Stair-climbing transfer robot
By designing the structure of the stair-climbing robot, including the combination of horizontal plates, placement plates, electric telescopic columns, and a level, the problem of items tilting and slipping during stair climbing is solved, thus improving the stability and safety of the items.
Patent Information
- Application Number
- CN202423110862.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-12-30
- Estimated Expiration
- 2034-12-17
AI Technical Summary
Existing stair-climbing robots are prone to tilting during the stair-climbing process, which increases the risk of items slipping, reduces the stability and safety of handling, and affects the robot's center of gravity stability and maneuverability.
By setting up the robot body, horizontal board, placement board, electric telescopic column, level, U-shaped frame, vertical board and drive components to work together, the robot ensures that the items remain horizontal when climbing the stairs, and the robot's center of gravity is kept stable through the automatic adjustment of the electric telescopic column and level.
It effectively reduces the risk of items slipping and falling during stair climbing, improves the stability and safety of item handling, and ensures the stability of the robot's center of gravity and its maneuverability.
Smart Images
Figure CN223736133U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics technology, and in particular relates to a stair-climbing and transporting robot. Background Technology
[0002] A stair-climbing and handling robot is an intelligent robot that can operate in stairwell environments to move items. Through special mechanical structures and drive systems, such as tracked or wheeled designs, it has the ability to climb stairs and can be applied in many scenarios such as logistics and transportation and household services, helping people to move heavy objects up and down stairs more easily.
[0003] Existing stair-climbing and transporting robots tend to tilt during the climbing process due to limitations in their structural design or motion mechanism. This causes the items being transported to tilt as well, increasing the risk of items slipping and reducing the stability and safety of the transport. It also makes the robot's center of gravity unstable, affecting its balance and maneuverability on the stairs. Therefore, improvements are needed. This paper proposes a stair-climbing and transporting robot. Utility Model Content
[0004] The purpose of this invention is to provide a stair-climbing and transporting robot to solve the problems mentioned in the background art.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a stair-climbing and transporting robot, comprising a stair-climbing robot body, a horizontal plate fixedly installed on the stair-climbing robot body, a placement plate provided on the horizontal plate, one side of the placement plate being rotatably mounted on the horizontal plate, an electric telescopic column being rotatably mounted on the horizontal plate, the output shaft end of the electric telescopic column being rotatably mounted on the bottom surface of the placement plate, a level being provided on the side of the placement plate, a U-shaped frame fixedly installed on the placement plate, a vertical plate being provided at the opening of the U-shaped frame, and a driving component for driving the vertical plate to move horizontally on the placement plate.
[0006] As a further description of the above solution: by setting up the working relationship between the robot body, horizontal plate, placement plate, electric telescopic column, level, U-shaped frame, vertical plate, and drive components, the transported items can be kept as horizontal as possible when climbing stairs, reducing the risk of items slipping due to tilting during transport, while also ensuring the stability of the robot's center of gravity, effectively improving the stability and safety of item transport.
[0007] Preferably, the driving component includes a knob rotatably disposed on the side of the placement plate, a slide rail disposed on the placement plate, a lead screw rotatably disposed within the slide rail, and a movable block slidably disposed on the slide rail.
[0008] As a further description of the above scheme: the components within the drive unit are described.
[0009] Preferably, the knob shaft end is fixedly installed with the lead screw shaft end, the movable block is threadedly connected to the lead screw, and the movable block is fixedly installed with the vertical plate.
[0010] As a further description of the above scheme: the positional relationships between the components within the drive unit are described.
[0011] Preferably, both the vertical plate and the surface of the U-shaped frame are covered with pads, and the pads are made of rubber.
[0012] As a further description of the above solution: it can protect the items being transported.
[0013] Preferably, the slide rail extends from top to bottom through the placement plate.
[0014] As a further description of the above solution: it can prevent debris and other impurities from falling into the slide and accumulating.
[0015] Preferably, a U-shaped extension plate is slidably disposed on the U-shaped frame, and a damping is provided between the U-shaped extension plate and the U-shaped frame; a strip extension plate is slidably disposed on the vertical plate, and a damping is provided between the strip extension plate and the vertical plate.
[0016] As a further description of the above solution: the fixed height of the item can be adjusted, improving the applicability of the device.
