CN101622169A - Stair-climbing wheeled vehicle - Google Patents
Stair-climbing wheeled vehicle Download PDFInfo
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- CN101622169A CN101622169A CN200880006386A CN200880006386A CN101622169A CN 101622169 A CN101622169 A CN 101622169A CN 200880006386 A CN200880006386 A CN 200880006386A CN 200880006386 A CN200880006386 A CN 200880006386A CN 101622169 A CN101622169 A CN 101622169A
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Abstract
A wheeled vehicle comprising a power-driven spider assembly for ascending and descending stairs. The vehicle includes an angular position sensor providing input to a controller operable to control a servo-motor to effectively lock the position of the spider relative to the frame, regardless of the hand truck's spatial orientation relative to a vertical plane, or any balancing of the hand truck. The angular position sensor provides input to the controller, which is programmed with predefined angular zones of instability, and causes the controller to accelerate rotation of the spiders through those zones when the wheeled vehicle is in the descent mode, to avoid instability of the hand truck. A hand truck may include a removable basket and/or a pivotable platform usable to transport loads.
Description
The cross-reference of related application
Present patent application requires the preceence of the 60/900th, No. 813 U.S. Provisional Patent Application of submitting on February 12nd, 2007 and the 61/021st, No. 167 U.S. Provisional Patent Application of submitting on February 15th, 2008, and at this, it is for reference to quote its whole disclosure contents.
Technical field
Relate generally to stair-climbing wheeled vehicle of the present invention, the present invention relates more particularly to a kind of star such as handcart and drives electric wheeled cat ladder car, and it has fixedly star schema of microprocessor control, thereby helps to make car balance and maneuver.
Background technology
Cat ladder handcart, wheelchair and other wheel car (be referred to as: known existence century more than one car), but battery-driven car that can cat ladder is the new things that occur recently.Many this car complexity, costliness and effort.
In order to construct based on star, perhaps wheel is gone up wheeled (wheel-over-wheel) design-calculated cat ladder car, has done many trials.While tri-wheel spider assemblies is fit to cat ladder very much, and when using on smooth ground, there is the basic problem of controlling in they.Because a pair of While tri-wheel spider assemblies has four wheels (in each star two) kiss the earth naturally, thus more be difficult to make car to be turned, and require the turn radius of ratio of cornering radius conventional hand trucks much bigger, conventional hand trucks only has two wheel kiss the earths.
There is several different methods to address this problem.A kind of straightforward procedure is, comprises manual-operating mechanism, and this manual-operating mechanism utilizes mechanical means that star is locked in the appropriate location, so that rolling when mobile, has only two wheels (wheel on each spider-assemblies) to contact to earth.For example, various chain-wheel mechanisms have been used to realize the two-wheel locking, but they have significantly increased the cost and the weight of car.Chain is also very tight, and if et out of order, may produce reliability or safety hidden danger.
System requirements tricycle assembly based on mechanical pin rotates to accurate angle, inserts the locking pin in this position, is manually favoured two angles on the wheel with this assembly locking to allow this unit.The subject matter that adopts this mechanical pin method is intensity and complexity.This tricycle assembly must accurately be aimed at, insert pin then, if the user does not do a large amount of effort, this may be difficult to realize.Under loaded situation, also be difficult to retract this pin, change the cat ladder pattern into.The sprocket wheel method is identical with utilizing, and each parts also bears sizable mechanical strees, and is therefore, heavier.
The rigid locking system is all adopted in two kinds of designs, and like this, they can not bear vibration and impact.For example, when rolling on the road of curb and other hollow, it is more common that handcart is experienced vibration.Chain or pin lock are experienced easily than the high peak stress more than 5 times or 5 times of averaged static stress, must design this part to bear this peak stress, and this has just increased weight and productive costs.
The complicated approach that manned wheelchair adopts relates to and comprises motor, sensor, and two wheels (wheel on each spider-assemblies) are carried out based on the control of feeding back, so that wheelchair self is with respect to vertical reference face self-equalizing.
Summary of the invention
The invention provides a kind of wheel car, comprising: rigid frame, supporting shaft; And a pair of spider-assemblies, can be rotated to support on the adjacent of the opposite end of described axle.Each spider-assemblies in this a pair of spider-assemblies supports a plurality of runners, and described a plurality of runners are connected with synchronous rotation.This car further comprises position transduser, and it is bearing in the position on this framework, to measure a spider-assemblies in this a pair of spider-assemblies with respect to the position, angle of this framework.This car further comprises electro-motor and power supply, and they are bearing on this framework, and is operably connected, to drive this a pair of spider-assemblies rotation.This car further comprises controller, it is bearing on this framework, and be operably connected to this position transduser and this power supply, so that this electro-motor applies the torque of variation to this a pair of spider-assemblies, thereby, make them keep position, selected angle with respect to this framework according to the input of receiving from this position transduser.Therefore, this car with respect to any one angle in several different target angles of this framework, is being proofreaied and correct under the modification condition " fixing " or locking or maintenance with spider-assemblies.Therefore, this car comprises feedback system, and this feedback system comprises magnetic or other absolute angular position sensor, the pre-configured controller and the main CD-ROM drive motor based on microprocessor of suitable instruction.
