Step ladder capable of automatically stretching, retracting and overturning and mobile robot

Abstract

The utility model discloses an automatic telescopic flipping step ladder and mobile robot, including telescopic step ladder subassembly, flipping subassembly, connecting subassembly, telescopic step ladder subassembly and flipping subassembly pass through connecting subassembly connection, telescopic step ladder subassembly includes telescopic mechanism and telescopic connecting piece, telescopic mechanism is provided with slide rail segment by segment, and the telescopic connecting piece is connected with the telescopic mechanism. The multiple sections of telescopic structures are connected through sliding rails; a mobile robot comprises a mobile robot chassis and a lifting mechanism, the lifting mechanism is provided with a step ladder capable of automatically stretching, retracting and overturning, the lifting mechanism is arranged on the step ladder, and the mobile robot is in communication interaction with the step ladder capable of automatically stretching, retracting and overturning. According to the scheme, due to the design of automatic stretching and overturning, the occupied space is small, the structure is simple, control is easy to achieve, and frequent up-down operation during manual climbing operation is facilitated; through autonomous movement and intelligent control of the mobile robot, intelligent operation is achieved, and safety and stability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of climbing operations, in particular to an automatically retractable and flipping step ladder and a mobile robot. Background Art

[0002] As an important tool to assist humans in reaching heights, climbing ladders are widely used in various industries such as construction, fire protection, power maintenance, and industrial production. With the advancement of technology and the improvement of safety requirements, existing climbing ladders can no longer meet the requirements. Traditional climbing ladders adopt a fixed design. Not only can they not be extended and retracted, but they also take up a lot of space when stored. When the working position is changed, personnel need to get down from the ladder and manually move to the new position before climbing again to work. This is time-consuming and labor-intensive, and has low work efficiency. Although existing movable climbing vehicles can automatically rise and fall and move, they lack ladders. In scenarios where manual labor is required to go up and down frequently, they need to be raised and lowered frequently, which is inconvenient for manual labor to go up and down frequently after being raised. Frequent lifting and lowering is also difficult to ensure safety, and the high position is difficult to fix. Therefore, the existing technology is difficult to meet the needs of assisting manual labor in climbing work scenarios.

[0003] In view of this, the present utility model is proposed. Utility Model Content

[0004] In response to the technical problems existing in the above-mentioned prior art, the purpose of this application is to provide an automatically retractable and flip-up step ladder and a mobile robot.

[0005] 7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod.

[0006] Furthermore, the platform includes but is not limited to a liftable platform, a fixed platform, and a movable platform.

[0007] Furthermore, the telescopic mechanism includes a first step, a second step, and a third step. The first step is provided with a first synchronous belt, a first pressure plate, and a first electric actuator. The second step is provided with a second synchronous belt and a second pressure plate. The third step is provided with a third pressure plate. The first pressure plate is fixedly connected to the first synchronous belt and the second step. The second pressure plate is fixedly connected to the first step and the second synchronous belt. The third pressure plate is fixedly connected to the second synchronous belt and the third step. The first electric actuator drives the first synchronous belt to rotate, drives the first pressure plate to move, and thus drives the second step to move. When the second step moves, the second pressure plate moves synchronously, thereby driving the second synchronous belt to rotate, driving the third pressure plate to move, and then driving the third step to move.

[0008] Furthermore, the telescopic mechanism is provided with handrails in multiple sections, which fold and unfold as the telescopic mechanism is extended and retracted. The platform is provided with a protective fence, a rotating fence, and a 3D radar. An ultrasonic sensor is provided on the top of the protective fence, and safety touch edges are provided on the sides and top.

[0009] Furthermore, a pulley is provided at the bottom of the third step ladder.

[0010] Furthermore, a limit switch is provided at the bottom of the third step ladder, which gives a signal when the third step ladder touches the ground or an object.

[0011] Furthermore, the first push rod, the second push rod and the intermediate connecting member are connected at a certain angle, and the second push rod is connected to the telescopic step ladder assembly at a certain angle.

[0012] Furthermore, the first push rod and the second push rod are each provided with two sets of position switches.

[0013] In the second aspect, a mobile robot includes a mobile robot chassis and a lifting mechanism, wherein the lifting mechanism is installed with an automatically retractable and flip-up step ladder as described above, and a lifting mechanism is set thereon, and the mobile robot communicates and interacts with the automatically retractable and flip-up step ladder, and the mobile robot chassis includes autonomous driving, remote control driving, and manual cart driving modes.

