Step climbing device of intelligent housekeeper robot

Abstract

The utility model relates to the field of robots, and discloses a step climbing device of an intelligent housekeeper robot, which comprises an intelligent robot body, a rack is arranged on the outer side of the intelligent robot body, a front-back moving mechanism connected with the intelligent robot body is mounted on the rack, and a jacking mechanism is mounted on each of the left side and the right side of the rack. The automatic walking mechanism is installed at the bottom of the intelligent robot body, the front-back moving mechanism comprises lead screws, synchronous wheels, synchronous belts, threaded sleeves, an adapter block and a driving mechanism, the two lead screws are rotationally connected to the lower side of the rack, each synchronous belt is installed on the corresponding lead screw, and the two synchronous belts are in transmission connection through the synchronous wheels; a threaded sleeve is installed on each lead screw, an adapter block fixed to the intelligent robot body is fixed to the side face of each threaded sleeve, and a driving mechanism used for driving the lead screws to rotate is installed on the rack. The automatic stair climbing device is convenient to use and facilitates automatic stair climbing.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a stair climbing device of an intelligent housekeeper robot. Background Art

[0002] With the development and application of robot technology, people gradually use intelligent housekeeper robots to help people handle various tasks in work and life. However, one defect of existing intelligent housekeeper robots is that they can only move on the flat ground and cannot climb stairs by themselves, which leads to the limitation of the use of intelligent housekeeper robots. Therefore, in view of the above situation, it is urgent to develop a stair climbing device for intelligent housekeeper robots that is easy to use and easy to climb stairs automatically, so as to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0003] The utility model aims to provide a stair climbing device for an intelligent housekeeper robot, which is easy to use and convenient for automatically climbing stairs.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A stair climbing device for an intelligent housekeeper robot comprises an intelligent robot body, a frame, a lifting mechanism, a forward and backward moving mechanism and an automatic walking mechanism, wherein a frame is arranged on the outside of the intelligent robot body, a forward and backward moving mechanism connected to the intelligent robot body is installed on the frame, a lifting mechanism is installed on both sides of the left and right sides of the frame, the lifting mechanism comprises: an electric telescopic rod and a support plate, the electric telescopic rod is fixed to the side of the frame, a support plate is fixed to the output end of the electric telescopic rod, an automatic walking mechanism is installed at the bottom of the intelligent robot body, the forward and backward moving mechanism comprises: a lead screw, a synchronous wheel, a synchronous belt, a threaded sleeve, a transfer block and a driving mechanism, two lead screws are rotatably connected to the lower side of the frame, each of the lead screws is installed with a synchronous belt, the two synchronous belts are connected by a synchronous wheel transmission, each of the lead screws is installed with a threaded sleeve, a transfer block fixed to the intelligent robot body is fixed on the side of each threaded sleeve, and a driving mechanism for driving the lead screw to rotate is installed on the frame.

[0006] Preferably, a limiting rod penetrating the frame is fixed to the upper side of each of the threaded sleeves, the limiting rod is slidably connected to the frame, and a limiting sliding groove for movement of the limiting rod is provided on the frame.

[0007] Preferably: the driving mechanism comprises: a first motor, a first bevel gear and a second bevel gear, the first motor is fixed on the frame, the first bevel gear is installed on the output shaft of the first motor, a second bevel gear meshing with the first bevel gear is installed on one side of the first bevel gear, and the second bevel gear is installed on the lead screw.

[0008] Preferably: the automatic walking mechanism includes: a rotating shaft, a roller, a second motor, a third bevel gear and a fourth bevel gear, the rotating shaft is rotatably connected to the bottom of the intelligent robot body, a roller is installed on both sides of the rotating shaft, the second motor is fixed to the bottom of the intelligent robot body, a third bevel gear is installed on the output shaft of the second motor, a fourth bevel gear meshing with the third bevel gear is installed on one side of the third bevel gear, and the fourth bevel gear is installed on the rotating shaft.

