CN218662128U

CN218662128U - Robot for stair transportation

Info

Publication number: CN218662128U
Application number: CN202223291646.9U
Authority: CN
Inventors: 黄剑文
Original assignee: Fujian College of Water Conservancy and Electric Power
Current assignee: Fujian College of Water Conservancy and Electric Power
Priority date: 2022-12-08
Filing date: 2022-12-08
Publication date: 2023-03-21
Anticipated expiration: 2032-12-08

Abstract

The utility model relates to the technical field of robot, specifically be a robot for stair transportation, which comprises a main frame, driven gear section of thick bamboo group, first driving gear section of thick bamboo group, second driving gear section of thick bamboo group, and locate fixed box on the main frame, the storage tank, first motor, the second motor, driven gear section of thick bamboo group, first driving gear section of thick bamboo group, the outer wall meshing of second driving gear section of thick bamboo group is connected with the track, the motor shaft of first motor is connected with the pivot that presets of first driving gear section of thick bamboo group, the motor shaft of second motor is connected with the pivot that presets of second driving gear section of thick bamboo group, be equipped with the camera on the fixed box, the control box, the battery, be equipped with the hinge on the storage tank, the storage tank is connected with the case lid through the hinge. The convenient stability and the protection nature by oneself when having improved the transportation of robot and climbing stair have improved the main frame of robot and wholly transported the storing when climbing stair and use the flexibility.

Description

Robot for stair transportation

Technical Field

The utility model relates to the technical field of robot, specifically be a robot for stair transportation.

Background

The upgrading of science and technology can change our lives, and in the field of intelligent robots, the available range of the intelligent robots is very wide, so that the figure of the intelligent robots is available in many fields.

People can have a very long section to preset stair-like ladder between ground and the temple when going to temple incense, and people go to temple incense, generally can carry on one's back the knapsack of oneself, then the stair of going upwards of first-order reach the temple, like this, the time is of a specified duration, can cause people to be tired relatively, consequently need use the robot of a stair transportation.

The existing robot for stair transportation is generally composed of a shell, a flat ground walking mechanism, a main motion foot mechanism, an auxiliary foot mechanism, a control unit and the like;

however, the stair climbing robot used when people go to temple incense has the advantages that the convenient stability is low when the main frame of the robot is transported integrally to climb stairs, the self-protection performance is poor when the main frame of the robot is transported integrally to climb stairs, and the storage use flexibility is low when the main frame of the robot is transported integrally to climb stairs.

For example, chinese patent publication No. CN207274808U discloses a stair climbing robot, which includes a housing, a flat ground walking mechanism, a main motion foot mechanism, an auxiliary foot mechanism and a control unit; wherein, the top of the shell is provided with an object stage for placing goods to be moved; the flat ground walking mechanism is used for walking and turning on flat ground; the main motion foot mechanism comprises a first main foot and a second main foot which are rotatably arranged at two sides of the shell, and a main driving device arranged in the shell, the auxiliary foot mechanism comprises a first auxiliary foot and a second auxiliary foot which are telescopically arranged at the tail end of the shell, and an auxiliary driving device arranged in the shell, when the stair climbing robot walks to a step, the distance detection module detects that a certain distance is reached to a vertical plane of the step, the main control module sends a signal, the first main foot and the second main foot start to prepare for rotary motion around the center under the driving of the main driving device, meanwhile, the first auxiliary foot and the second auxiliary foot also prepare for extension motion under the driving of the auxiliary driving device, in the ascending stage of the robot, the first main foot, the second main foot, the first auxiliary foot and the second auxiliary foot start to contact the ground, and the walking mechanism is far away from the ground, when the first main foot and the second main foot rotate to a certain angle, the robot is driven by the friction force of the first main foot and the second main foot and the ground to move forwards, the ball wheel at the front end of the shell touches the vertical surface of a step, the ball wheel and the vertical surface of the step do rolling motion, the auxiliary robot integrally rises, when the robot reaches the highest point, the length direction of the first main foot and the second main foot is the vertical direction, the first auxiliary foot and the second auxiliary foot also reach the maximum height, the bottom of the ground walking mechanism is higher than the horizontal plane of the next step, at the moment, the robot integrally moves forwards under the drive of the first main foot and the second main foot, the robot recovers to the starting state stage, the robot integrally continues to move forwards, the universal wheel at the front end of the bottom of the shell firstly contacts the horizontal plane of the next step, and then the roller in the flat ground walking mechanism is also contacted with the horizontal plane of a step, and the whole robot is driven to move forwards by the driving of a roller motor. At the moment, the first main foot, the second main foot, the first auxiliary foot and the second auxiliary foot start to leave the ground, the first main foot and the second main foot slowly rotate to horizontal positions, the first auxiliary foot and the second auxiliary foot also perform contraction movement, and finally the first horizontal rod and the second horizontal rod are placed in grooves corresponding to the edges of the two sides of the bottom of the shell and are in the same state as the preparation starting stage, so that movement of one period is completed.

