Intelligent mechanical stair climbing device
By employing a combination of servo motors and serrated wheels in the stair climbing device, along with collision avoidance monitoring and lighting components, the problems of high noise, high maintenance costs, and difficult steering of tracked devices have been solved. This results in stable, reliable, low-noise, and efficient stair climbing and flat ground walking, with collision avoidance and automatic lighting functions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-12
- Publication Date
- 2026-03-27
AI Technical Summary
Existing tracked stair climbing devices are complex in structure, noisy, have high maintenance costs, are difficult to turn, and lack anti-collision and lighting functions, resulting in low work efficiency.
It adopts a combination design of a first servo motor, a second servo motor, a fixed rear wheel and a variable serrated running wheel, combined with anti-collision monitoring components and lighting components. It uses ultrasonic sensors and photoresistors to achieve anti-collision and automatic lighting, and controls the movement of the device via a remote control.
It achieves a low-noise, low-cost, and highly flexible stair-climbing device with stable and reliable stair climbing and flat-ground walking capabilities, improving work efficiency, and featuring anti-collision and automatic lighting functions.
Smart Images
Figure CN224045309U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the field of robot technology, and specifically relates to an intelligent mechanical stair climbing device. BACKGROUND
[0002] The current common stair climbing device is mostly of a track type structure, and the track type stair climbing device has strong ground adaptability, but has obvious shortcomings, i.e., there are many mechanical parts in the structure of the device, the noise of the device is large when advancing and climbing, the probability of failure is large, and the existing track type stair climbing device lacks the functions of anti-collision and lighting, and is not fully functional. In addition, the track needs to be regularly maintained and replaced, the maintenance cost is high, the contact surface between the track and the ground is large, the friction force to be overcome is large in the process of turning, and thus the turning of the whole device is more difficult, and the working efficiency is low. CONTENT OF THE UTILITY MODEL
[0003] The utility model aims at overcoming the shortcomings of the prior art, and provides an intelligent mechanical stair climbing device which is more stable and reliable than the track type stair climbing device, has the advantages of low noise, low cost, high flexibility, and is highly functional.
[0004] The utility model aims at overcoming the shortcomings of the prior art, and provides an intelligent mechanical stair climbing device which is more stable and reliable than the track type stair climbing device, has the advantages of low noise, low cost, high flexibility, and is highly functional.
[0005] The utility model discloses an intelligent mechanical stair climbing device, which comprises a chassis, a first steering engine, a second steering engine, fixed rear wheels, variable sawtooth walking wheels, a storage box, a control box, a control panel and a power supply, the first steering engine is arranged at the rear end of the top of the chassis, the output end of the first steering engine is connected with the fixed rear wheels, the variable sawtooth walking wheels are arranged at the front end center of the chassis, the second steering engine is arranged at the top of the chassis and located on both sides of the variable sawtooth walking wheels, the left fixed rear wheel is in a herringbone shape, the variable sawtooth walking wheels can be changed into a herringbone shape or a circular shape, the two second steering engines are used for controlling the walking and deformation of the variable sawtooth walking wheels, the storage box is arranged at the front end of the top of the chassis, the control box is arranged at the rear end of the top of the chassis, the control panel and the power supply are arranged in the control box, the control panel is electrically connected with the power supply, and the anti-collision monitoring assembly and the lighting assembly electrically connected with the control panel are further arranged on the chassis.
[0006] Further, the fixed rear wheel comprises a herringbone fixing frame, the herringbone fixing frame is connected with the output end of the first steering engine, and the three legs of the herringbone fixing frame are all connected with sawtooth claws.
[0007] Further, the variable sawtooth walking wheel comprises a sun gear, a planet wheel, a first disc and a second disc, the first disc and the second disc correspond to two second steering gears respectively, the sun gear and the planet wheel are rotationally arranged on one side disc surface of the first disc, the other side disc surface of the first disc is connected with the output end of the corresponding second steering gear through a hexagonal groove, the sun gear is located at the center of the first disc, the planet wheel is provided with three planet wheels which are uniformly arranged around the sun gear, the three planet wheels are in meshing connection with the sun gear, the three planet wheels are connected with sawtooth claws through connecting rods, the center of one side disc surface of the second disc is connected with the sun gear through a convex head groove, and the other side disc surface of the second disc is connected with the output end of the corresponding second steering gear through a hexagonal groove.
[0008] Further, the control box is further provided with a remote controller receiver electrically connected with the power supply, the first steering gear and the second steering gear on one side of the variable sawtooth walking wheel are electrically connected with a CH1 control signal channel of the remote controller receiver, and the first steering gear and the second steering gear on the other side of the variable sawtooth walking wheel are electrically connected with a CH2 control signal channel of the remote controller receiver.
