CN101032982A - Automatic carrying machine working on stairs - Google Patents
Automatic carrying machine working on stairs Download PDFInfo
- Publication number
- CN101032982A CN101032982A CN 200710007471 CN200710007471A CN101032982A CN 101032982 A CN101032982 A CN 101032982A CN 200710007471 CN200710007471 CN 200710007471 CN 200710007471 A CN200710007471 A CN 200710007471A CN 101032982 A CN101032982 A CN 101032982A
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- hydraulic actuating
- leg
- actuating cylinder
- automatic
- hydraulic
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Abstract
The automatic cargo carrying and stairs climbing mechanical apparatus includes one mechanical structure comprising an inner platform frame, an outer frame, a hydraulic cylinder, a elevating carriage, wheels, legs, etc; one hydraulic servo system comprising an electro-hydraulic servo valve, a hydraulic cylinder, a hydraulic pump, a motor, an accumulator, etc; and one logic control device comprising sensors, a monolithic computer, a SCR and other electronic devices. It can walk on stairs by means of mechanical, electrical and hydraulic control.
Description
Affiliated technical field
But the present invention relates to a kind of for the mechanical equipment of the automatic speeling stairway of carrying goods.
Background technology
Work or live in the building and one-storey house with the level that does not have elevator all has the situation of lift to move, carrying goods speeling stairway, during particularly fitting up and moving.And lift to move, carrying weight speeling stairway are very strong manual labors, and the work of needing badly with mechanical equipment replaces.But because the particularity of stair fortune does not still have any available equipment at present.Therefore, demand developing a kind of haulage equipment that is suitable for such particular job condition urgently.
Summary of the invention
For satisfying the requirement that manually comes lift to move, carrying weight speeling stairway with the mechanical equipment replacement, the invention provides a kind of can be reliably, sensitive, auto-action, can adapt to the automatic speeling stairway lift to move that stair fortune particularity requires, the mechanical equipment of carrying weight again.The hydraulic efficiency servo that this equipment comprises the car body mechanism that is made of platform inner gimbal, outside frame, wheel, leg etc., be made of electrohydraulic servo valve, hydraulic actuating cylinder, pump, motor, storage battery etc., by the logic control device that electronicies package such as sensor, micro controller system, silicon control constitute, realize the walking action of speeling stairway by motion control mechanical, electrical, liquid.
The technical matters that solves
The technical solution adopted for the present invention to solve the technical problems is: the hydraulic efficiency servo that whole handling machinery comprises the car body mechanism that is made of platform inner gimbal, outside frame, hydraulic actuating cylinder, leg, wheel etc., be made of electrohydraulic servo valve, hydraulic actuating cylinder, Hydraulic Pump, motor, storage battery etc., by the logic control device that electronicies package such as sensor, micro controller system, silicon control constitute, realize the walking action of speeling stairway by motion control mechanical, electrical, liquid.
In car body mechanism: platform inner gimbal and outside frame be by slide rail-cylindrical bearing-chute structure bearing fit, an alighting gear four wheel mechanism is installed below the outside frame; The leg hydraulic actuating cylinder is fixed in platform inner gimbal center line two ends in two, and two outer leg hydraulic actuating cylinders are fixed in outside frame center line two ends, and a pin type gravity switch sensor is fixed in each leg lower end; Instep is all inlayed a permanent magnet by leg one side and translation hydraulic actuating cylinder front end left side, and corresponding magnet one side of the front end inner edge of each leg hydraulic actuating cylinder lower end and outside frame is installed a dry-reed tube near switch sensor; Platform inner gimbal center line front end is fixed on translation hydraulic actuating cylinder top, and outside frame center line front end inner edge is fixed in translation piston rod outer end; Before install in forward leg hydraulic actuating cylinder left side below the outside frame, down to each one of visible light displacement pickup.In hydraulic efficiency servo: every cover electrohydraulic servo valve is installed on hydraulic actuating cylinder sidewall appropriate location separately, its two control exports respectively green phase and answers the upper and lower chamber of hydraulic tubing and hydraulic actuating cylinder to be communicated with, and its two hydraulic power source green phase that enters the mouth respectively answers hydraulic tubing to be communicated with Hydraulic Pump positive and negative pressure delivery port; Electric hydraulic pump is installed on below the outside frame by the rear region right side, and a safety relief valve is installed on its left side wall shell, and its drive motor is electrically connected by logic control device and storage battery; Storage battery is installed on below the outside frame by the rear region left side.Logic control device is installed on center line stage casing below the outside frame, its corresponding signal line is connected respectively to each pin gravity switch sensor, dry-reed tube near switch sensor and visible light displacement pickup, control line is connected to each hydraulic cylinder electrohydraulic servovalve respectively, drive wire is connected to motor, operating line is connected to the respective terminal of operating button box, and operating button box is installed on the front outer leg hydraulic actuating cylinder top end cover.