Instantly during the cat ladder rank, this spider-assemblies has intrinsic unsettled angular region/zone.In these zones, under given conditions, the conventional spider assembly may slip away from the edge of step, and asynchronous rotating to below them.In a particular embodiment, according to three-wheel or other configuration of this spider-assemblies, this controller storage is used to discern the instruction corresponding to the angle position range in this zone, and this position transduser detects the position of this spider-assemblies.In such an embodiment, this controller can initiatively quicken this spider-assemblies by this unstable region, the remarkable like this risk that slips away from the edge of this step that reduced.This feature has greatly improved safety and the comfort level that this product uses, and, for impelling While tri-wheel spider assemblies to satisfy non-professional user's operating needs, particularly useful.
This car can comprise variable-engagement clutch and brake system.This power-transfer clutch can lock onto wheel the infrastructural frame identical with cart frame, perhaps can allow them freely to spin.At climb mode or down under the creeping formwork formula, this clutch system is mainly used in the additional drives tractive force is provided, so that this handcart is climbed up step, and does not slip away or beats in the original place.This power-transfer clutch can also be used as drg, so that handcart is locked onto on the step, if climb up or under climb during, the user is parked in certain position, then can reduce the possibility that it slips away like this.This power-transfer clutch is electromagnetism, is also controlled by controller fully, does not need the user to control.
Randomly, this car can be configured to handcart, and further comprises detachable loading basket and two flat plate freight system.This car may further include wheel protective case and rotatable telescoping handle.
Description of drawings
Now, will be with reference to the accompanying drawings, utilize example, the present invention is described, wherein:
Figure 1A and 1B are the isometric plans according to typical car of the present invention;
Fig. 1 C and 1D are the back view and the isometric plans of car shown in Figure 1, illustrate for clear, under the situation of shell that unloads selection and parts, they are shown;
Fig. 2 A-2F is the schematic diagram of the consecutive steps of the car shown in Figure 1 that illustrates between decrement phase in stairwell;
Fig. 3 is illustrated in the side schematic diagram of the aboveground car shown in Figure 1 that illustrates of steep stairwell;
Fig. 4 is the operational flowchart of car shown in Figure 1;
Fig. 5 is in the double-make contact configuration, the lateral plan of the car shown in Figure 1 that illustrates under the parallel motion situation;
Fig. 6 illustrates the lateral plan of the conversion embodiment of the car with pillar;
Fig. 7 is the transparent view according to another conversion embodiment of the car that the present invention includes two typical cargo loading plates;
Fig. 8 is the transparent view that the car shown in Figure 7 of the typical loading basket of supporting is shown according to the present invention;
Fig. 9 is the transparent view of car shown in Figure 7, it illustrate be in according to the present invention can not operating position upper flat plate;
Figure 10 is and the transparent view of car like the vehicle shown in Figure 7 that it illustrates the telescoping handle according to conversion embodiment of the present invention;
Figure 11 is the schematic diagram according to the various parts of wheeled devices of the present invention; And
Figure 12 is the functional-block diagram that the various parts of typical wheel car are shown.
The specific embodiment
Relate generally to stair-climbing wheeled vehicle of the present invention, the present invention relates more particularly to a kind of star and drives electric wheeled cat ladder car, and it has the fixedly star schema of microprocessor control, thereby helps to make driver's kinetic balance and maneuver.The present invention can be applied to handcart, baggage car, perambulator and other wheel car.Wheel car according to the present invention comprises: sensor, electro-motor and the controller that is used for controlling according to the input of receiving from sensor this motor so that fixedly star schema to be provided, thereby help to make driver's kinetic balance and maneuver.Different with many machine designs, method of the present invention is electronic method basically, and need not significantly to increase parts or productive costs, and can avoid end user's complicated operation.
In order to say something, below in conjunction with typical handcart-type car, the present invention is discussed, Figure 1A-1D illustrates this typical case's handcart-type car.From Figure 1A-1D as can be seen, this handcart comprises the rigid frame 22 that is used for supporting shaft 24.The carrying protrusion of a kind of typical of conventional hand trucks of this frame support or flat board 36 and user's handle 34.The fixing adjacent both ends of the symmetry of axle 24 is spider- assemblies 20a, 20b, and in star formula structure, they have reaction plate 26 equidistant supporting runner 28A, 28B, 28C respectively.Geared motor 30 and battery 50 are bearing on the framework 22.Motor 30 is operably connected with battery 50, and motor 30 is operably connected to axle 24 (Fig. 1 C) by gear cluster 40, motor 30 can apply torque, so that spider- assemblies 20a, 20b be around the axis cw of axle 24 with rotate counterclockwise, and framework 22 is maintained fixed.
For example, utilize fixing and rotate with each wheel 28A, 28B, 28C and by bilateral timing belt 72 bonded assembly gears 70, the wheel of be operably connected each spider- assemblies 20a, 20b is to realize synchronous rotation, shown in Fig. 1 D and 11.Loose pulley 74 check straps 72 are so that remain in the track of reaction plate (hub) 26 with 72.Be with 72 to engage, make wheel 28A, 28B, 28C, perhaps separate, allow wheel freely to rotate synchronously by motor 30 drivings, with synchronous rotation by controller 60 control selectivity oncoming clutch 80.