[0009] Further, the anti-collision detection assembly comprises a buzzer and an ultrasonic sensor, the ultrasonic sensor is arranged on both sides of the front end of the bottom disc, the buzzer is arranged on the bottom disc, and the buzzer and the ultrasonic sensor are electrically connected with the control panel.
[0010] Further, the lighting assembly comprises a photoresistor, a white LED lamp and a red LED lamp, the photoresistor is arranged on the bottom disc, the white LED lamp is arranged on both sides of the front end of the bottom disc, the red LED lamp is arranged on both sides of the rear end of the bottom disc, and the photoresistor, the white LED lamp and the red LED lamp are electrically connected with the control panel.
[0011] Compared with the prior art, the variable sawtooth walking wheel has the following beneficial effects:
[0012] 1、The first steering gear, the second steering gear, the fixed rear wheel and the variable sawtooth walking wheel are arranged, so that the whole stair climbing device is more stable and reliable, the variable sawtooth walking wheel can be changed into a herringbone shape or a circular shape, so as to be used for stair climbing or walking on the ground, and the variable sawtooth walking wheel has the advantages of low noise, low cost and high flexibility compared with a track type structure, and work efficiency is improved.
[0013] 2、The lighting assembly is arranged, the intensity of ambient light can be detected in real time by using the photoresistor, and the LED lamp can be automatically lighted for illumination when the intensity of ambient light is detected to be insufficient, so that the stair climbing device can work in an environment with insufficient light intensity.
[0014] 3、The utility model discloses through the setting of anti -collision monitoring subassembly, can utilize ultrasonic sensor to the position distance of the target before the stair -climbing device real -time monitoring, when monitoring distance reaches dangerous distance, the stair -climbing device stops movement and the buzzer can send out the alarm, and further prevent the collision from happening. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 It is the whole structure perspective diagram of the utility model;
[0016] Figure 2 It is the whole structure overhead view schematic diagram of the utility model;
[0017] Figure 3 It is the whole structure side view schematic diagram of the utility model;
[0018] Figure 4 It is the structure schematic diagram of variable sawtooth walking wheel in the utility model;
[0019] Figure 5 It is the structure schematic diagram of second disc in the utility model;
[0020] Figure 6 It is the wiring schematic diagram of remote controller receiver and first steering engine, second steering engine in the utility model.
[0021] In the drawing: 1, base plate;2, first steering engine;3, second steering engine;4, fixed rear wheel;41, herringbone fixed frame;5, variable sawtooth walking wheel;51, sun gear;52, planetary gear;53, first disc;54, second disc;6, storage box;7, control box;8, control panel;9, power;10, sawtooth paw;11, connecting rod;12, remote controller receiver;13, buzzer;14, ultrasonic sensor;15, photoresistor;16, white LED lamp;17, red LED lamp;18, hexagonal recess;19, convex head recess. DETAILED DESCRIPTION
[0022] The utility model will be further described below in conjunction with the drawings, but the protection scope of the utility model is not limited to following described.
[0023] As Figure 1 , Figure 2As shown, the intelligent mechanical stair climbing device comprises a chassis 1, a first steering engine 2, a second steering engine 3, a fixed rear wheel 4, a variable sawtooth walking wheel 5, a storage box 6, a control box 7, a control panel 8 and a power supply 9. The first steering engine 2 is installed at the rear end of the top of the chassis 1 on both sides, the output end of the first steering engine 2 is connected with the fixed rear wheel 4, and the fixed rear wheel 4 is driven to rotate by the first steering engine 2; the variable sawtooth walking wheel 5 is installed at the front end center of the chassis 1, and the second steering engine 3 is installed on both sides of the top of the chassis 1 at the front end of the variable sawtooth walking wheel 5; the fixed rear wheel 4 is in the shape of a chevron, the variable sawtooth walking wheel 5 can be changed into the shape of a chevron or a circle, and the two second steering engines 3 are respectively used for controlling the walking and deformation of the variable sawtooth planetary wheel 52, and the forward and backward movement and turning of the device are realized by the cooperation of the first steering engine 2 and the second steering engine 3, wherein the variable sawtooth walking wheel 5 is changed into the shape of a chevron for climbing stairs, and is changed into a circle for walking on flat ground; the storage box 6 is fixed on the top of the chassis 1 at the front end of both sides, so as to load goods and transport and distribute the goods; the control box 7 is fixed at the rear end of the top of the chassis 1, the control panel 8 and the power supply 9 are installed in the control box 7, the control panel 8 is electrically connected with the power supply 9, and the chassis 1 is also provided with an anti-collision monitoring assembly and a lighting assembly which are electrically connected with the control panel 8, the anti-collision monitoring assembly and the lighting assembly are controlled to work by the control panel, and the anti-collision and lighting functions are realized.