The signal that decision respectively goes on foot the whole starting point of logical action take from forward leg hydraulic actuating cylinder left side below the outside frame preceding, the dry-reed tube on visible light displacement pickup, each pin type gravity switch sensor, each leg hydraulic actuating cylinder is near the reaction near switch sensor of the dry-reed tube of the front end inner edge of switch sensor and outside frame down.Logic control device is according to the time-delay of respective sensor signals and setting, press operating order and logical program output electrohydraulic servo valve controlling and driving electric current, and then modulated pressure cylinder piston, i.e. each leg piston rod and translation piston rod action realizes that the building function is climbed in the walking of complete machine.Four-wheel landing gear is by artificial and four pin gravity switch sensor synergisms control.
Beneficial effect
The present invention is work or live in the building and one-storey house with the level that does not have elevator, particularly fit up and move during the operating personnel, the machinery of lift to move, carrying goods speeling stairway is provided, removed the strong physical hand labor of this work.When the level land is moved, can descend blow the gear down, walk by four-wheel.Load onto chair cushion, backrest, promptly become climbing stairs wheelchair for instead of walk for invalids.
Description of drawings
The present invention is further described below in conjunction with embodiment shown in the drawings.
Accompanying drawing 1 is body construction master, the birds-eye view of the embodiment of the invention, accompanying drawing 2 be in the accompanying drawing 1 A-A to section-drawing, accompanying drawing 3 be in the accompanying drawing 1 B-B to section-drawing, accompanying drawing 4 is hydraulic schemes of the embodiment of the invention, accompanying drawing 5 is landing gear circuit figure in the logic control device of the embodiment of the invention, accompanying drawing 6 is logical action executive circuit figure in the logic control device of the embodiment of the invention, accompanying drawing 7 be the embodiment of the invention respectively go on foot the whole starting point point detection signal of logical action scheme drawing, accompanying drawing 8 is logic control circuit figure in the logic control device of the embodiment of the invention.
In the accompanying drawing: 1. platform inner gimbal, 2. outside frame, 3. in leg (B, C) hydraulic actuating cylinder, 4. outer leg (A, D) hydraulic actuating cylinder, 5. interior leg (B, C) piston rod, 6. outer leg (A, D) piston rod, 7. pin type gravity switch sensor (a
1, b
1, c
1, d
1), 8. dry-reed tube is near switch sensor (a
2, b
2, c
2, d
2, e
2), 9. electrohydraulic servo valve, 10. electric hydraulic pump (P), 11. logic control devices are before 12., down to visible light displacement pickup (h, e
1), 13. hydraulic power source pipelines, 14. fluid control delivery conduits, 15. action buttons (K, N
F+, N
F-, N
0, N
1, N
2), 16. wheels, 17. four-wheel landing gears, 18. four-wheel landing gear hydraulic actuating cylinders (F), 19. driven in translation hydraulic actuating cylinders (E), 20. translation piston rods, 21. driven plunger, 22. dull and stereotyped cylindrical bearings, 23. storage batterys (E), 24. safety relief valves.