[0014] Furthermore, the lifting mechanism includes a second electric actuator, a scissors-type mechanism, a lifting base, and a top plate. An automatically retractable flip step ladder is installed on the top plate. The second electric actuator is connected to the scissors-type mechanism. A slide rail is provided on the lifting base. A slider is provided at one end of the scissors-type mechanism. The slider slides on the slide rail. One end of the scissors-type mechanism is fixed on the lifting base. The scissors-type mechanism is driven to move up and down through the telescopic movement of the second electric actuator.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The design of automatic extension and flipping takes up little space, has a simple structure and is easy to control;

[0017] The automatically retractable and flippable step ladder is convenient for frequent up and down operations during manual climbing work;

[0018] Through the autonomous movement and intelligent control of mobile robots, intelligent operations can be achieved, which is safe and stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure shows the structure diagram of the automatically retractable and flip step ladder and the mobile robot of the present application;

[0020] Figure 2 The figure shows the storage state of the automatically retractable and flip step ladder of the present application;

[0021] Figure 3 The figure shows the principle diagram of the telescopic mechanism of the automatically retractable and flip step ladder of the present application;

[0022] Figure 4 Shown is a structural schematic diagram of the lifting mechanism of this application.

[0023] In the figure, 1- telescopic step ladder assembly, 2- flip assembly, 3- connection assembly, 11- telescopic mechanism, 12- telescopic connection member, 13- slide rail, 21- first push rod, 22- second push rod, 23- intermediate connection member, 31- connecting shaft, 32- fixing member, 4- mobile robot, 111- first step ladder, 112- second step ladder, 113- third step ladder, 1111- first synchronous belt, 1112 first pressure plate, 1113- first electric actuator, 1121- second synchronous belt, 1122-Second pressure plate, 1131-Third pressure plate, 14-Armrest, 1132-Pulley, 1133-Limit switch, 212-Position switch, 41-Lifting mechanism, 42-Mobile robot chassis, 411-Second electric actuator, 412-Scissor mechanism, 413-Lifting base, 414-Top plate, 4131-Slide rail, 4121-Slider, 43-Protective fence, 44-Rotating fence, 45-3D radar, 46-Ultrasonic sensor, 47-Safety touch edge. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of this application can be combined with each other. The descriptions such as "first" and "second" used in this embodiment are only used to distinguish different mechanisms, and do not refer to order or specific quantity.

[0026] Example

[0027] In this embodiment, an automatically retractable and flip step ladder is provided. Figures 1-4 As shown:

[0028] 1. An automatically retractable and flippable step ladder, comprising a retractable step ladder assembly 1, a flipping assembly 2, and a connecting assembly 3. The retractable step ladder assembly 1 is connected to the flipping assembly 2 via a connecting assembly 3. The retractable step ladder assembly 1 comprises a retractable mechanism 11 and a retractable connecting member 12. The retractable mechanism 11 is segmented and provided with slide rails 13. Multiple segments of the retractable structures 11 are connected via slide rails 13. The retractable mechanism 11 automatically adjusts the retractable range according to the platform height. In a specific embodiment, the number of segments can be set according to actual needs; the flipping assembly 2 comprises a first push rod 21, a second push rod 22, and an intermediate connecting member 23. The connecting assembly 3 comprises a connecting shaft 31 and a fixing member 32. The fixing member 32 is installed on the platform. The platform includes but is not limited to a liftable platform, a fixed platform, a movable platform, a mobile robot, etc., which is installed according to actual needs. In this embodiment, the mobile robot is taken as an example for explanation below. Other platforms are deemed to be within the scope of protection of the present utility model without departing from the principle of the present utility model.

[0029] One end of the first push rod 21 is fixed to the telescopic step-ladder assembly 1, and the other end is fixed to the intermediate connecting member 23. One end of the second push rod 22 is fixed to the intermediate connecting member 23, and the other end is fixed to the platform. The connecting shaft 31 passes through the intermediate connecting member 23, the telescopic connecting member 12 and the fixing member 32. One end of the intermediate connecting member 23 can rotate around the connecting shaft 31, and the telescopic step-ladder assembly 1 can rotate around the connecting shaft 31. The extension and retraction of the second push rod 22 drives the intermediate connecting member 23 to rotate, thereby driving the first push rod 21 and the telescopic step-ladder assembly 1 to rotate. The extension and retraction of the first push rod 21 further drives the telescopic step-ladder assembly 1 to rotate.