[0017] Preferably, the electric telescopic column is provided in at least two symmetrical sets.
[0018] As a further description of the above solution: it can improve the stability of the placement plate angle adjustment.
[0019] Preferably, the level is electrically powered, and a controller is provided on the horizontal plate. The controller is electrically connected to both the level and the electric telescopic column.
[0020] As a further description of the above solution: setting up a controller enables automatic control of various components of the device.
[0021] In summary, compared with the prior art, the beneficial effects of this utility model are: by setting up the climbing robot body, horizontal plate, placement plate, electric telescopic column, level, U-shaped frame, vertical plate, and the coordinated work between the drive components, it can ensure that the transported items are kept as horizontal as possible when climbing stairs, reducing the risk of items slipping due to tilting during transport, while also ensuring the stability of the climbing robot's center of gravity, effectively improving the stability and safety of item transport. Attached Figure Description
[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;
[0023] Figure 2 This is a structural diagram of the horizontal plate and the placement plate of this utility model;
[0024] Figure 3 This is a top view of the horizontal plate and the placement plate of this utility model;
[0025] Figure 4 This utility model Figure 3 Enlarged structural diagram at point A in the middle.
[0026] Legend:
[0027] 1. Stair climbing robot body; 2. Horizontal plate; 3. Placement plate; 4. Electric telescopic column; 5. U-shaped frame; 6. Vertical plate; 7. Drive component; 71. Knob; 72. Slide rail; 73. Lead screw; 74. Movable block; 8. U-shaped extension plate; 9. Strip extension plate. Detailed Implementation
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.
[0029] Please see Figure 1-4 This utility model provides a technical solution:
[0030] A stair-climbing and transporting robot includes a stair-climbing robot body 1, a horizontal plate 2 fixedly mounted on the stair-climbing robot body 1, a placement plate 3 disposed on the horizontal plate 2, one side of the placement plate 3 rotatably mounted on the horizontal plate 2, an electric telescopic column 4 rotatably mounted on the horizontal plate 2, the output shaft end of the electric telescopic column 4 rotatably mounted on the bottom surface of the placement plate 3, a level instrument disposed on the side of the placement plate 3, a U-shaped frame 5 fixedly mounted on the placement plate 3, a vertical plate 6 disposed at the opening of the U-shaped frame 5, and a driving component 7 for driving the vertical plate 6 to move horizontally on the placement plate 3. The driving component 7 includes a knob 71 rotatably mounted on the side of the placement plate 3, a slide rail 72 opened on the placement plate 3, a lead screw 73 rotatably mounted in the slide rail 72, and a movable block 74 slidably mounted on the slide rail 72. The rotating shaft end of the knob 71 is fixedly mounted to the rotating shaft end of the lead screw 73, the movable block 74 is threadedly connected to the lead screw 73, and the movable block 74 is fixedly mounted to the vertical plate 6.
[0031] In the stair-climbing transport robot, the horizontal plate 2 is used to facilitate the installation and support of the components on it, and the placement plate 3 is used to place the transported items. After the items are placed between the vertical plate 6 and the U-shaped frame, the operator rotates the knob 71 on the side of the placement plate 3. Since the rotating shaft end of the knob 71 is fixedly installed with the rotating shaft end of the lead screw 73 which is rotated in the slide rail 72, the rotation of the knob 71 will drive the lead screw 73 to rotate synchronously. The movable block 74, which is slidably installed on the slide rail 72 and threadedly connected to the lead screw 73, is fixedly installed with the vertical plate 6. When the lead screw 73 rotates, the movable block 74 will move horizontally in the slide rail 72 along the axial direction of the lead screw 73, thereby driving the vertical plate 6 to move horizontally. The distance between the vertical plate 6 and the U-shaped frame can be flexibly adjusted according to the size of the transported items, so that items of different sizes are stably fixed on the placement plate 3, reducing the risk of shaking and slipping of items during the stair-climbing transport process.
[0032] After the item is secured, when the stair-climbing robot 1 climbs the stairs, the stair-climbing robot 1 and the placement plate 3 are in an inclined state. If the level detects that the inclination value of the placement plate 3 is higher than the set threshold, the electric telescopic column 4 is automatically activated. When the output shaft of the electric telescopic column 4 extends, due to the rotational connection between its two ends and the horizontal plate 2 and the placement plate 3 respectively, it will push the placement plate 3 to rotate around its rotation axis with the horizontal plate 2, thereby changing the inclination angle of the placement plate 3 and restoring it to a horizontal state as much as possible, thereby adjusting the levelness of the item.