[0009] Preferably: the second motor has a self-locking function.

[0010] The beneficial effect of the utility model is that when the stair climbing device of the intelligent housekeeper robot is used, the intelligent robot body is driven to move to the step by the automatic walking mechanism, and then the support plate is driven downward by the electric telescopic rod, so that the intelligent robot body is lifted up, and then the first bevel gear, the second bevel gear and the lead screw are driven to rotate by the first motor, and the threaded sleeve, the adapter block and the intelligent robot body are driven to move by the rotation of the lead screw, so that the intelligent robot body moves to the top of the step, and then the support plate is driven up and retracted by the electric telescopic rod, so that the intelligent robot body gradually falls down until the automatic walking mechanism contacts the step, at which time the second motor is self-locked so that the third bevel gear The wheel, the fourth bevel gear and the rotating shaft cannot rotate, so that the intelligent robot body cannot move on the steps, which is equivalent to the intelligent robot body being fixed on the steps, and the threaded sleeve is fixed to the intelligent robot body through the adapter block, which is equivalent to the threaded sleeve and the adapter block being in a fixed state at this time, and then, the lead screw is driven to rotate by the driving mechanism. Since the threaded sleeve and the adapter block are in a fixed state at this time, the lead screw will move forward and backward when it rotates, and the frame is driven to move forward and backward by the lead screw, and the jacking mechanism is driven to move forward and backward by the frame, so that the jacking mechanism moves to the top of the next step, and then, the next step of jacking action is performed, and so on and so forth, and multiple steps can be climbed. In summary, the utility model is easy to use and convenient for automatic climbing of steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 .

[0012] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 .

[0013] Figure 3 It is a partial structural schematic diagram of the utility model.

[0014] Figure 4 The climbing state of the utility model is shown in FIG. Figure 1 .

[0015] Figure 5 The climbing state of the utility model is shown in FIG. Figure 2 .

[0016] Figure 6 The climbing state of the utility model is shown in FIG. Figure 3 .

[0017] Figure 7 The climbing state of the utility model is shown in FIG. Figure 4 .

[0018] Figure 8 The climbing state of the utility model is shown in FIG. Figure 5 .

[0019] Legend:

[0020] 1. Intelligent robot body; 2. Frame; 201. Limiting slide; 3. Lifting mechanism; 301. Electric telescopic rod; 302. Support plate; 4. Forward and backward moving mechanism; 401. Lead screw; 402. Synchronous wheel; 403. Synchronous belt; 404. Threaded sleeve; 4041. Limiting rod; 405. Adapter block; 406. Driving mechanism; 4061. First motor; 4062. First bevel gear; 4063. Second bevel gear; 5. Automatic walking mechanism; 501. Rotating shaft; 502. Roller; 503. Second motor; 504. Third bevel gear; 505. Fourth bevel gear. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Specific examples are given below.

[0023] See also Figures 1 to 8In an embodiment of the utility model, a stair climbing device of an intelligent housekeeper robot includes an intelligent robot body 1, a frame 2, a lifting mechanism 3, a front-and-rear moving mechanism 4 and an automatic walking mechanism 5. The frame 2 is arranged on the outside of the intelligent robot body 1, and the front-and-rear moving mechanism 4 connected to the intelligent robot body 1 is installed on the frame 2. A lifting mechanism 3 is installed on both sides of the left and right sides of the frame 2, and an automatic walking mechanism 5 is installed at the bottom of the intelligent robot body 1.

[0024] The lifting mechanism 3 includes: an electric telescopic rod 301 and a support plate 302. The electric telescopic rod 301 is fixed to the side of the frame 2. The output end of the electric telescopic rod 301 is fixed with the support plate 302. When in use, the electric telescopic rod 301 drives the support plate 302 to move downward, and the intelligent robot body 1 is lifted upward by the support plate 302.