[0030] In a specific embodiment, the first push rod 21, the second push rod 22 and the intermediate connecting member 23 are connected at a certain angle, and the second push rod 22 is connected to the telescopic step-ladder assembly 1 at a certain angle. The specific installation angle is determined based on the installation position and stroke calculation of the first push rod 21 and the second push rod 22 to ensure that the telescopic step-ladder assembly 1 can be flipped into place when the first push rod 21 and the second push rod 22 are telescopically moved.

[0031] Furthermore, the first push rod 21 and the second push rod 22 are each provided with two sets of position switches 212, and the position switches give signals when the first push rod 21 and the second push rod 22 are extended and retracted into position, respectively, and the first push rod 21 and the second push rod 22 stop telescopic movement to ensure telescopic safety.

[0032] Furthermore, in a specific embodiment, in order to meet the safety requirements of high-altitude operations, the telescopic mechanism is provided with handrails 14 in multiple sections, which fold and unfold as the telescopic mechanism 11 is extended and retracted. The platform is provided with a protective fence 43, a rotating fence 44, and a 3D radar 45. An ultrasonic sensor 46 is provided on the top of the protective fence 43, and safety touch edges 47 are provided on the sides and the top. The protective fence protects the safety of personnel during high-altitude operations. The rotating fence 44 facilitates personnel to enter and exit the protective fence 43. The 3D radar 45, ultrasonic sensor 46, and safety touch edges 47 ensure the safety of lifting and moving operations. The 3D radar 45 is generally set at the front and rear diagonals to ensure the safety of a 360° operating range. In some embodiments, other safety sensors can be used to replace the 3D radar 45, ultrasonic sensor 46, and safety touch edges 47 with the same technical effects.

[0033] In order to enable those skilled in the art to further understand the telescopic principle of the telescopic mechanism, in this embodiment, a three-section telescopic step ladder is used for further explanation. In a specific embodiment, more sections of the telescopic step ladder can be added to achieve different telescopic distances, and the principle is the same.

[0034] like Figure 3 As shown, in order to illustrate the telescopic principle of the telescopic mechanism, a three-step telescopic step ladder is provided, including a first step ladder 111, a second step ladder 112, and a third step ladder 113. The first step ladder 111 is provided with a first synchronous belt 1111, a first pressure plate 1112, and a first electric actuator 1113. The second step ladder 112 is provided with a second synchronous belt 1121 and a second pressure plate 1122. The third step ladder 113 is provided with a third pressure plate 1131. The first pressure plate 1112 is fixedly connected to the first synchronous belt 1111 and the second step ladder 112. The second pressure plate 1122 is fixedly connected to the first synchronous belt 1111 and the second step ladder 112. The third pressure plate 1131 is connected to the first step 111 and the second synchronous belt 1121 and is fixedly connected to the second synchronous belt 1121 and the third step 113. The first electric actuator 1113 drives the first synchronous belt 1111 to rotate, drives the first pressure plate 1112 to move, and thus drives the second step 112 to move. When the second step 112 moves, the second pressure plate 1122 moves synchronously, thereby driving the second synchronous belt 1121 to rotate, driving the third pressure plate 1131 to move, and then driving the third step 113 to move.

[0035] Furthermore, a pulley 1132 is provided at the bottom of the third step ladder 113 to ensure that the telescopic step ladder assembly 1 does not scratch the ground when it is extended to the ground and to assist its telescopic movement.

[0036] Furthermore, a limit switch 1133 is provided at the bottom of the third step ladder 113, which gives a signal when the third step ladder 113 touches the ground or an object, thereby ensuring the safety of the telescopic movement of the telescopic step ladder assembly 1.

[0037] On the second aspect, this embodiment provides a mobile robot 4, including a mobile robot chassis 42 and a lifting mechanism 41. The navigation mode of the mobile robot chassis can be magnetic strips, QR codes, reflectors, autonomous navigation, etc. The magnetic strip and QR code navigation mode is to arrange magnetic strips on the ground, and the robot travels along the magnetic strips and QR codes. The reflector navigation mode is to set reflectors in the running scene, and the mobile robot chassis relies on laser radar to scan the reflectors to achieve positioning and then achieve navigation. The autonomous navigation mode is that the mobile robot chassis mainly scans fixed objects in the running scene through laser radar or camera to match with pre-stored maps to achieve positioning and then achieve Navigation driving, in specific applications, in conjunction with the use of automatically retractable and flip-over stepladders, the mobile robot chassis supports remote control, manual cart and other operations, and a handheld controller can be placed on the lifting mechanism 41 to display the robot status, control the robot, etc. An automatically retractable and flip-over stepladder is installed on the lifting mechanism 41, on which a lifting mechanism 41 is set, and the mobile robot 4 controls the lifting and lowering of the lifting mechanism 41, and the mobile robot 4 communicates and interacts with the automatically retractable and flip-over stepladder. When the mobile robot 4 runs into place and the lifting mechanism 41 is lifted and lowered into place, the automatically retractable and flip-over stepladder receives signals and performs actions such as retraction and flipping.

