CN206218050U - A kind of stair climbing robot - Google Patents

Abstract

The utility model discloses a stair-climbing robot, which comprises a fixed plate. The four corners of the fixed plate are all equipped with height-adjustable support rods. The fixed plate is provided with a linear guide rail a and a linear guide rail b in parallel, passing through the linear guide rail a and the straight line The guide rail b is provided with a guide rail connector that can move in a straight line, and the bottom of the fixed plate is provided with a nut connection block a connected with the guide rail connector, and the nut connection block a is connected to drive it to move linearly along the linear guide rail a and the linear guide rail b. The driving device is also connected with a lifting device for making the fixed plate move up and down on the nut connection block a. The utility model can adapt to steps of different heights and widths by setting the supporting legs and sleeves as height-adjustable; the forward and reverse movement of the single and two-way lead screws is used to realize the front and rear movement of the support part; The height of the legs can be freely walked on the flat ground; through the setting of the handrails, the handling of goods between floors can be realized.

Description

a climbing robot

technical field

The utility model belongs to the technical field of mechanical devices, in particular to a stair climbing robot.

Background technique

In daily life and production, people often encounter the need to carry heavy objects up the stairs. The traditional method is basically to rely on manpower to carry them. It's hard to finish. Therefore people have invented multiple stair-climbing devices to overcome this difficult problem, guarantee personal safety, improve the working environment, and improve labor efficiency.

The wheel-type stair-climbing device is not stable when going up and down stairs, the center of gravity fluctuates greatly, and the device is large in size, which is difficult to use on ordinary residential stairs; the crawler-type stair-climbing device is heavy and not flexible enough to move when climbing stairs. The edge causes huge pressure, which has certain damage to the stairs, and the resistance is relatively large when used on flat ground. These problems limit its popularization and use in daily life; compared with the first two types, the walking stair climbing device imitates animals. The crawling action can be regarded as a legged crawling robot. It adopts the principle of alternate lifting and lowering of multiple mechanical legs to support the seat to climb stairs. When climbing stairs, the center of gravity is stable, the movement is flexible, and it is suitable for stairs of different sizes. Therefore, the legged robot is climbing stairs. The future is even brighter. However, existing legged stair-climbing robots generally have shortcomings such as complex structure, inflexible movement, and unstable center of gravity.

Utility model content

The purpose of the utility model is to provide a climbing robot, which solves the problem of complex structure of the leg type climbing device in the prior art.

The technical solution adopted by the utility model is: a climbing robot, including a fixed plate, the four corners of the fixed plate are equipped with height-adjustable support rods, and the fixed plate is provided with a linear guide rail a and a linear guide rail b in parallel. The linear guide rail a and the linear guide rail b are provided with guide rail connectors that can move linearly. The bottom of the fixed plate is provided with a nut connection block a connected to the guide rail connector. b is a driving device for linear motion, and the nut connecting block a is also connected with a lifting device for making the fixed plate move up and down.

The utility model is also characterized in that:

The driving device includes a one-way lead screw arranged at the bottom of the fixing plate, the one-way lead screw passes through the nut connection block a and is connected with it, and one end of the one-way lead screw is connected with a motor a.

The lifting device includes a two-way lead screw that is connected to the nut connection block a. The two-way lead screw is installed below the one-way lead screw and is perpendicular to the one-way lead screw; the two-way lead screw is installed on both sides of the nut connection block a respectively. There are a nut connection block b and a nut connection block c, the nut connection block b is hinged with a rotatable linkage rod a, the nut connection block c is hinged with a rotatable linkage rod b, the nut connection block b and the linkage rod a One end of the connecting block c is connected with one end of the connecting rod b, the other end of the connecting rod a and the other end of the connecting rod b are hinged with the connecting block, and the bottom of the connecting block is fixedly connected with a supporting block; the two-way screw A bevel gear b is installed on one end of the guide rail connector, and a motor b is installed on the guide rail connector. The bevel gear a driven by the motor b is connected to the motor b, and the bevel gear a is meshed with the bevel gear b.

Sleeves are installed at four corners of the upper surface of the fixing plate, screw holes are provided on the side of the sleeve, and the support rod passes through the sleeve and is fixed by set screws installed in the screw holes on the side of the sleeve.

One end of the upper surface of the fixing plate is provided with a handrail.

Rollers are installed at the bottom of each support pole.

The upper surface of the fixed plate is provided with an object stage.

The beneficial effects of the utility model are: the stair-climbing robot of the utility model has simple structure and convenient operation, and can adapt to steps of different heights and widths by setting the four supporting legs and sleeves in a height-adjustable form; The positive and negative rotation of the lead screw and the two-way lead screw realizes the front, rear, up and down movement of the support part. The structure is simple and easy to popularize and use; by adjusting the height of the four support legs, one can walk freely on the flat ground; through the setting of the armrest, the Realize the handling of goods between floors.