[0025] The automatic walking mechanism 5 includes: a rotating shaft 501, a roller 502, a second motor 503, a third bevel gear 504 and a fourth bevel gear 505. The rotating shaft 501 is rotatably connected to the bottom of the intelligent robot body 1. A roller 502 is installed on both sides of the rotating shaft 501. The second motor 503 is fixed to the bottom of the intelligent robot body 1. The third bevel gear 504 is installed on the output shaft of the second motor 503. A fourth bevel gear 505 meshing with the third bevel gear 504 is installed on one side of the third bevel gear 504. 5. The fourth bevel gear 505 is installed on the rotating shaft 501, and the second motor 503 has a self-locking function. When the output shaft of the second motor 503 is self-locking, the third bevel gear 504, the fourth bevel gear 505 and the rotating shaft 501 cannot rotate. When in use, the third bevel gear 504 and the fourth bevel gear 505 are driven to rotate by the second motor 503, and the rotating shaft 501 and the roller 502 are driven to rotate by the fourth bevel gear 505. The intelligent robot body 1 moves on the ground through the rotation of the roller 502.

[0026] The forward and backward moving mechanism 4 includes: a lead screw 401, a synchronous wheel 402, a synchronous belt 403, a threaded sleeve 404, a transfer block 405 and a driving mechanism 406. The lower side of the frame 2 is rotatably connected to two lead screws 401, each lead screw 401 is installed with a synchronous belt 403, and the two synchronous belts 403 are connected through the synchronous wheel 402. A threaded sleeve 404 is installed on each lead screw 401, and a limiting rod 4041 that penetrates the frame 2 is fixed on the upper side of each threaded sleeve 404. The limiting rod 4041 is slidably connected to the frame 2, and a limiting slide groove 201 for the movement of the limiting rod 4041 is provided on the frame 2. The limiting rod 4041 is used to move the threaded sleeve 4041. The movement of the threaded sleeve 404 is restricted so that it cannot rotate but can only move in a straight line. A transfer block 405 fixed to the side of each threaded sleeve 404 is fixed to the intelligent robot body 1. A driving mechanism 406 for driving the lead screw 401 to rotate is installed on the frame 2. The driving mechanism 406 includes: a first motor 4061, a first bevel gear 4062 and a second bevel gear 4063. The first motor 4061 is fixed to the frame 2, and the first bevel gear 4062 is installed on the output shaft of the first motor 4061. A second bevel gear 4063 meshing with the first bevel gear 4062 is installed on one side of the first bevel gear 4062, and the second bevel gear 4063 is installed on the lead screw 401.

[0027] Working principle: When the stair climbing device of the intelligent housekeeper robot is used, the intelligent robot body 1 is driven to move to the step by the automatic walking mechanism 5, and then the support plate 302 is driven downward by the electric telescopic rod 301, so that the intelligent robot body 1 is lifted up, and then the first bevel gear 4062, the second bevel gear 4063 and the lead screw 401 are driven to rotate by the first motor 4061, and the threaded sleeve 404, the adapter block 405 and the intelligent robot body 1 are driven to move by the rotation of the lead screw 401, so that the intelligent robot body 1 moves to the top of the step, and then the support plate 302 is driven upward and retracted by the electric telescopic rod 301, so that the intelligent robot body 1 gradually falls until the automatic walking mechanism 5 contacts the step, at which time the second motor 503 is self-locked, so that the third bevel gear 504 , the fourth bevel gear 505 and the rotating shaft 501 cannot rotate, and thus the intelligent robot body 1 cannot move on the step, which is equivalent to the intelligent robot body 1 being fixed on the step, and the threaded sleeve 404 is fixed to the intelligent robot body 1 through the adapter block 405, which is also equivalent to the threaded sleeve 404 and the adapter block 405 being in a fixed state at this time, and then, the driving mechanism 406 drives the lead screw 401 to rotate. Since the threaded sleeve 404 and the adapter block 405 are in a fixed state at this time, the lead screw 401 will move forward and backward when it rotates, and the forward and backward movement of the lead screw 401 drives the frame 2 to move forward and backward, and the frame 2 drives the lifting mechanism 3 to move forward and backward, so that the lifting mechanism 3 moves to the top of the next step, and then, the next step of lifting action is performed, and so on and so forth, multiple steps can be climbed.