[0024] As shown, Figure 3 The fixed rear wheel 4 comprises a chevron-shaped fixed frame 41, the chevron-shaped fixed frame 41 is connected with the output end of the first steering engine 2, and the three legs of the chevron-shaped fixed frame 41 are all fixedly connected with the sawtooth claws 10.
[0025] As shown, Figures 3-5As shown, the variable sawtooth walking wheel 5 includes a sun gear 51, a planet gear 52, a first disc 53, and a second disc 54, the first disc 53 and the second disc 54 are respectively corresponding to two second steering gears, the sun gear 51 and the planet gear 52 are rotatably installed on one side of the first disc 53 through shaft connection, the other side of the first disc 53 is connected with the output end of the corresponding second steering gear through a hexagonal groove 18, the sun gear 51 is located at the center of the first disc 53, the planet gear 52 is provided with three and the three planet gears 52 are uniformly arranged around the sun gear 51, the three planet gears 52 are all engaged with the sun gear 51, the three planet gears 52 are all connected with sawtooth claws through connecting rods, the center of one side of the second disc 54 is connected with the sun gear 51 through a convex head groove 19, and the other side of the second disc 54 is connected with the output end of the corresponding second steering gear through the hexagonal groove 18. On the flat ground, the variable sawtooth walking wheel 5 is circular, the second steering gear connected with the sun gear 51 is not working, the three sawtooth claws are in force balance at the front and back abutting positions, the three planet gears 52 cannot rotate, the first disc 53 is driven to rotate through the second steering gear, and then the whole variable sawtooth walking wheel 5 can be driven to rotate to realize walking; when climbing stairs, one planet gear 52 is forced to rotate because the sawtooth claw connected with it abuts against the step, and then the other two planet gears 52 are driven to rotate through the sun gear 51, so that one end of the sawtooth claw is gathered to the center of the planet gear 52, and the other end is stretched outwards, and finally the whole variable sawtooth walking wheel 5 becomes a herringbone shape, and after deformation, the first disc 53 is driven to rotate through the second steering gear to realize walking; when it is needed to return to the circular shape, the second disc 54 is driven to rotate through the second steering gear, the second disc 54 drives the sun gear 51 to rotate, the sun gear 51 drives the three planet gears 52 to rotate back, and then the three sawtooth claws are unfolded into a circular shape as a whole.
[0026] During walking, the fixed rear wheel 4 and the variable sawtooth walking wheel 5 produce little noise, the overall structure is stable and reliable and is not prone to failure, the sawtooth claw 10 can enhance the grip and prevent slipping, thereby improving the stability and reliability of the whole device, and the contact surface of the sawtooth claw 10 with the ground is smaller than that of the track structure, thereby reducing the friction and making the device more flexible during walking, improving the working efficiency and operation convenience.
[0027] In order to facilitate the control of the stair climbing device, a remote controller receiver 12 electrically connected with the power supply 9 is also installed in the control box 7, and the remote controller receiver 12 has eight control signal channels CH1-CH8. Figure 6As shown, the first steering engine 2 and the second steering engine 3 on one side of the variable sawtooth walking wheel 5 are electrically connected to the CH1 control signal channel of the remote controller receiver 12, and the first steering engine 2 and the second steering engine 3 on the other side of the variable sawtooth walking wheel 5 are electrically connected to the CH2 control signal channel of the remote controller receiver 12. The remote controller sends control instructions to the remote controller receiver, and then the remote controller receiver controls the first steering engine 2 and the second steering engine 3 to work according to the control instructions, thereby driving the fixed rear wheel 4 and the variable sawtooth walking wheel 5 to realize forward and backward movement and steering, and the output rotating speed of the servo steering engine can be controlled by the remote controller to achieve the purpose of device speed control.
[0028] As shown in Figure 1 , Figure 2 , the anti-collision detection assembly includes a buzzer 13 and an ultrasonic sensor 14, the ultrasonic sensor 14 is installed on both sides of the front end of the chassis 1, and the buzzer 13 is installed on the chassis 1, and the buzzer 13 and the ultrasonic sensor 14 are electrically connected to the control panel 8. When the stair climbing device detects that the distance between the front target and the position is less than or equal to the dangerous distance set by the program during walking, the control panel controls the buzzer 13 to issue an alarm to prompt the worker to be careful of collision. In addition, this function can also realize the reminding of the recipient to take the goods, when the stair climbing device reaches the designated delivery location and stops within the set distance range, the control panel can intermittently issue a ringing sound through the buzzer 13 to prompt the recipient to take the goods.
