleeve 102 is fixedly disposed in the bottom of the housing 10, the sliding sleeve 102 corresponds to the lifting mechanism 11, the sliding sleeve 102 is sleeved on an outer wall of the threaded sleeve 113, so that the sliding sleeve 102 can slide up and down on the threaded sleeve 113, a through hole adapted to the threaded sleeve 113 in shape is disposed in the middle of the sliding sleeve 102, and the bottom end of the threaded sleeve 113 passes through the through hole and is located in the cavity 101, so that the threaded sleeve 113 cannot rotate with the threaded sleeve 113 under the restriction of the sliding sleeve 102 when the screw 112 rotates, thereby achieving the ascending or descending of the housing 10, and the sliding sleeve 102 can also prevent the housing 10 from tilting.

Further, in this embodiment, a surface of the housing 10 corresponding to the advancing direction of the universal driving mechanism 12 and a bottom surface of the housing 10 are respectively provided with a cleaning sheet (not shown in the figure), and specifically, the housing 10 can also clean a wall surface in the advancing direction of the housing 10 and a floor surface at the bottom of the housing 10 when moving through the arrangement of the cleaning sheets.

Further, in the present embodiment, the track frame 121 includes: the crawler belt driving device comprises two towing brackets 1211 arranged at intervals, wherein the crawler wheels 122 are arranged on the towing brackets 1211, one ends of the two towing brackets 1211 are fixedly connected through a connecting plate 1212, the driving motor 123 is arranged on the connecting plate 1212, the rack 126 is arranged on one of the two towing brackets 1211, T-shaped grooves 1213 are respectively arranged on the opposite surfaces of the two towing brackets 1211, T-shaped sliding blocks 1241 matched with the grooves 1213 are respectively arranged at the two ends of the translation plate 124, and the translation plate 124 is positioned between the two towing brackets 1211; specifically, because the translation plate 124 is rotatably connected with the bottom of the screw sleeve 113, the translation plate 124 cannot move up, down, left, right, and back relative to the screw sleeve 113, but only can rotate relative to the screw sleeve 113, when the translation motor 125 operates, the translation motor 125 causes the track support 121 to move relative to the housing 10 or causes the housing 10 to move relative to the track support 121 through the cooperation of the translation motor 125 and the rack 126, so that the climbing device can climb on the ground with steps.

In the working principle, as shown in fig. 7-8, the universal driving mechanism 12 drives the housing 10 to move to the first step, the lifting mechanism 11 operates to lift the housing 10, so that the bottom of the housing 10 is flush with the top of the first step, then as shown in fig. 9, the translation motor 125 operates, at this time, because the track wheels 122 are in contact with the ground, the friction force is large, and the housing 10 is in a suspended state, therefore, in this state, when the translation motor 125 operates, the translation motor 125 drives the translation plate 124 to slide on the track support 121, the translation plate 124 drives the lifting mechanism 11 to move, the lifting mechanism 11 drives the housing 10 to move, so that the front end of the housing 10 is lapped on the top of the first step to complete the lifting of the housing 10, as shown in fig. 10, when the lifting motor 111 operates in the reverse direction, at this time, because the housing 10 is restricted by the top of the first step and cannot descend, so that when the lifting motor 111 operates in the reverse direction, the screw 112 drives the threaded sleeve 113 to ascend, the threaded sleeve 113 drives the translation plate 124 connected with the threaded sleeve to ascend, the translation plate 124 drives the track support 121 to ascend, and because the cavity 101 is in an open shape, the track frame 121 can thus be partly accessible inside the cavity 101, partly outside the cavity 101, without being blocked by the housing 10, then as shown in fig. 11, the translation motor 125 operates again, since the housing 10 is in contact with the table top, the friction is large, and the track frame 121 is in a suspended state, so that when the translation motor 125 is operated in this state, the shell 10 is immobile, the translation motor 125 drives the crawler support 121 to slide relative to the shell 10 when in operation, so that the crawler support 121 completely enters the cavity 101, then the driving motor 123 operates, the front end of the shell 10 is in contact with the wall surface of a subsequent step, climbing of the step is completed, and the steps are repeated on the subsequent step.

It should be noted that, in this embodiment, the length of the track wheel 122 should be greater than half of the total length of the housing 10, so that the track wheel 122 has a larger area to contact with the ground, and the supporting force of the track wheel 122 is increased, thereby avoiding the situation that the support force of the track wheel 122 is insufficient to cause the inclination and collapse due to the shift of the center of gravity when the housing 10 needs to move forward after being lifted.

In conclusion, the lifting device is arranged to realize the lifting of the shell and the universal driving mechanism, the universal driving mechanism is arranged in the shell to realize the movement of the shell, and the translation motor is matched with the rack to realize the movement of the shell relative to the track support so as to realize the climbing of the steps. By adopting the design, the structure is simple, the design is reasonable, the multidirectional movement can be realized, and the market application value is high.

The utility model is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the utility model is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims

1. A stair climbing device comprising: the shell, the bottom of shell is equipped with the die cavity, fixedly connected with elevating system in the middle part of shell, elevating system's bottom is worn out the bottom of shell is located the die cavity, elevating system wears out the one end of shell is rotated and is connected with universal drive arrangement, universal drive arrangement includes: the crawler belt comprises a crawler belt bracket, crawler wheels and a driving motor; the crawler wheel set up respectively in crawler support's both sides, driving motor is fixed to be located crawler support's one end and with crawler wheel transmission is connected, sliding connection has the translation board between crawler support's the both sides, the middle part of translation board with elevating system's bottom is rotated and is connected, be equipped with the rack in crawler support's one side, the translation board with the adjacent one of rack is served fixedly connected with translation motor, translation motor's output with rack transmission connects.

2. The stair climbing device according to claim 1, wherein the lifting mechanism comprises: a lifting motor, a screw rod and a threaded sleeve; the lifting motor is fixedly connected with the top wall of the shell, the screw rod is fixedly connected with the output end of the lifting motor, external threads are arranged on the side wall of the screw rod, internal threads matched with the external threads are arranged on the inner wall of the screw sleeve, the screw sleeve is in threaded connection with the screw rod, and the bottom of the screw sleeve penetrates out of the bottom of the shell and is in sliding connection with the bottom of the shell.

3. A stair climbing device as claimed in claim 2 wherein the outer wall of the threaded sleeve is in the shape of a regular polygon.

4. A stair climbing device as claimed in claim 3, wherein a vertical sliding sleeve is provided in the bottom of the housing, the sliding sleeve corresponding to the lifting mechanism, and the sliding sleeve is fitted over the outer wall of the threaded sleeve.

5. The stair climbing device according to claim 1, wherein a surface of the housing corresponding to the advancing direction of the universal driving device and a bottom surface of the housing are respectively provided with a cleaning sheet.

6. The stair climbing device according to claim 1, wherein the track support comprises: the crawler belt comprises two towing supports arranged at intervals, crawler wheels are arranged on the towing supports, one ends of the towing supports are fixedly connected through a connecting plate, driving motors are arranged on the connecting plate, racks are arranged on one of the towing supports, T-shaped grooves are formed in the opposite surfaces of the towing supports respectively, T-shaped sliding blocks matched with the grooves are arranged at the two ends of a translation plate respectively, and the translation plate is located between the two towing supports.