As shown in Fig. 1 C and 11 the bests, power-transfer clutch 80 comprises two major parts: Motionless electromagnetic dish 66 and rotary-actuated dish 68.Magnetic board 66 is fixed on the framework 22, and rotary-actuated plate 68 is bearing on the main shaft 24, so that it can rotate freely with respect to main shaft 24.Can the operate mobile clutch plate, to utilize variable slipping torque, with centre-driven belt pulley " locking " to framework 22.By under the control of controller 60, changing the voltage that electromagnetic disc 66 is applied, produce variable force.Rolling disc 68 is integrated on timing belt wheel and the belt system, so that it and wheel 28A, the 28B, the 28C that are positioned on each spider- assemblies 20a, 20b rotate synchronously, in Figure 11 shown in the best.When engaging, power-transfer clutch 80 is at the rolling disc 68 fixing with respect to wheel (can rotate with respect to axle 24) and be fixed between the reaction plate 66 on this framework and apply variable torque.Power-transfer clutch 80 utilizes variable force that central pulley is locked onto on the framework 22.When wheel and spider hubs 26 during around the central pulley rotation of locking, wheel 28A, 28B, 28C be driven, with respect to framework 22 rotations, simultaneously, drives reaction plates 26 by main shaft 24, and they move to change the arc mode.Therefore, wheel is rotated with respect to framework 22, and spider- assemblies 20a, 20b rotate around them, thereby produce the power that drives forwards only, this drives forwards power only makes the car 10 and the substrate of step form engagement relationship, rather than it is fallen in position or upsprings.When the wheel of spider-assemblies contacted the vertical plane of next step, this car no longer further was driven into this step, and power-transfer clutch 80 slips, to limit the torque that belt pulley system is applied.
According to the present invention, car 10 further comprises position transduser 32 (seeing Fig. 1 C), and this position transduser 32 is installed, with the angle that forms between sensing framework 32 and the spider-assemblies 20a (for example, the reference part on the reaction plate 26).As an example, absolute optical encoder or absolute magnetic rotary encoder can be used as position transduser 32.This position transduser 32 is installed, with the angle position of sensing star with respect to the remainder of framework 22, and with this angle position feedback to controller 60.As an example, this position transduser 32 can be fixedly mounted on the appropriate location on the axle 24, when it rotates, to read the mark of reaction plate 26.As a kind of selection, those skilled in the art understand that sensor 32 can be integrated on the gear cluster 40.
Randomly, car 10 further comprises the angular velocity sensor 34 (seeing Fig. 1 C and 12) such as the increment optical pickocff.This angular velocity sensor 34 is installed in (perhaps on the axle 24) on the framework 22, with the cireular frequency of sensitive axis 24 rotation (and therefore the cireular frequency of sensing reaction plate 26), and it is fed back to controller 60, this controller 60 can be controlled the operation of the axle drive shaft of motor, just as described in greater detail below.As an example, increment optical encoder 34 can be installed on the main shaft 24, also can be installed on the axle that for example is positioned at gear cluster 40 motor before.All the time measure variation with position transduser and compare, this increment optical encoder 34 provides speed responsive observed reading faster.
To controller 60 programmings, control with the operation of rival car under various patterns.More particularly, Configuration Control Unit 60, with basis one or more input of receiving from position transduser 32, speed sensor 34, optical pickocff 64 and switch 56, according to being stored in, the electric current of delivering to electro-motor 30 from power supply 50 is controlled based on the microprocessor executable instruction in the internal memory of the controller 60 of microprocessor.See Fig. 1 C and 12.Provide different instruction to various operation modes.
Move Mode is used on smooth basically floor etc. mobile luggage etc., and under this pattern, controller 60 separates variable-force actuator (magnetic clutch), thereby allows wheel 28A, 28B, 28C to rotate freely.Controller 60 receives data from position transduser 32, and make motor turn to spider-assemblies (reaction plate 26) several with respect to framework (for the While tri-wheel spider assemblies that is separated about 120 degree, one of be 3) predetermined angle position, then, this spider-assemblies is fixed on position, selected angle.This position, angle is such position, angle,, is in stand up position basically at framework 22 that is, and under the situation that four wheels (two wheels of each spider-assemblies) rest on the ground, car is static.When framework 22 is tilted with by horizontal surface the time, it is a fixed cell that spider-assemblies reaction plate 26 and framework 22 tilt, angle between reaction plate 26 and the framework 22 is fixed, and in this position, only locatees two wheels (the last wheel of each star) on the handcart mobile time contact floor of rolling.Controller 60 from position transduser 32 continuous acceptance angle position datas as feedback, and by changing the electric current of delivering to motor from power supply, control motor 30, reaction plate 26 is fixed on position, selected angle, for example, between star and framework, keep the predetermined angle relation, and do not consider position or the orientation of framework/handcart with respect to floor or vertical surface.
More particularly, controller 60 utilizes position transduser 32 to determine the leading angle of working as between reaction plates 26 and the framework 22, and angle on target is set to several nearest those in the position (each is corresponding to the position of each wheel of tricycle assembly) of accepting.By bi-directional pulse width modulation (PWM) ACTIVE CONTROL motor 30, to keep angle on target.This controller proportion of utilization integral differential (PID) control loop makes the spider-assemblies reaction plate keep the angle of stability position.In order to prevent whisk or to beat, use the power that rises gradually.Therefore, the relative angle position of reaction plate 26 and framework 22 remains unchanged basically, and framework and reaction plate tilt as one unit, and reaction plate is " fixing " with respect to framework.Therefore, the radius of turn of this unit is significantly reduced, and can turn over little corner.Then, before climbing and descending, lockout mechanism is separated, thereby allow star gear to rotate freely, shown in Fig. 2 A.