[0038] like Figure 4 As shown, in this embodiment, the lifting mechanism 41 includes a second electric actuator 411, a scissors-type mechanism 412, a lifting base 413, and a top plate 414. An automatically retractable flip step ladder is installed on the top plate 414. The second electric actuator 411 is connected to the scissors-type mechanism 412. The lifting base 413 is provided with a slide rail 4131. A slider 4121 is provided at one end of the scissors-type mechanism 412. The slider 4121 slides on the slide rail. One end of the scissors-type mechanism 412 is fixed on the lifting base 413. The scissors-type mechanism 412 is driven to move up and down through the telescopic movement of the second electric actuator 411.

[0039] Furthermore, if Figure 4 As shown, in this embodiment, the second electric actuator 411 is a combination of a double push rod + a double servo motor with a brake. The lifting mechanism 41 can stop at any height within the travel range and automatically lock, covering different working heights and ensuring the smoothness and safety of the lifting action.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An automatically retractable and tiltable step ladder, characterized in that: The lifting mechanism is connected with the lifting mechanism, and the lifting mechanism is connected with the lifting mechanism by the lifting mechanism, and the lifting mechanism is connected with the lifting mechanism by the lifting mechanism.

2. The automatically retractable and flip step ladder according to claim 1, characterized in that: The platform includes but is not limited to a liftable platform, a fixed platform, and a movable platform.

3. The automatically retractable and flip step ladder according to claim 1, characterized in that: The telescopic mechanism includes a first step, a second step, and a third step. The first step is provided with a first synchronous belt, a first pressure plate, and a first electric actuator. The second step is provided with a second synchronous belt and a second pressure plate. The third step is provided with a third pressure plate. The first pressure plate is fixedly connected to the first synchronous belt and the second step. The second pressure plate is fixedly connected to the first step and the second synchronous belt. The third pressure plate is fixedly connected to the second synchronous belt and the third step. The first electric actuator drives the first synchronous belt to rotate, drives the first pressure plate to move, and thus drives the second step to move. When the second step moves, the second pressure plate moves synchronously, thereby driving the second synchronous belt to rotate, driving the third pressure plate to move, and then driving the third step to move.

4. The automatically retractable and flip step ladder according to claim 1, characterized in that: The telescopic mechanism is provided with handrails in multiple sections, which fold and unfold as the telescopic mechanism is extended and retracted. The platform is provided with a protective fence, a rotating fence, and a 3D radar. An ultrasonic sensor is provided on the top of the protective fence, and safety touch edges are provided on the sides and the top.

5. The automatically retractable and flip step ladder according to claim 3, characterized in that: A pulley is provided at the bottom of the third step ladder.

6. The automatically retractable and flip step ladder according to claim 3, characterized in that: A limit switch is provided at the bottom of the third step ladder, which gives a signal when the third step ladder touches the ground or an object.

7. The automatically retractable and flip step ladder according to claim 1, characterized in that: The first push rod, the second push rod and the intermediate connecting member are connected at a certain angle, and the second push rod is connected at a certain angle to the telescopic step ladder assembly.

8. The automatically retractable and flip step ladder according to claim 1, characterized in that: The first push rod and the second push rod are each provided with two sets of position switches, which give signals when the first push rod and the second push rod are extended and retracted into place.

9. A mobile robot, characterized in that: It includes a mobile robot chassis and a lifting mechanism, on which an automatically retractable and flip-over step ladder as described in any one of claims 1 to 8 is installed, and a lifting mechanism is set thereon. The mobile robot communicates and interacts with the automatically retractable and flip-over step ladder, and the mobile robot chassis includes autonomous driving, remote control driving, and manual cart driving modes.

10. The mobile robot according to claim 9, characterized in that: The lifting mechanism includes a second electric actuator, a scissors-type mechanism, a lifting base, and a top plate. An automatically retractable and flip-over step ladder is installed on the top plate. The second electric actuator is connected to the scissors-type mechanism. A slide rail is provided on the lifting base. A slider is provided at one end of the scissors-type mechanism. The slider slides on the slide rail. One end of the scissors-type mechanism is fixed to the lifting base. The scissors-type mechanism is driven to move up and down through the telescopic movement of the second electric actuator. The lifting mechanism can stop at any height within the travel range and automatically lock.

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