Description of drawings

Fig. 1 is the overall structure schematic diagram of a kind of stair-climbing robot of the present utility model;

Fig. 2 is a schematic structural view of a driving device and a lifting device in a stair climbing robot of the present invention;

Fig. 3 is a schematic diagram of the main structure of a climbing robot of the utility model;

Fig. 4 is the rear view structure schematic diagram of a kind of stair-climbing robot of the present utility model;

Fig. 5 is a working state diagram of a stair-climbing robot of the present invention.

In the figure, 1. Sleeve, 2. Linear guide a, 3. Linear guide b, 4. Motor a, 5. Motor b, 6. Bevel gear a, 7. Bevel gear b, 8. Nut connection block a, 9 .Nut connection block b, 10. Nut connection block c, 11. Interlocking rod a, 12. Interlocking rod b, 13. Two-way screw, 14. One-way screw, 15. Support block, 16. Control box, 17. Handrails, 18. Support rods, 19. Rollers, 20. Fixed plates, 21. Rail connectors, 22. Stages, 23. Connecting blocks.

detailed description

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail:

A kind of stair-climbing robot of the present utility model, as shown in Figure 1, comprises fixed plate 20, and the four corners of fixed plate 20 all are equipped with the support bar 18 that height can be adjusted, and linear guide rail a2 and linear guide rail are arranged in parallel on fixed plate 20 b3, passing through the linear guide rail a2 and the linear guide rail b3 is provided with a guide rail connector 21 that can move linearly, the bottom of the fixed plate 20 is provided with a nut connection block a8 connected with the guide rail connector 21, and the nut connection block a8 is connected with a drive A driving device for linear motion along the linear guide rail a2 and the linear guide rail b3, and a lifting device for moving the fixed plate 20 up and down is also connected to the nut connecting block a8.

The driving device includes a one-way lead screw 14 arranged at the bottom of the fixing plate 20. The one-way lead screw 14 passes through the nut connecting block a8 and is connected with it. One end of the one-way lead screw 14 is connected with a motor a4.

As shown in Figure 2, the elevating device comprises the two-way lead screw 13 that is connected on the nut connection block a8, and the two-way lead screw 13 is installed below the one-way lead screw 14 and is perpendicular to the one-way lead screw 14; The nut connecting block b9 and the nut connecting block c10 are respectively installed on both sides of the nut connecting block a8, and the connecting rod a11 that can rotate is hinged on the nut connecting block b9 (specifically, it is hinged through an ear seat, and one end of the ear seat is connected to the The nut connection block b9 is fixedly connected, the other end of the ear seat is hinged with the linkage rod a11), the nut connection block c10 is hinged with a rotatable linkage rod b12, the nut connection block b9 is connected with one end of the linkage rod a11, and the nut connection block c10 is connected with one end of the linkage rod b12, the other end of the linkage rod a11 and the other end of the linkage rod b12 are both hinged with the connection block 23, and the bottom of the connection block 23 is fixedly connected with a support block 15; one end of the two-way lead screw 13 is installed There is a bevel gear b7, and a motor b5 is installed on the guide rail connector 21. The bevel gear a6 driven by the motor b5 is connected to the motor b5, and the bevel gear a6 is meshed with the bevel gear b7.

As shown in Fig. 3 and Fig. 4, the four corners of the upper surface of the fixed plate 20 are equipped with sleeves 1, and the side of the sleeve 1 has screw holes, and the support rod 18 passes through the sleeve 1 and is installed on the side of the sleeve 1 through the screw holes. The set screw inside is fixed; one end of the upper surface of the fixed plate 20 is provided with a handrail 17; the bottom of each support rod 18 is equipped with a roller 19, and a rubber layer with a textured high friction coefficient is attached on the rim of the roller 19 , to ensure that the robot does not slip while climbing the steps. The upper surface of the fixed plate 20 is provided with an object stage 22 ; the upper surface of the fixed plate 20 is also equipped with a control box 16 .

The working process of the present utility model is:

As shown in Figure 5, the stair-climbing robot of the present utility model can be divided into three stages for climbing steps: the first stage, according to the height of the steps, the front two support rods 18 are raised to the same height as the steps, and the robot is pushed up , at the same time, it is necessary to input the height and width of the step for the control room; in the second stage, start the motor b5, drive the two-way lead screw 13 to rotate, and then drive the support block 15 to lift the lifting device to the height of the next step (support block 15 adopts steel with wide face and heavy weight to ensure the stability of the whole device in motion), then the motor b5 stops, starts the motor a4, drives the one-way screw 14 to rotate, and sends the device to the step surface, and then the motor a4 stops, the motor b5 rotates in reverse, and the support block 15 is retracted, then the motor b5 stops, the motor a4 rotates, and the support device is moved to the next level of the table, and the cycle is repeated until the last step; in the third stage, when After the whole device has all completed the task of going upstairs, the two support bars 18 in front are placed on the same height as the support bars 18 in the back.