Therefore, do not consider handcart with respect to the spatial orientation/inclination of vertical surface etc., this controller, position transduser, motor and power supply cooperate, and with under fixed mode, make reaction plate 26 be maintained fixed the position, angle with respect to framework 22.
Can imagine that the electronically controlled motor of this controller is kept the advantage of this elasticity slightly relation of " fixing " to be, does not utilize mechanical means to be connected and fixed the rigid mechanism of dish and framework.According to the present invention, impact and torque that reaction plate is produced mainly exert an influence to the electromagnetic field of motor, and the electromagnetic field of motor is not the mechanical part that easily breaks.Therefore, control system plays the electronics vibration absorber, and allows tricycle assembly to move the several years when impacting, with the stress that reduces dynamical system is produced.In one embodiment, this controller is provided with the preset current restriction, if consequently this reaction plate bears the king-sized impact above predetermined threshold, then its preset current restriction of motor hit, and this controller will make tricycle assembly rotate to next order predetermined angle position.In case should impact disappear, then as next target, and resume operations immediately keeps not having and damages this controller with new fixed angle.
Under climb mode, the guide wheel of tricycle assembly may impact the vertical plane of ladder, but not rolls on tread, and from subscriber station on the ground, marked change takes place pulling power angle (pullangle).In order to proofread and correct this angle and these two guide wheels to be positioned on the step, controller 60 makes spider-assemblies reaction plate 26 turn to position, suitable angle, begin to climb, and be used to feedback from position transduser 32, change the electric current/torque that puts on motor 30, so that this reaction plate is fixed on the appropriate location with respect to framework 22.This suitable angle this guide wheel of location positioning is to guarantee that they do not influence next ladder during climbing.On the contrary, under Move Mode, select the position, angle, by making earth point, reduce the torque that reaction plate is required with respect to frame fixation, to reduce the consumption of power and the extending battery life of motor near the center of gravity (perhaps Yu Qi center of gravity) of loading handcart.
In addition, under climb mode, controller 60 makes variable-force actuator provide medium sized braking force at the contact point of wheel, for example, the torque of 0-15 in-lb, the perhaps propulsive effort of 0-4 pound, thus prevent that wheel from freely spinning, thus effectively pin the wheel rotation.This driving torque has increased the horizontal component of the power that step is applied, thereby makes handcart " hug " vertical plane of each step.If this power not, then spider-assemblies usually only applies sinusoidal force in vertical direction, do not head on the user under the situation of vertical plane tractor unit of each next step, the power of this step that climbs is not provided, if and the user is unstable dilatory, then this unit may jump ladder, beat in position, perhaps fall from this step.
In addition, controller 60 makes the motor driven spider-assemblies, to be fit to the direction rotation of climbing.When star rotation cat ladder rank, lock this wheel like this and help to stablize.The slip of limited size when medium sized braking force also allows to climb when joining line with the tread/vertical plane when wheel contact stair, make wheel around its rotation, and relevant star is continued rotation.The rotating speed of controller 60 these stars of sensing (directly determined or determined indirectly by the data that position transduser 32 provides by speed sensor 34), then, the control motor to change the rotating speed of star, remains a constant speed basically thereby make to climb.Note that when the handcart cat ladder car 10 self does not attempt to realize balance, but depend on that the people on cat ladder rank guides handcart to guarantee stability.
In one embodiment, this car comprises stair sensors 64, illustrates as Figure 1B the best.Each stair sensors 64 can be commercially available infrared optics range finder.Dispose this car, thus each stair sensors 64 all be used to measure from the attachment point on the framework 22 to be positioned at the framework back slightly, before beginning to climb, run into the distance of nearest face of the position of ladder probably.Preferred disposition controller 60 so that even the user utilizes switch 56 to select climb mode, if in fact car 10 is not positioned on the step or near step, still prevents the spider-assemblies rotation.Therefore, Configuration Control Unit 60 so that even the user utilizes switch 56 to select climb mode, if stair sensors 64 does not detect adjacent stepchain, prevents that still spider-assemblies from operating under climb mode.
In one embodiment, in the position near 1.5 feet on ground, a pair of optical range detector 64 is installed on the framework.These two sensors 64 are all downward, and measure the distance from fixed datum to nearest face.If this distance value reduces the preset threshold value amount, then car may be positioned at the appropriate location near ladder, and this controller will make this car enter climb mode.By before allowing to drive star with climb mode, require two/all sensors to confirm to exist adjacent stepchain simultaneously, use two or more sensors to reduce because user's pin or clothes and the wrong possibility that reads.
If do not detect adjacent stepchain, then this car can not drive spider-assemblies in order to climb, but keeps climb mode, up to being cancelled by the end user.Behind first ladder, controller makes the motor driven spider-assemblies in sensor, as long as ascent button is pressed, perhaps before cancelling climb mode with other method, car just climbs.If the user determines not cat ladder rank, then by temporarily pressing down another suitable button of climbing in button or the switch 56, this car can return Move Mode.