For example, a stair climbing robot is disclosed in chinese patent publication No. CN212423328U, which includes a steady frame mechanism and a driving stair climbing mechanism, side plates are disposed on two sides of a transverse plate, arc-shaped grooves are disposed on the side plates, a steady platform is disposed in the arc-shaped grooves through rollers, driving rollers are symmetrically disposed between the lower portions of the side plates, a track is disposed on the driving rollers, stair climbing auxiliary rollers are disposed below the two ends of the side plates, retraction grooves are disposed on the stair climbing auxiliary rollers, hinged blocks are disposed in the retraction grooves, sucking discs are disposed on the hinged blocks, and connecting ropes are disposed between the hinged blocks and the retraction grooves.

According to the scheme disclosed by the prior patent document, the problems that in the prior art, the convenience and stability of the whole main frame of the robot in transportation and stair climbing are low, the self-protection performance of the whole main frame of the robot in transportation and stair climbing is poor, and the storage flexibility of the whole main frame of the robot in transportation and stair climbing is low are high, and improvement is urgently needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot for stair transportation to the main frame of robot is whole when transporting and climb stair among the solution prior art convenient stability lower, the main frame of robot is whole to be transported and climb the lower problem of storing use flexibility when climbing stair of the less than good protection nature of proper motion, the main frame of robot whole transportation.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a robot for stair transportation, includes main frame, driven gear section of thick bamboo group, first driving gear section of thick bamboo group, second driving gear section of thick bamboo group to and locate fixed box, storage tank, first motor, second motor on the main frame, the outer wall meshing of driven gear section of thick bamboo group, first driving gear section of thick bamboo group, second driving gear section of thick bamboo group is connected with the track, the motor shaft of first motor is connected with the pivot that presets of first driving gear section of thick bamboo group, the motor shaft of second motor is connected with the pivot that presets of second driving gear section of thick bamboo group, be equipped with camera, control box, battery on the fixed box, be equipped with the hinge on the storage tank, the storage tank is connected with the case lid through the hinge, be equipped with first swizzle, picture peg on the case lid, be equipped with the bearing plate on the storage tank, be equipped with slot, second swizzle on the bearing plate.

Preferably, the driven gear set group, the first driving gear set group and the second driving gear set group are two groups which are symmetrical front and back and are arranged in a rotating mode with the main rack through a preset rotating shaft, the whole structure is a triangular structure, and the structural stability during stair climbing is improved.

Preferably, first motor, second motor, camera, control box electric connection realize the timely shutdown of automatically controlled formula, avoid striking the barrier, have improved the protectiveness.

Preferably, the main frame and the left end face of track and horizontal plane contained angle are sixty degrees, have improved the ascending stair smooth and easy nature of climbing of track advancing direction.

Preferably, the sections of the inserting plate and the inserting groove are arc-shaped structures, and the arc center of the inserting plate is overlapped with the axis of the hinge, so that the inserting plate can be smoothly inserted into the inserting groove in a rotating mode.

Preferably, bearing plate and horizontal plane contained angle are fifty degrees, and because the main frame body has certain slope form when climbing stair, this bearing plate can have the location of certain inclination with the case lid, can stabilize the bearing to higher article, avoids the landing.