[0033] This stair-climbing and transporting robot can keep the transported items as horizontal as possible while climbing stairs, reducing the risk of items slipping due to tilting during transport. It also ensures the stability of the robot's center of gravity, effectively improving the stability and safety of item transport.
[0034] Both the vertical plate 6 and the U-shaped frame 5 are covered with pads, which are made of rubber.
[0035] Both the vertical plate 6 and the surface of the U-shaped frame are covered with rubber pads. When the items being transported are placed in the U-shaped frame and clamped by the vertical plate 6, the rubber pads can act as a buffer. During the process of climbing stairs, the robot will inevitably vibrate. With its good elasticity and flexibility, the rubber pads can absorb some of the vibration energy, preventing the items being transported from being damaged due to direct contact and collision with hard surfaces, and further improving the safety of transporting items.
[0036] Slide 72 runs through the placement plate 3 from top to bottom;
[0037] The slide 72 runs through the placement plate 3 from top to bottom, which can prevent debris and other impurities from falling into the slide 72 and accumulating inside, ensuring the stability of the rotation of the lead screw 73 and the sliding of the movable block 74, thereby improving the stability of the adjustment of the vertical plate 6.
[0038] A U-shaped extension plate 8 is slidably disposed on the U-shaped frame 5, and a damping is provided between the U-shaped extension plate 8 and the U-shaped frame 5. A strip extension plate 9 is slidably disposed on the vertical plate 6, and a damping is provided between the strip extension plate 9 and the vertical plate 6.
[0039] The extension length of the U-shaped extension plate on the U-shaped frame and the extension length of the strip extension plate 9 on the vertical plate 6 can be manually adjusted according to the height of the items to be transported, overcoming the damping force. This can better adapt to the transport needs of items of different heights, further reduce the risk of items slipping, and improve the stability of transport.
[0040] The electric telescopic column 4 is provided with at least two symmetrical sets;
[0041] The electric telescopic column 4 is provided with at least two symmetrical sets, which can improve the stability of the angle adjustment of the placement plate 3.
[0042] The level is set to be electric, and a controller is provided on the horizontal plate 2. The controller is electrically connected to the level and the electric telescopic column 4 respectively.
[0043] The level is set to be electric and electrically connected to the controller on the horizontal board 2 and the electric telescopic column 4. During the climbing of the stairs, the level continuously monitors the levelness of the placement board 3 and transmits the levelness data to the controller in real time. Once the level detects that the placement board 3 deviates from the level state, the controller will quickly calculate the amount of telescopic adjustment that the electric telescopic column 4 needs to make based on the received data, and then control the electric telescopic column 4 to perform the corresponding telescopic action.
[0044] Working principle:
[0045] In the stair-climbing transport robot, the horizontal plate 2 is used to facilitate the installation and support of the components on it, and the placement plate 3 is used to place the transported items. After the items are placed between the vertical plate 6 and the U-shaped frame, the operator rotates the knob 71 on the side of the placement plate 3. Since the rotating shaft end of the knob 71 is fixedly installed with the rotating shaft end of the lead screw 73 which is rotated in the slide rail 72, the rotation of the knob 71 will drive the lead screw 73 to rotate synchronously. The movable block 74, which is slidably installed on the slide rail 72 and threadedly connected to the lead screw 73, is fixedly installed with the vertical plate 6. When the lead screw 73 rotates, the movable block 74 will move horizontally in the slide rail 72 along the axial direction of the lead screw 73, thereby driving the vertical plate 6 to move horizontally. The distance between the vertical plate 6 and the U-shaped frame can be flexibly adjusted according to the size of the transported items, so that items of different sizes are stably fixed on the placement plate 3, reducing the risk of shaking and slipping of items during the stair-climbing transport process.
[0046] After the item is secured, when the stair-climbing robot 1 climbs the stairs, the stair-climbing robot 1 and the placement plate 3 are in an inclined state. If the level detects that the inclination value of the placement plate 3 is higher than the set threshold, the electric telescopic column 4 is automatically activated. When the output shaft of the electric telescopic column 4 extends, due to the rotational connection between its two ends and the horizontal plate 2 and the placement plate 3 respectively, it will push the placement plate 3 to rotate around its rotation axis with the horizontal plate 2, thereby changing the inclination angle of the placement plate 3 and restoring it to a horizontal state as much as possible, thereby adjusting the levelness of the item.