Under drop mode, controller 60 separates variable-force actuator 80, and makes motor 30 drive the direction rotation that spider- assemblies 20a, 20b are being fit to descend.Under this pattern, controller 60 sensing spider- assemblies 20a, 20b be with respect to the position, angle of framework 22, and impel motor 30 to make this star quicken rotation with respect to framework by each presumptive area in three presumptive areas of each position, angle of this star.These zones are corresponding to unstable region, and at this unstable region, the center of gravity of loading handcart usually is positioned at towards the side upstairs that is positioned at the guide wheel rotating shaft on lower floor's step tread.For example, each zone may cross over each arm of star from the position of leaving vertical direction-10 degree the position, angle to the position of leaving vertical direction+5 degree.Because weight distribution (weight distribution), to compare with climbing under the step with mode by in these unstable regions, rotating star, the loading handcart more trends towards in an unstable manner rolling and descending from step along tread.Therefore, rotate star rapidly and be reduced to minimum by these zones fugitiveness of will being correlated with.This rotation is very little to the impact of descending speed, and still keeps basically descending speed at the uniform velocity.
Preferred disposition controller 60 with according to the absolute corner of spider-assemblies with respect to framework 22, applies the torque of alternately climbing and climbing up guiding down to spider-assemblies between decrement phase in stairwell.This helps to guarantee that guide wheel compresses the interior angle that tread/vertical plane has a common boundary, and therefore, under the situation that geometry or the size of spider-assemblies is not applied restriction in order to adapt to any specific stairwell height, has eliminated the unconscious possibility of rotation backward.Therefore, advantage is to allow to comprise any spider-assemblies configuration of three-wheel configuration, thereby be fit to the stairwell of any vertical plane height of decline.
Spider- assemblies 20a, 20b can optionally or in a clockwise direction or with anticlockwise direction be driven by motor 30.Configuration Control Unit 60 with according to the feedback from speed sensor 34 and absolute angular position sensor 32, changes motor power, thereby regulates climbing speed and descending speed.Because the loading torque on the spider-assemblies is sinusoidal, thus the torque and descend braking alternately of climbing with sinusoidal figure, even so that load torque and motor power is anti-phase sine waveform, this rotating speed still can remain a constant speed basically.
Therefore, as predetermined and be stored in the internal memory of controller, under drop mode, controller 60, position transduser 32, angular velocity sensor 34, motor 30 and power supply 50 cooperate, and make reaction plate 26 quicken rotation by unstable region.Shorten the duration before the center of gravity that guide wheel is positioned at handcart like this, therefore, shortened the duration that handcart keeps unstable state.
As an example, under Move Mode, angle on target is such, that is, when framework is tilted in order to move, for example, when the about 20-45 of offset from perpendicular spends, center of gravity is approaching be positioned at center, wheel contact directly over.Under climb mode, angle on target can change about 5-15 degree, does not contact contiguous step to guarantee guide wheel.
When climbing up or descend the cat ladder rank, the user may wish car is stopped, so that the user can be upper and lower or static.Configuration Control Unit 60, if so that still climbing up or following release ascent button during the cat ladder rank when car, then car is certain to stop and is in stable angle, is ready to climb or descend up to the user.Therefore, dispose this car, to enter stop mode in this case.
Under stop mode, controller 60 makes motor 30 drive spider- assemblies 20a, 20b, to continue to rotate to the position, an angle in determined three predetermined angle positions of the feedback that is provided by position transduser 32.Although reaction plate 26 is stopped, also can utilizing electronic method it to be fixed on angle that (utilizing angle transducer/motor feedback loop) requires arbitrarily, but reaction plate is stopped the rotation in the desired location, two other wheel is positioned on the tread of next higher ladder so that two wheels of car are positioned at down on the tread, and handcart is positioned at the position of erectting basically, and is especially stable.The desired location is defined as expecting that handcart stands position on the step of stair with stationary mode.
Even note that when stopped climbing or under climb and spider-assemblies when stopping the rotation, if the user does not provide enough big grip, then this car still can roll down to step.In order to eliminate this rolling, controller makes variable-force actuator 80 engage (and preventing that wheel 28A, 28B, 28C from freely spinning), with when reaching the desired location, provide wheel is locked onto certain position, and prevent the slip away very large latching force of this step tread of handcart.When climbing up step or following cat ladder rank, this allows handcart to keep its position on stair.
In order to use car 10 on horizontal surface and stairwell, the user is holding handle 34, and tilt frame 22, tilts with respect to horizontal direction up to it, shown in Fig. 2 A.Be positioned at the reaction plate 26 generations downward power f of the weight of the arbitrary load on the protrusion 36 to spider-assemblies 20a, 20b.The orientation of spider-assemblies when climbing in order to illustrate down in Fig. 2 A-F, marks wheel 28A, 28B, the 28C of triangular symmetry respectively.Shown in Fig. 2 A, when near below vertical plane 38 time, car 10 starts on higher tread 39.Then, guide wheel 28A rolls across the turning 37 of higher tread 39, causes reaction plate 26 around the rotation of its center, vertical plane 38 below wheel 28A contact, shown in Fig. 2 B.Shown in Fig. 2 B, the distance lambda that the horizontal distance delta that records from the centre of gration of vertical plane 37 to 26 records to vertical plane 37 less than the center from 28A, power f produces the clockwise moment around reaction plate 26 and axle 24.Because δ＜λ so corresponding displacement does not take place gravity, causes climbing below 26 direction and rotates around wheel 28A centrally-pivoted axle, wheel 28A tends to forward direction and rolls, and shown in Fig. 2 E, causes wheel 28C to fall suddenly on the tread 38, and cause the spider-assemblies right-hand revolution, shown in Fig. 2 F.