Preferably, the outer wall of track is provided with the damping skid resistant course, and the damping skid resistant course is butadiene acrylonitrile rubber elasticity material pad, and the surface has unsmooth anti-skidding grid line.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a three horn-shaped crawler-type structures that two sets of driving gear section of thick bamboo groups and a driven gear section of thick bamboo group that set up formed to set up the storage tank structure, and set up the damping skid resistant course, people can put into the storage tank and realize that the main frame is whole to carry out convenient stable transportation to the stair-shaped ladder between ground and the temple when going to temple incense on the temple with the knapsack of oneself and climb stair, the convenient stability when the main frame of robot is whole transported and is climbed stair has effectively been improved.

2. The utility model discloses be provided with automatically controlled formula camera motor structure, when the camera shot the front end and have the barrier, the stop motor operation that can be timely avoids the striking, the self-propelled protection nature when having improved the whole transportation of main frame of robot and climbing stair.

3. The utility model discloses a set up the rotation type case lid on the storage tank to the setting has screw pin joint location supporting structure, if the thing that needs to store is higher than the storage tank, can open the case lid and the joint location, and then can put into the storage tank of opening with higher thing, and the storing that has improved when the main frame of robot is whole to be transported and is climbed stair uses the flexibility.

Drawings

FIG. 1 is a sectional view of the whole structure of the present invention;

fig. 2 is a top view of the overall structure of the present invention;

FIG. 3 is a view of the cover of FIG. 1 in an open position;

fig. 4 is an enlarged view of a point a in fig. 3 according to the present invention;

fig. 5 is a block diagram of the present invention.

In the figure: the anti-skid device comprises a main frame 1, a driven gear cylinder group 11, a caterpillar track 12, a damping anti-skid layer 13, a first driving gear cylinder group 2, a first motor 21, a second driving gear cylinder group 3, a second motor 31, a fixed box 4, a camera 41, a control box 42, a storage battery 43, a storage box 5, a box cover 51, a first screw pin 52, a hinge 53, a plug plate 6, a locking groove 61, a support plate 7, a slot 71 and a second screw pin 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 5, a robot for stair transportation shown in the figure includes a main frame 1, a driven gear cylinder group 11, a first driving gear cylinder group 2, a second driving gear cylinder group 3, and a fixing box 4, a storage box 5, a first motor 21, and a second motor 31 disposed on the main frame 1, wherein the outer walls of the driven gear cylinder group 11, the first driving gear cylinder group 2, and the second driving gear cylinder group 3 are engaged with a track 12, a motor shaft of the first motor 21 is connected to a preset rotating shaft of the first driving gear cylinder group 2, a motor shaft of the second motor 31 is connected to a preset rotating shaft of the second driving gear cylinder group 3, a camera 41, a control box 42, and a storage battery 43 are disposed on the fixing box 4, a hinge 53 is disposed on the storage box 5, a box cover 51 is hinged to the storage box 5 through the hinge 53, a first screw pin 52 and an insert plate 6 are disposed on the storage box 51, a support plate 7 is disposed on the support plate 7, and a slot 71 and a second screw pin 8 are disposed on the support plate 7.

The storage box 5 is of an upper opening type, so that storage is facilitated, and the box cover 51 is rotationally covered, so that the use is convenient.

Driven gear group 11, first driving gear group 2, second driving gear group 3 are two of longitudinal symmetry and all rotate the setting through presetting pivot and main frame 1, wholly are three horn structures, and three horn structures have stability, have improved the structural stability when climbing stair.

First motor 21, second motor 31, camera 41, control box 42 electric connection realize the timely stop operation of automatically controlled formula, avoid striking the barrier, have improved the protectiveness.

The main frame 1 and the left end face of the crawler 12 form an included angle of sixty degrees with the horizontal plane, and the stair climbing smoothness in the advancing direction of the crawler 12 is improved.

The sections of the inserting plate 6 and the inserting groove 71 are arc-shaped structures, and the arc center is superposed with the axis of the hinge 53, so that the inserting plate 6 can be smoothly inserted into the inserting groove 71 in a rotating manner.