[0028] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A stair climbing device for an intelligent housekeeper robot, characterized in that: The intelligent robot comprises an intelligent robot body (1), a frame (2), a lifting mechanism (3), a forward and backward moving mechanism (4) and an automatic walking mechanism (5), wherein the frame (2) is arranged outside the intelligent robot body (1), the forward and backward moving mechanism (4) connected to the intelligent robot body (1) is installed on the frame (2), a lifting mechanism (3) is installed on both left and right sides of the frame (2), and the lifting mechanism (3) comprises: an electric telescopic rod (301) and a support plate (302), the electric telescopic rod (301) is fixed to the side of the frame (2), the output end of the electric telescopic rod (301) is fixed to the support plate (302), the bottom of the intelligent robot body (1) is installed with the automatic walking mechanism (5), the forward and backward moving mechanism (4) is installed on the output end of the electric telescopic rod (301), the forward and backward moving mechanism (4) is installed on the output end of the electric telescopic rod (301), the automatic walking mechanism (5) is installed on the bottom of the intelligent robot body (1), the forward and backward moving mechanism (4) is installed on the output end of the electric telescopic rod (30 ... The mechanism (4) comprises: a lead screw (401), a synchronous wheel (402), a synchronous belt (403), a threaded sleeve (404), a transfer block (405) and a driving mechanism (406); the lower side of the frame (2) is rotatably connected to two lead screws (401); each of the lead screws (401) is equipped with a synchronous belt (403); the two synchronous belts (403) are connected in transmission via the synchronous wheel (402); each of the lead screws (401) is equipped with a threaded sleeve (404); a transfer block (405) fixed to the side of each threaded sleeve (404) and fixed to the intelligent robot body (1); and the frame (2) is equipped with a driving mechanism (406) for driving the lead screws (401) to rotate.

2. The stair climbing device of the intelligent housekeeper robot according to claim 1, characterized in that: A limiting rod (4041) penetrating the frame (2) is fixed on the upper side of each threaded sleeve (404); the limiting rod (4041) is slidably connected to the frame (2); and a limiting sliding groove (201) for moving the limiting rod (4041) is provided on the frame (2).

3. The stair climbing device of the intelligent housekeeper robot according to claim 1, characterized in that: The driving mechanism (406) comprises: a first motor (4061), a first bevel gear (4062) and a second bevel gear (4063); the first motor (4061) is fixed on a frame (2); the first bevel gear (4062) is mounted on an output shaft of the first motor (4061); a second bevel gear (4063) meshing with the first bevel gear (4062) is mounted on one side of the first bevel gear (4062); and the second bevel gear (4063) is mounted on a lead screw (401).

4. The stair climbing device of the intelligent housekeeper robot according to claim 1, characterized in that: The automatic walking mechanism (5) comprises: a rotating shaft (501), a roller (502), a second motor (503), a third bevel gear (504) and a fourth bevel gear (505); the rotating shaft (501) is rotatably connected to the bottom of the intelligent robot body (1); a roller (502) is installed on both the left and right sides of the rotating shaft (501); the second motor (503) is fixed to the bottom of the intelligent robot body (1); a third bevel gear (504) is installed on the output shaft of the second motor (503); a fourth bevel gear (505) meshing with the third bevel gear (504) is installed on one side of the third bevel gear (504); and the fourth bevel gear (505) is installed on the rotating shaft (501).

5. The stair climbing device of the intelligent housekeeper robot according to claim 4, characterized in that: The second motor (503) has a self-locking function.

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