For fear of this trend, if δ＜λ, that is, when the center of reaction plate 26 during not with left side (among Fig. 2 B) level of wheel 28A center pivot(ing) point, controller makes motor 30 apply forward torque τ
fBecause framework 22 keeps reasonable fixed angle with respect to horizontal direction, and the angle that forms between position transduser 32 gage frame 22 and the reaction plate 26, so the transitivity of utilization (transitive property), framework 22 can effectively be measured the orientation of reaction plate 26 with respect to horizontal direction.Like this, be used to the feedback from angle transducer 32, when controller can be set up by verification condition δ＜λ.Applying τ
fThe time, reaction plate 26 is around the center-point anticlockwise direction rotation of wheel 28A, up to δ＞λ, shown in Fig. 2 C.When condition δ＞λ set up, power f was around wheel 28A, produce anti-clockwise moment along the hand of rotation of reaction plate 26.Then, controller makes motor apply clockwise opposing torque τ
r, to reduce rotating speed around the reaction plate 26 of the center of wheel 28A rotation.Apply opposing torque, up to 26 orientations that are up to the standard, shown in Fig. 2 D.Position transduser 32 these horizontal alignments of check, thereby sensor 32 is delivered to controller with the feedback of position, angle marked change no longer at any time.The wheel 28A vertical plane 37 of keeping in touch, and wheel 28B is in the front that is positioned at the wheel 28A on the descending stair face, however shown in Fig. 2 F that attempts to avoid alternately under the situation, wheel 28C drops to contact vertical plane 37, and wheel 28B is not in contact with the ground.After finishing 120 ° rotation, this unit is in the original orientation shown in Fig. 2 A again, is ready to move on level ground, perhaps in the same manner as described above, climbs another step down.
May run into higher step vertical plane, as shown in Figure 3, wherein vertical plane height x, satisfy relational expression from the center of reaction plate 26 to the center of each wheel apart from a and wheel radius b: x＞b+a+1/2a-b, perhaps more briefly, x＞3/2*a.In this case, do not need to apply forward torque τ down when climbing
f, because condition δ＞λ is avoided.Fig. 4 shows unit process as mentioned above with diagram of circuit.
The advantage of this embodiment is that it is convenient to geared motor 30 and allows spider-assemblies to rotate continuously, the desired location of at least two wheel contact tabular surfaces in reaching wheel 28A, 28B, 28C.In unstable position, the keep in touch position on plane of only wheel shown in Fig. 2 C, if being shown in, user's free list climbs up or preferably stops at when climbing down stairwell connection switch midway, microprocessor just is ready to continuous anticlockwise direction rotation, until reaching the orientation shown in Fig. 2 D, subsequently, this controller makes motor apply clockwise torque rating to star, thereby star is fixed on the desired location.
Please with inverted sequence, that is, Fig. 2 D, 2C, 2B, 2A climb each stage of step with reference to car is shown.Be orientated with reference to the star among the figure 2C, if the user determines to disconnect the switch that is used to climb, at motor by applying before specified clockwise moment is fixed on aforesaid in-position with this unit, this unit continues suitable right-hand revolution, on guide wheel 28C is positioned at higher tread shown in Fig. 2 B.Therefore, two different orientations shown in Fig. 2 B and 2D can provide settling position, that is, and and the keep in touch position of stairwell face of two wheels in three wheels.
Should note, in selecting embodiment,, can one group of additional wheel be installed to support column 40 such as in perambulator embodiment, support column 40 is installed on the framework 22, rotates with pivot between the position of NOT operation and the operating position that helps parallel motion as shown in Figure 6.This car can be equipped the load measure table, and this load measure table is communicated by letter with this controller, with variation according to load on the framework, and the output of governor motor.
In a particular embodiment, this wheel car is configured to handcart 10, this handcart 10 comprises fixing or folding base platform, folding auxiliary upper flat board and detouchable loading basket, as shown in Fig. 7-9 the best.The cat ladder parts of this handcart are identical with the top cat ladder parts of describing with reference to figure 1-6.Now, with reference to figure 7, it shows rigidity cart frame 22, rigid foldable upper flat plate 23, plate hinge mechanism 40, the blue attachment point 45 of loading and lower flat plate 27.More particularly, still with reference to exemplary embodiments shown in Figure 7, collapsible upper flat plate 23 can be rotated at hinge 24 head lamp brush guard pivots, and can be parallel to the direction (see figure 9) of framework 22 or fix this collapsible upper flat plate 23 with the direction (see figure 7) perpendicular to framework 22.Therefore, as can be seen, in order no longer to be in the way, can fold this folding upper flat plate (facing to framework 22, as shown in Figure 9) so that high capacity is loaded on the lower flat plate, and interference-free.
Any materials that can utilize its intensity and rigidity to be enough to carry anticipated load such as steel, is constructed various parts.