The specific embodiment
In enforcement shown in the drawings: platform inner gimbal (1) passes through slide rail, the interstructural dull and stereotyped cylindrical bearing of chute (22) skid running-fit with outside frame (2); Leg hydraulic actuating cylinder (3) is fixed in the center line two ends of platform inner gimbal (1) in two, two outer leg hydraulic actuating cylinders (4) are fixed in the center line two ends of outside frame (2), a pin type gravity switch sensor (7) is all fixed in interior leg piston rod (5) and outer leg piston rod (6) lower end, instep is all inlayed a permanent magnet by leg one side and translation hydraulic actuating cylinder (19) front end left side, and corresponding magnet one side of the front end inner edge of each leg hydraulic actuating cylinder (3), (4) lower end and outside frame (2) is all installed a dry-reed tube near switch sensor (8); The center line front end of platform inner gimbal (1) is fixed on translation hydraulic actuating cylinder (19) top, and the center line front end inner edge of outside frame (2) is fixed in translation piston rod (20) outer end; Below the outside frame (2) left side of forward leg hydraulic actuating cylinder (4) by preceding, down to a visible light displacement pickup (12) is installed respectively; By the rear region right side one electric hydraulic pump (10) is installed below the outside frame (2), a high-energy battery (23) is installed in the left side; Every cover electrohydraulic servo valve (9) is installed on the appropriate location of hydraulic actuating cylinder (3), (4), (18), (19) sidewall separately, (9) two controls of each electrohydraulic servo valve export respectively green phase and answer hydraulic tubing (14) to be communicated with hydraulic actuating cylinder (3), (4), (18), (19) upper and lower chamber, and its two hydraulic power source green phase that enters the mouth respectively answers hydraulic tubing (13) to be communicated with electric hydraulic pump (10) positive and negative pressure delivery port; One safety relief valve (24) is installed on the left side wall shell of electric hydraulic pump (10), and the motor of electric hydraulic pump (10) is electrically connected by logic control device (11) and storage battery (23); Logic control device (11) is installed on the following center line stage casing of outside frame (2), its corresponding signal line is connected respectively to each pin gravity switch sensor (7), dry-reed tube near switch sensor (8) and visible light displacement pickup (12), control line is connected to each hydraulic cylinder electrohydraulic servovalve (9) respectively, drive wire is connected to the motor of Hydraulic Pump (10), operating line is connected to the respective terminal of operating button box (15), and operating button box (15) is installed on front outer leg hydraulic actuating cylinder (4) top end cover.The lower end of rear outer leg hydraulic actuating cylinder (4) frame (17) that is hinged together is installed four wheels (16) on the alighting gear, and hinged with a hydraulic cylinder piston rod (18), and hydraulic actuating cylinder top and outside frame (2) are hinged.
Claims (9)
1. the handling machinery of an automatic speeling stairway, it is characterized in that: entire equipment is made up of car body mechanism, hydraulic efficiency servo and logic control device, realizes the walking action of speeling stairway by motion control mechanical, electrical, liquid.
2. automatic speeling stairway handling machinery according to claim 1, it is characterized in that: car body mechanism is made of platform inner gimbal, outside frame, hydraulic actuating cylinder, leg, four-wheel landing gear.
3. automatic speeling stairway handling machinery according to claim 1, it is characterized in that: hydraulic efficiency servo is made of electrohydraulic servo valve, hydraulic actuating cylinder, electric hydraulic pump, storage battery.
4. automatic speeling stairway handling machinery according to claim 1, it is characterized in that: logic control device is made of electronicies package such as sensor, micro controller system, silicon controls.
5. automatic speeling stairway handling machinery according to claim 1 is characterized in that: the platform inner gimbal of car body mechanism and outside frame are by slide rail-dull and stereotyped cylindrical bearing-chute structure skid running-fit.
6. automatic speeling stairway handling machinery according to claim 1 is characterized in that: the leg hydraulic actuating cylinder is fixed in platform inner gimbal center line two ends in two, and two outer leg hydraulic actuating cylinders are fixed in outside frame center line two ends; Platform inner gimbal center line front end is fixed on translation hydraulic actuating cylinder top, and outside frame center line front end inner edge is fixed in translation piston rod outer end.
7. automatic speeling stairway handling machinery according to claim 1 is characterized in that: a pin type gravity switch sensor is fixed in each leg lower end; Instep is all inlayed a permanent magnet by leg one side and translation hydraulic actuating cylinder front end left side, and corresponding magnet one side of the front end inner edge of each leg hydraulic actuating cylinder lower end and outside frame is all installed a dry-reed tube near switch sensor; Before install in forward leg hydraulic actuating cylinder left side below the outside frame, down to each one of visible light displacement pickup.
8. automatic speeling stairway handling machinery according to claim 1, it is characterized in that: logic control device is according to the time-delay of respective sensor signals and setting, press operating order and logical program output electrohydraulic servo valve controlling and driving electric current, and then control each leg piston rod and the action of translation piston rod, realize that the building motion is climbed in the walking of complete machine.