Bearing plate 7 is fifty degrees with the horizontal plane contained angle, and after putting into storage tank 5 with higher article, because main frame 1 body has certain slope form when climbing stair, refer to fig. 3, this bearing plate 7 can have the location of certain inclination with case lid 51, can stabilize the bearing to higher article, avoids the landing.

The bearing plate 7 is made of stainless steel material, and has high strength, no deformation and durability.

The outer wall of track 12 bonds has damping skid resistant course 13, has improved the damping frictional property between track 12 and the stair, avoids skidding.

The damping anti-skid layer 13 is a butadiene acrylonitrile rubber elastic material pad, and concave-convex anti-skid grid lines are arranged on the surface of the damping anti-skid layer.

When used in this embodiment: when people go to temple and go to be scented, the backpack of people can be put into the storage box 5, then the storage battery 43 is used for supplying power and starting the first motor 21 and the second motor 31, the first driving gear cylinder group 2, the second driving gear cylinder group 3 and the driven gear cylinder group 11 are used for driving the crawler belt 12 to rotate and stably climb stairs along the stair-shaped stairs between the ground and the temple, and the convenient stability of the whole transportation of the main frame 1 of the robot during stair climbing is improved;

moreover, when the camera 41 shoots that a barrier exists at the front end, the camera 41 can transmit a signal to the control box 42, and the PLC in the control box 42 can stop the operation of the two motors and the power supply of the storage battery 43 in time, so that the collision is avoided, and the self-protection performance of the robot when the main frame 1 is transported to climb the stairs integrally is improved;

in addition, if the thing that needs to be stored is higher than when storage tank 5, will loosen first plug screw 52 earlier, then open the case lid 51 is rotatory, treat that picture peg 6 inserts the slot 71 in the back, then clockwise rotation second plug screw 8, drive second plug screw 8 card through screw drive and go into locking groove 61 in, then put into storage tank 5 with higher article, climb the stair use again, the storing use flexibility when the main frame 1 whole transportation of robot climbs the stair has been improved.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A robot for stair transportation, comprising:

main frame (1), driven gear section of thick bamboo group (11), first driving gear section of thick bamboo group (2), second driving gear section of thick bamboo group (3) to and locate fixed box (4), storage tank (5), first motor (21), second motor (31) on main frame (1), the outer wall meshing of driven gear section of thick bamboo group (11), first driving gear section of thick bamboo group (2), second driving gear section of thick bamboo group (3) is connected with track (12), the motor shaft of first motor (21) is connected with the pivot of presetting of first driving gear section of thick bamboo group (2), the motor shaft of second motor (31) is connected with the pivot of presetting of second driving gear section of thick bamboo group (3), be equipped with camera (41), control box (42), battery (43) on fixed box (4), be equipped with hinge (53) on storage tank (5), storage tank (5) are connected with case lid (51) through hinge (53), be equipped with first bolt (52) on case lid (51), picture peg (6), be equipped with on storage tank (5), be equipped with on spiral shell (7), second slot (8).

2. A robot for stair transportation according to claim 1, wherein: the driven gear cylinder group (11), the first driving gear cylinder group (2) and the second driving gear cylinder group (3) are respectively symmetrical in front and back and are rotatably arranged with the main frame (1) through a preset rotating shaft.

3. A robot for stair transportation according to claim 1, wherein: the first motor (21), the second motor (31), the camera (41) and the control box (42) are electrically connected.

4. A robot for stair transportation according to claim 1, wherein: the included angle between the left end surfaces of the main frame (1) and the crawler (12) and the horizontal plane is sixty degrees.

5. A robot for stair transportation according to claim 1, wherein: the sections of the inserting plate (6) and the inserting groove (71) are arc-shaped structures, and the arc centers are superposed with the axis of the hinge (53).

6. A robot for stair transportation according to claim 1, wherein: the included angle between the support plate (7) and the horizontal plane is fifty degrees.

7. A robot for stair transportation according to claim 1, wherein: the outer wall of the track (12) is provided with a damping anti-skid layer (13).

8. A robot for stair transportation according to claim 7, wherein: the damping anti-skid layer (13) is of a nitrile rubber elastic cushion structure.