Now, with reference to figure 8, the handcart 10 that shows among Fig. 7 and Fig. 9 has top goods basket 12 and the lower basket 16 that is bearing in respectively on upper flat plate 23 and the lower flat plate 27.This goods basket can hold load special shape or unsettled, is used to transport safely, and for bigger load, can unloads it.Be installed on the framework, also allow the goods basket is hung on this framework by the hook with the goods basket, top goods basket 12 and lower basket 16 can be installed on the framework 22 easily, perhaps unload from framework 22.Preferably, design lower basket 16 makes it be fit to be assemblied in the margin of framework 22, and avoids contacting any motion parts of handcart.Top goods basket and lower basket preferably are made of in light weight, the antiburst material that can satisfy requirement of strength, a kind of such as in the various plastic material.
As can be seen, two flat panel configurations allow to load two loads, and needn't be mutually in stacked on top.Breakage of fragile loads can be prevented like this, and, stability can be improved for the load that is difficult to pile up.
Therefore, in the embodiment shown in Fig. 7-9, this handcart comprises dull and stereotyped 23, this flat board 23 is installed on the framework 22, is substantially perpendicular to cart frame and is arranged essentially parallel to pivot rotation between the operating position that the cargo bed 27 of handcart stretches out to lean against off position on the cart frame and it at it.At this operating position, flat board can be used to support the load such as one case parcel, and need not to be stacked on the goods that is positioned on the longer flat board.This flat board can rotate to off position by pivot, with the big goods of permission carrying such as golf bag on lower flat plate 27, and does not hinder this flat board.In addition, this framework can dispose the attachment point that is used to support one or more removable unloading basket, and each removable unloading basket all can be used for bearing goods respectively, and need not mutual stacking goods on this flat board.For example, lower basket 16 can be carried on the lower flat plate 27, and case can be carried on by pivot and rotates on the upper flat plate 23 of operating position.
Selectively, wheel car 10 according to the present invention can comprise a pair of wheel cover 60a, the 60b that is installed on the framework 22, when spider-assemblies is rotated, they are in position partially enclosed corresponding spider- assemblies 20a, 20b respectively, and spider-assemblies and cargo area adjacent lower dull and stereotyped 27 and framework 22, that limit are isolated, shown in Figure 10 the best.
Selectively, wheel car 10 may further include flexible, the Spin Control handle 64 that is bearing on the framework 22, as shown in figure 10.Handle 64 comprises the ergonomics handle spare 63 that is installed on the rigid shaft 65, and it both can rotate, and can stretch out from the metal tube telescopically on the framework that is installed to handcart again.The user can be adjusted to handle 64 any height of requirement.Then, can utilize the traditional lockout mechanism such as spring bias voltage clamping pin mechanism, fixing device etc., lock handle spare 63 and telescopic shaft 65 stretch out or withdraw so that further prevent straight line, and still allow rotation to take place.When climbing up step or following cat ladder rank, owing to allow any side of subscriber station in this unit, and needn't hold handle with certain uncomfortable angle, so the feasible easier use of this revolving property.The user interface control line extends by hollow handle spare and/or hollow shaft 65.Utilize mechanical brake, this handle can be limited to and only rotate 120 degree, thereby prevents that inner lead from excessively being reversed or destroyed.
Therefore, can realize feature, promptly according to car of the present invention, adopted the feedback system of magnetic or other absolute angular position sensor, controller and main CD-ROM drive motor by utilization, make spider-assemblies to determine angle with respect to frame fixation, for example, locking or maintenance.Do not need pin, link rod or other mechanical lock mechanism, reduced the possibility that fracture takes place like this.
Another feature of car according to a particular embodiment of the present invention is, the decline stage variable-ratio, brakes based on angle.Instantly during the cat ladder rank, spider-assemblies has intrinsic unsettled angular region/angular zone.In these zones, under certain conditions, can the slip away edge of step of conventional spider assembly, and asynchronous rotating to below them.According to the present invention, absolute angular position sensor detects the position of spider-assemblies, and when in these zones of determining at the controller of pre-programmed, when this controller initiatively quickens spider-assemblies and passes through this unstable region, the risk at the edge of this step that can significantly reduce to slip away.This characteristic remarkable has improved this security of products of use and simplification, and this is particularly useful for While tri-wheel spider assemblies, can satisfy the expectation of unprofessional user satisfactorily.
Another feature according to car of the present invention is integrated variable-engagement clutch and brake system.This power-transfer clutch can lock onto wheel the infrastructural frame identical with cart frame, perhaps can allow them freely to spin.At climb mode or down under the creeping formwork formula, clutch system is mainly used in the additional drives tractive force is provided, and climbs up step to promote handcart, and does not slip away or beat in the original place.This power-transfer clutch so that handcart is locked onto on the step, if the user stops at certain position when climbing up or climbing down, then can reduce the possibility that handcart slips away also as drg like this.This power-transfer clutch is an electromagnetism, and it does not need the user to control fully by controller control.
Another feature comprises the blue and two flat plate freight systems of detachable loading.All spider-assemblies designs all must prevent the load collision or snarl the wheel assembly of rotation.According to the present invention, this car can comprise the wheel protective case and be assemblied in two loading indigo plants between the spider-assemblies, guarantee appropriate separation.These goods baskets can be used to load groceries, the clothing that will wash or other typical household items arbitrarily.Upper flat plate is being folded up, and under the situation of no longer being in the way, two flat-panel systems allow thin and tall load is loaded on the lower flat plate, and wide load can only be loaded on the upper flat plate, leaves the wheel assembly of rotation to guarantee this load.