[0047] This stair-climbing and transporting robot can keep the transported items as horizontal as possible while climbing stairs, reducing the risk of items slipping due to tilting during transport. It also ensures the stability of the robot's center of gravity, effectively improving the stability and safety of transporting items.
[0048] Both the vertical plate 6 and the U-shaped frame are covered with rubber pads. When the items are placed in the U-shaped frame and clamped by the vertical plate 6, the rubber pads can act as a buffer. During the process of climbing stairs, the robot will inevitably vibrate. The rubber pads, with their good elasticity and flexibility, can absorb some of the vibration energy and prevent the items from being damaged due to direct contact and collision with hard surfaces, thus further improving the safety of item handling.
[0049] The extension length of the U-shaped extension plate on the U-shaped frame and the extension length of the strip extension plate 9 on the vertical plate 6 can be manually adjusted according to the height of the items to be transported, overcoming the damping force. This can better adapt to the transport needs of items of different heights, further reduce the risk of items slipping, and improve the stability of transport.
[0050] The slide 72 runs through the placement plate 3 from top to bottom, which can prevent debris and other impurities from falling into the slide 72 and accumulating, ensuring the stability of the rotation of the lead screw 73 and the sliding of the movable block 74, thereby improving the stability of the adjustment of the vertical plate 6.
[0051] The level is set to be electric and electrically connected to the controller on the horizontal board 2 and the electric telescopic column 4. During the climbing of the stairs, the level continuously monitors the levelness of the placement board 3 and transmits the levelness data to the controller in real time. Once the level detects that the placement board 3 deviates from the level state, the controller will quickly calculate the amount of telescopic adjustment that the electric telescopic column 4 needs to make based on the received data, and then control the electric telescopic column 4 to perform the corresponding telescopic action.
[0052] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A stair climbing transport robot comprising a stair climbing robot body (1), characterized in that, The stair climbing robot body (1) is fixedly installed with a horizontal plate (2), the horizontal plate (2) is provided with a placing plate (3), one side of the placing plate (3) is rotatably arranged on the horizontal plate (2), the horizontal plate (2) is rotatably provided with an electric telescopic column (4), the output shaft end of the electric telescopic column (4) is rotatably arranged on the bottom surface of the placing plate (3), the side edge of the placing plate (3) is provided with a level, the placing plate (3) is fixedly installed with a U-shaped frame (5), the opening of the U-shaped frame (5) is provided with a vertical plate (6), the placing plate (3) is provided with a driving piece (7) for driving the vertical plate (6) to move horizontally on the placing plate (3).
2. The stair climbing transport robot according to claim 1, wherein, The driving piece (7) comprises a knob (71) rotatably arranged on the side edge of the placing plate (3), a slide (72) opened on the placing plate (3), a lead screw (73) rotatably arranged in the slide (72), and a movable block (74) slidably arranged on the slide (72).
3. The stair climbing transport robot of claim 2, wherein, The rotary shaft end of the knob (71) is fixedly installed with the rotary shaft end of the lead screw (73), the movable block (74) is threadedly connected with the lead screw (73), and the movable block (74) is fixedly installed with the vertical plate (6).
4. The stair climbing transport robot of claim 2, wherein, The surface of the vertical plate (6) and the surface of the U-shaped frame (5) are both paved with a pad, and the pad is made of rubber.
5. The stair climbing transport robot of claim 2, wherein, The slide (72) penetrates the placing plate (3) from top to bottom.
6. The stair climbing transport robot of claim 1, wherein, The U-shaped extension plate (8) is slidably arranged on the U-shaped frame (5), and the U-shaped extension plate (8) and the U-shaped frame (5) are provided with a damping therebetween.
7. The stair climbing transport robot of claim 1, wherein, The electric telescopic column (4) is provided with at least two symmetric groups.
8. The stair climbing transport robot of claim 1, wherein, The level is electrically driven, the horizontal plate (2) is provided with a controller, and the controller is electrically connected with the level and the electric telescopic column (4) respectively.