The fixed plate 20 is provided with a control box 16, and the control box 16 is provided with a controller, and the controller includes a main controller installed in the control box 16, a motor control module, a power supply module and a control switch module on the handrail. The switch is directly connected to the switch module, the motor control module and the power supply module, and the motor a4 and the motor b5 are connected to the motor control module. The controller mainly controls the working state of the driving motor, and controls the intermittent motion of two stepping motors (motor a4 and motor b5). After the main controller receives the switch signal, it sends a control signal to the motor control module, and then controls The working state of the motor.

Before climbing the stairs, adjust the height of the front two support rods 18 to make them equal to the steps, and then rely on manpower to push the climbing robot forward to the next step; the next stage is to climb the stairs. During the process, input the height and width of the step into the input device of the control device, start the brake device, and the motor b5 starts to rotate forward, lift the stair-climbing robot to the same height as the next step, and then stop working , and then the motor a4 starts to rotate positively, pushes the stair-climbing robot forward to a position just touching the next step, then stops working, the motor b5 starts to rotate in reverse again, shrinks the support block 15 back, shrinks The height is also just higher than the height of the steps, and then stops working, and the motor a4 starts to rotate in reverse again, and the whole support block 15 is sent to the platform of the next step, so far, the climbing process is completed, and then it goes round and round Realize the whole process of climbing the stairs of the stair climbing machine; when the stair climbing machine is sent to the last level of the steps, put back the support rods 18 that were packed up before climbing the stairs, and the height positions of the two support rods in the back are the same. At this point, the whole process of climbing stairs is completed.

Claims (7)

1. a kind of stair climbing robot, it is characterised in that including fixed plate (20), the corner of fixed plate (20) is mounted on height energy The support bar (18) of enough regulations, is arranged with line slideway a (2) and line slideway b (3) in parallel, through straight line in fixed plate (20) Guide rail a (2) and line slideway b (3) are provided with the guide-rail coupling member (21) of rectilinear movement, and the bottom of fixed plate (20) is set There is nut contiguous block a (8) being connected with guide-rail coupling member (21), be connected with nut contiguous block a (8) and drive it along line slideway A (2) and line slideway b (3) drive devices for linear motion, are also associated with for making fixed plate on nut contiguous block a (8) (20) lowering or hoisting gear for moving up and down.

2. a kind of stair climbing robot according to claim 1, it is characterised in that the drive device includes being arranged on fixation The unidirectional leading screw (14) of plate (20) bottom, unidirectional leading screw (14) is connected through the nut contiguous block a (8) with it, unidirectionally One end of leading screw (14) is connected with motor a (4).

3. a kind of stair climbing robot according to claim 2, it is characterised in that the lowering or hoisting gear includes being connected and exists Two-way leading screw (13) on the nut contiguous block a (8), two-way leading screw (13) installed in the lower section of the unidirectional leading screw (14) and It is perpendicular with unidirectional leading screw (14)；On two-way leading screw (13) nut connection is separately installed with positioned at the both sides of nut contiguous block a (8) Block b (9) and nut contiguous block c (10), are hinged with the trace a (11) that can be rotated, nut connection on nut contiguous block b (9) The trace b (12) that can be rotated is hinged with block c (10), nut contiguous block b (9) is connected with one end of trace a (11), spiral shell Female contiguous block c (10) is connected with one end of trace b (12), the other end of trace a (11) and the other end of trace b (12) It is hinged with contiguous block (23), contiguous block (23) bottom is connected with support block (15)；Install one end of the two-way leading screw (13) There is bevel gear b (7), motor b (5) is installed on the guide-rail coupling member (21), be connected with motor b (5) and driven by motor b (5) The dynamic bevel gear a (6) for rotating, bevel gear a (6) are meshed with the bevel gear b (7).

4. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that the fixed plate (20) Upper surface corner is mounted on sleeve (1), and sleeve (1) side is provided with screw, and the support bar (18) is through sleeve (1) and passes through Holding screw in the screw of sleeve (1) side is fixed.

5. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that the fixed plate (20) Upper surface one end is provided with handrail (17).

6. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that described each support bar (18) bottom is mounted on roller (19).

7. a kind of stair climbing robot according to any one of claim 1-3, it is characterised in that the fixed plate (20) Upper surface is provided with objective table (22).