9. automatic speeling stairway handling machinery according to claim 1 is characterized in that: four-wheel landing gear structure rear end is articulated in the rear outer leg lower end, the middle rear end frame hydraulic cylinder piston rod that is hinged together, and alighting gear hydraulic actuating cylinder top and outside frame are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710007471 CN101032982A (en) | 2007-01-15 | 2007-01-15 | Automatic carrying machine working on stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710007471 CN101032982A (en) | 2007-01-15 | 2007-01-15 | Automatic carrying machine working on stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101032982A true CN101032982A (en) | 2007-09-12 |
Family
ID=38729767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710007471 Pending CN101032982A (en) | 2007-01-15 | 2007-01-15 | Automatic carrying machine working on stairs |
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|---|---|
| CN (1) | CN101032982A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103307606A (en) * | 2012-03-15 | 2013-09-18 | 威海鲁源科技环保设备有限公司 | Hydraulic heatable brick bed surface translation cooling device for ash collection furnace |
| CN103359198A (en) * | 2013-07-08 | 2013-10-23 | 东华大学 | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method |
| CN103932848A (en) * | 2014-04-24 | 2014-07-23 | 郑清荣 | Full-automatic hydraulic lifting marching type electric stair climbing wheelchair |
| CN104161631A (en) * | 2014-08-02 | 2014-11-26 | 吴翰威 | Wheel chair allowing the disabled to go upstairs conveniently |
| CN104224464A (en) * | 2013-06-09 | 2014-12-24 | 钱诗艺 | Power seat with function of climbing steps |
| CN104443094A (en) * | 2014-10-14 | 2015-03-25 | 江苏大学 | Three-foot stair climbing device and implementing method thereof |
| CN104527822A (en) * | 2014-12-22 | 2015-04-22 | 孙欣 | Crawling ladder traveling device |
| CN105182836A (en) * | 2015-05-05 | 2015-12-23 | 东华大学 | Intelligent sensing and executing leg mechanism for stair climbing robot |
| CN105819369A (en) * | 2016-06-01 | 2016-08-03 | 东北林业大学 | Hydraulic lifting, shifting and transporting device |
| CN106176073A (en) * | 2016-08-31 | 2016-12-07 | 河南纵横精工机械科技有限公司 | Intelligent life wheelchair |
| CN109050700A (en) * | 2018-07-13 | 2018-12-21 | 东南大学 | A kind of lift stair climbing robot |
| CN109760730A (en) * | 2019-03-08 | 2019-05-17 | 山东建筑大学 | One kind climbing building hydraulic lifting platform and method |
-
2007
- 2007-01-15 CN CN 200710007471 patent/CN101032982A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103307606A (en) * | 2012-03-15 | 2013-09-18 | 威海鲁源科技环保设备有限公司 | Hydraulic heatable brick bed surface translation cooling device for ash collection furnace |
| CN104224464A (en) * | 2013-06-09 | 2014-12-24 | 钱诗艺 | Power seat with function of climbing steps |
| CN103359198A (en) * | 2013-07-08 | 2013-10-23 | 东华大学 | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method |
| CN103932848A (en) * | 2014-04-24 | 2014-07-23 | 郑清荣 | Full-automatic hydraulic lifting marching type electric stair climbing wheelchair |
| CN104161631A (en) * | 2014-08-02 | 2014-11-26 | 吴翰威 | Wheel chair allowing the disabled to go upstairs conveniently |
| CN104443094A (en) * | 2014-10-14 | 2015-03-25 | 江苏大学 | Three-foot stair climbing device and implementing method thereof |
| CN104443094B (en) * | 2014-10-14 | 2016-08-24 | 江苏大学 | A kind of tripodia Stair climbing device and its implementation |
| CN104527822A (en) * | 2014-12-22 | 2015-04-22 | 孙欣 | Crawling ladder traveling device |
| CN105857421A (en) * | 2014-12-22 | 2016-08-17 | 孙欣 | Barrier-free transportation vehicle |
| CN105882778A (en) * | 2014-12-22 | 2016-08-24 | 孙欣 | Rescue obstacle-crossing walking vehicle |
| CN105857421B (en) * | 2014-12-22 | 2017-12-08 | 长乐巧通工业设计有限公司 | Accessible transport vehicle |
| CN105182836A (en) * | 2015-05-05 | 2015-12-23 | 东华大学 | Intelligent sensing and executing leg mechanism for stair climbing robot |
| CN105182836B (en) * | 2015-05-05 | 2017-10-24 | 东华大学 | Intellisense and the leg mechanism of execution for stair climbing robot |
| CN105819369A (en) * | 2016-06-01 | 2016-08-03 | 东北林业大学 | Hydraulic lifting, shifting and transporting device |
| CN105819369B (en) * | 2016-06-01 | 2018-03-09 | 东北林业大学 | A kind of hydraulic lifting board migration device |
| CN106176073A (en) * | 2016-08-31 | 2016-12-07 | 河南纵横精工机械科技有限公司 | Intelligent life wheelchair |
| CN109050700A (en) * | 2018-07-13 | 2018-12-21 | 东南大学 | A kind of lift stair climbing robot |
| CN109760730A (en) * | 2019-03-08 | 2019-05-17 | 山东建筑大学 | One kind climbing building hydraulic lifting platform and method |
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