全适应多功能智能爬楼机
Through the combined design of the main frame, robotic arm assembly, mechanical wheel assembly, lead screw slide adjustment mechanism and safety braking system, combined with absolute magnetic encoder and microcontroller, a fully adaptive, safe and reliable intelligent stair climbing device has been realized, which solves the problems of poor adaptability and low safety of existing equipment, and improves user experience and application scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Filing Date
- 2025-09-22
- Publication Date
- 2026-07-17
AI Technical Summary
Existing stair-climbing equipment has poor adaptability, low safety, and inflexible operation, making it difficult to meet the needs of complex and ever-changing actual use environments, especially the travel difficulties of the elderly and disabled in old communities without elevators.
It adopts a combined design of main frame, robotic arm frame, mechanical wheel assembly, screw slide adjustment mechanism, safety braking system and control system. It uses absolute magnetic encoder and microcontroller to automatically identify the geometric parameters of the staircase, dynamically adjust the wheel gauge and braking, and combine Mecanum wheels to achieve omnidirectional movement.
It achieves strong adaptability across all steps, safe and reliable operation, and flexible movement, improving user experience and safety. It is suitable for assisting the elderly and disabled with their travel, carrying heavy household items, and community logistics delivery.
Smart Images
Figure CN224511295U_ABST
Abstract
Claims
1. A full-adaptive multifunctional intelligent stair climber, characterized in that, Including: The main frame (1) is equipped with stepper motors (11) on both the left and right sides. Two symmetrically arranged robotic arm frames (2) are located on the left and right sides of the main frame (1), respectively. Each robotic arm frame (2) includes a robotic arm frame (21) and at least two crank-connecting rod mechanisms (22). The first end of the crank-connecting rod mechanism (22) is connected to the output shaft (110) of the stepper motor (11) on the corresponding side. The second end of the crank-connecting rod mechanism (22) is rotatably connected to the robotic arm frame (21). Under the drive of the stepper motor (11), the crank-connecting rod mechanism (22) rotates alternately around its first end or second end to achieve alternating climbing actions of the robotic arm frame (2) and the main frame (1). Several sets of mechanical wheel sets (3), wherein at least two sets of mechanical wheel sets (3) are respectively located at the bottom of the mechanical arm frame (21) on the left and right sides, and at least two sets of mechanical wheel sets (3) are located at the bottom of the main frame (1). Each set of mechanical wheel sets (3) includes a front rubber wheel (31) and a rear rubber wheel (32). The safety braking system (7) is configured to automatically brake the mechanical wheel assembly (3) when it travels to the edge of the step; and The control system (6) includes a microcontroller (61) which is electrically connected to the stepper motor (11) and is used to control the start, stop, speed and direction of the stepper motor (11) to realize intelligent coordination and dynamic adjustment of the stair climbing action.
2. The fully adaptable multifunctional intelligent stair climber according to claim 1, characterized in that, Each set of mechanical wheel assembly (3) is equipped with a screw slide adjustment mechanism (4) for adjusting the wheel spacing between the front rubber wheel (31) and the rear rubber wheel (32) of the same set of mechanical wheel assembly (3); the screw slide adjustment mechanism (4) includes: The first drive motor is electrically connected to the microcontroller (61); A lead screw (42) is connected to the output end of the first drive motor, and the lead screw (42) is slidably connected to the front rubber wheel (31) or the rear rubber wheel (32).
3. The all-adaptive multi-functional intelligent stair climber according to claim 2, characterized in that, The control system (6) also includes: An absolute magnetic encoder (62) is electrically connected to the stepper motor (11) and the first drive motor. The microcontroller (61) collects the rotation angle data of the crank-connecting rod mechanism (22) and the displacement of the lead screw slide adjustment mechanism (4) through the absolute magnetic encoder (62). Based on the rotation angle data and displacement, and combined with the preset geometric model, the microcontroller calculates the height and step width of the current step and generates control commands to automatically adjust the wheel distance between the front rubber wheel (31) and the rear rubber wheel (32) to achieve adaptive matching for different stair sizes.
4. The fully adaptable multifunctional intelligent stair climber according to claim 1, characterized in that, The safety braking system (7) includes several conditional braking mechanisms, which are respectively located behind each of the front rubber wheel (31) and / or the rear rubber wheel (32) to automatically trigger friction braking on the front rubber wheel (31) or the rear rubber wheel (32) when the front rubber wheel (31) or the rear rubber wheel (32) travels to the edge of the step, so as to prevent the equipment from losing control and rushing backward.
5. The fully adaptable multifunctional intelligent stair climber according to claim 4, characterized in that, Each of the aforementioned conditional braking mechanisms includes a small wheel (71), a tension spring (72), and a brake pad (73). When the small wheel (71) moves forward with the front rubber wheel (31) and the rear rubber wheel (32) to the edge of the step and is suspended in the air, under the tension of the tension spring (72), the brake pad (73) is driven to press against the wheel surface of the front rubber wheel (31) and / or the rear rubber wheel (32) to achieve automatic braking.
6. The fully adaptable multifunctional intelligent stair climber according to claim 1, characterized in that, It also includes: a chassis assembly (5), which includes a hub bracket (52), a travel wheel (51), a second drive motor and a drive circuit board (55), wherein the travel wheel (51) and the second drive motor are both mounted on the hub bracket (52); the second drive motor drives the travel wheel (51) to make the intelligent stair climber selectively move; the hub bracket (52) is connected to the main frame (1) through a lifting device, and the lifting device is used to control the chassis assembly (5) to extend and retract between stair climbing mode and flat ground operation mode.
7. The omnibus multi-functional intelligent stair climber according to claim 6, wherein, The lifting device includes an electric push rod (54); or / and The traveling wheel (51) is a Mecanum wheel, and the rollers of the Mecanum wheel are arranged at a 45° angle. Each Mecanum wheel is driven by an independent second drive motor to achieve lateral movement, in-situ rotation and multi-directional translation.
8. The fully adaptable multifunctional intelligent stair climber according to claim 1, characterized in that, At least two stepper motors (11) are installed on both the left and right sides of the main frame (1); or / and The crank-connecting rod mechanism (22) is rotatably connected to the main frame (1) via a first crossed roller bearing (221); the crank-connecting rod mechanism (22) is rotatably connected to the robotic arm frame (21) via a second crossed roller bearing (222); the first crossed roller bearing (221) and the second crossed roller bearing (222) are used to improve the rotational accuracy and load-bearing capacity of the connection position.
9. The fully adaptable multifunctional intelligent stair climber according to claim 3, characterized in that, The microcontroller (61) is an STM32F407ZGT6. The absolute magnetic encoder (62) is model MT6826S.
10. The omni-adaptive multi-functional intelligent stair climber according to claim 1, wherein, The control system (6) also includes an ultrasonic sensor or a laser rangefinder, which is electrically connected to the microcontroller (61) to assist in identifying stair parameters.