[0029] As shown in Figure 1 , Figure 2 , the lighting assembly includes a photosensitive resistor 15, a white LED lamp 16 and a red LED lamp 17, the photosensitive resistor 15 is fixed on the chassis 1, the white LED lamp 16 is installed on both sides of the front end of the chassis 1, and the red LED lamp 17 is installed on both sides of the rear end of the chassis 1, and the photosensitive resistor 15, the white LED lamp 16 and the red LED lamp 17 are electrically connected to the control panel 8. During walking, the photosensitive resistor 15 on the stair climbing device can detect the change of ambient light in real time, and when the light intensity is lower than a certain value, that is, the resistance value of the photosensitive resistor 15 is greater than the set resistance value, the control panel controls the four LED lamps to automatically light up to illuminate the surrounding environment, so as to facilitate the stair climbing device to work in the environment with insufficient light intensity. The light effect of white in front and red in back helps the worker to clearly judge the driving direction of the stair climbing device.
[0030] Finally, although the above description has shown and described the embodiments of the present application, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.
Claims
1. A smart mechanical stair climbing device, characterized by: The utility model relates to a kind of robot, including chassis (1), first steering gear (2), second steering gear (3), fixed rear wheel (4), variable sawtooth walking wheel (5), storage box (6), control box (7), control panel (8) and power (9), first steering gear (2) is located at the rear end of the top of chassis (1) two sides, the output end of first steering gear (2) is connected with fixed rear wheel (4), variable sawtooth walking wheel (5) is located at the front end center of chassis (1), the top of chassis (1) is located in the variable sawtooth walking wheel (5) two sides and is equipped with second steering gear (3), fixed rear wheel (4) is herringbone, variable sawtooth walking wheel (5) can be changed into herringbone or circular, two second steering gears (3) are used to control variable sawtooth walking wheel (5) walking and deformation respectively, the front end of the top of chassis (1) two sides is equipped with storage box (6), the rear end of the top of chassis (1) is equipped with control box (7), control panel (8), power (9) are all equipped in control box (7), control panel (8) is electrically connected with power (9), chassis (1) is also equipped with anti-collision monitoring assembly and lighting assembly electrically connected with control panel (8).
2. The intelligent mechanical stair climbing device of claim 1, wherein: Fixed rear wheel (4) includes herringbone fixed frame (41), herringbone fixed frame (41) is connected to the output end of first steering gear (2), the three supporting legs of herringbone fixed frame (41) are all connected with sawtooth hand claw (10).
3. The intelligent mechanical stair climbing device of claim 1, wherein: Variable sawtooth walking wheel (5) includes sun gear (51), planetary gear (52), first disc (53), second disc (54), first disc (53) and second disc (54) are corresponding with two second steering gears respectively, sun gear (51) and planetary gear (52) are rotatably arranged on the one side disc surface of first disc (53), the other side disc surface of first disc (53) is connected with the output end of corresponding second steering gear through hexagonal groove (18), sun gear (51) is located at the center of first disc (53), planetary gear (52) is provided with three, and the three planetary gears (52) are evenly arranged around sun gear (51), the three planetary gears (52) are all engaged with sun gear (51), the three planetary gears (52) are all connected with sawtooth hand claw through connecting rod, the one side disc surface center of second disc (54) is connected with sun gear (51) through convex head groove (19), the other side disc surface of second disc (54) is connected with the output end of corresponding second steering gear through hexagonal groove (18).
4. The intelligent mechanical stair climbing device of claim 1, wherein: Remote controller receiver (12) electrically connected with power (9) is also arranged in control box (7), the first steering gear (2) and the second steering gear (3) of one side of variable sawtooth walking wheel (5) are electrically connected with the CH1 control signal channel of remote controller receiver (12), the first steering gear (2) and the second steering gear (3) of the other side of variable sawtooth walking wheel (5) are electrically connected with the CH2 control signal channel of remote controller receiver (12).
5. The intelligent mechanical stair climbing device of claim 1, wherein: Anti-collision detection assembly includes buzzer (13) and ultrasonic sensor (14), ultrasonic sensor (14) is arranged at the front end of chassis (1) two sides, buzzer (13) is arranged on chassis (1), buzzer (13) and ultrasonic sensor (14) are electrically connected with control panel (8).
6. The intelligent mechanical stair climbing device of claim 1, wherein: The lighting assembly comprises a photoresistor (15), a white LED lamp (16) and a red LED lamp (17), the photoresistor (15) is arranged on the base (1), the white LED lamp (16) is arranged on both sides of the front end of the base (1), the red LED lamp (17) is arranged on both sides of the rear end of the base (1), and the photoresistor (15), the white LED lamp (16) and the red LED lamp (17) are electrically connected to the control panel (8).