Although described the principle of the invention at this, those skilled in the art understand, only carry out this description as an example, and do not limit the scope of the invention.Therefore, appended claims is intended to comprise all modifications of the present invention that falls in the essential scope of the present invention.
Claims (22)
1. cat ladder wheel car comprises:
Rigid frame, supporting shaft;
A pair of spider-assemblies can be rotated to support on the adjacent of the opposite end of described axle, and each spider-assemblies in the described a pair of spider-assemblies supports a plurality of runners, and described a plurality of runners are connected with synchronous rotation;
Position transduser is bearing in the appropriate location on the described framework, to measure a spider-assemblies in the described a pair of spider-assemblies with respect to the position, angle of described framework; And
Electro-motor is bearing on the described framework, and is operably connected, to drive described a pair of spider-assemblies rotation;
Power supply is bearing on the described framework, is operably connected to described electro-motor; And
Controller, be bearing on the described framework, and be operably connected to described position transduser and described power supply, so that described electro-motor applies the torque of variation to described a pair of spider-assemblies, thereby, make described a pair of spider-assemblies remain on selected position, described spider-assemblies angle with respect to described framework according to the input of receiving from described position transduser.
2. car according to claim 1 further comprises:
Angular velocity sensor, be configured to measure the spin velocity of described axle, described angular velocity sensor is operably connected to described controller, described controller is configured to receive input from described angular velocity sensor, and described a pair of spider-assemblies is applied the variation torque so that described car with basically at the uniform velocity rotating speed along climbing under the step.
3. car according to claim 1 further comprises:
Optical pickocff, be bearing on the described framework, described optical pickocff is operably connected to described controller, described controller is configured to receive input from described optical pickocff, and and if only if described optical pickocff when detecting contiguous step, makes the described a pair of spider-assemblies rotation of described motor driven.
4. car according to claim 1 further comprises:
A pair of optical pickocff, be bearing on the described framework, described a pair of optical pickocff is operably connected to described controller, described controller is configured to from described optical pickocff receiving input, and and if only if two described optical pickocffs when detecting contiguous step simultaneously, make the described a pair of spider-assemblies rotation of described motor driven.
5. car according to claim 1 further comprises:
Variable-force actuator can be by the control signal operation of receiving from described controller, and optionally to make clutch engagement and to separate, this power-transfer clutch can be operated to utilize mechanical system that the described wheel of described spider-assemblies is connected to described motor.
6. car according to claim 1 further comprises:
A plurality of master cocies, can be operated by the user, described a plurality of master cock can be selected by the user, to select the mode of operation of described car, the microprocessor executable instruction of every kind of mode of operation of described controller storage, described instruction provides instruction input, that be used to control described motor of receiving according to from described position transduser.
7. car according to claim 6, wherein can operate described a plurality of master cock, to select Move Mode, described controller storage is used to discern the data corresponding to the predetermined angle position of described Move Mode, described controller is controlled described motor and is responded selection to Move Mode so that described spider-assemblies rotates to a predetermined angle position in the described predetermined angle position, and makes described spider-assemblies remain on a described predetermined angle position in the described predetermined angle position.
8. car according to claim 6, wherein can operate described a plurality of master cock to select climb mode, described controller storage is used to discern the data corresponding to the predetermined angle position of described climb mode, described controller is controlled described motor and is responded selection to climb mode so that described spider-assemblies rotates to a predetermined angle position in the described predetermined angle position, and makes described spider-assemblies remain on a described predetermined angle position in the described predetermined angle position.
9. car according to claim 8, described variable-force actuator controlled by wherein said controller so that clutch engagement, thereby utilizes mechanical system described motor to be connected to the described wheel of described spider-assemblies.
10. car according to claim 6, wherein can operate described a plurality of master cock, to select stop mode, described controller storage is used to discern the data corresponding to the predetermined angle position of described stop mode, described controller is controlled described motor and is responded selection to stop mode so that described spider-assemblies rotates to a predetermined angle position in the described predetermined angle position, and makes described spider-assemblies remain on a described predetermined angle position in the described predetermined angle position.
11. car according to claim 6, wherein can operate described a plurality of master cock, to select down the creeping formwork formula, described controller storage is used to discern corresponding to the described data of the predetermined angle position of creeping formwork formula down, described controller is controlled described motor and is responded selection to stop mode so that described spider-assemblies rotates to a predetermined angle position in the described predetermined angle position, and makes described spider-assemblies remain on a described predetermined angle position in the described predetermined angle position.
12. car according to claim 11, wherein said controller is controlled described variable-force actuator to disengage the clutch, thereby utilize mechanical means that the described wheel of described motor and described spider-assemblies is disconnected, described controller is further stored identification corresponding to the described data of the predetermined unstable angular region of creeping formwork formula down, described controller is controlled same motor makes described spider-assemblies quicken rotation by described predetermined unstable angular region, thereby response is to the selection of creeping formwork formula down.
Described motor applies torque to described a pair of spider-assemblies climbing up direction 13. car according to claim 11, wherein said controller are controlled described motor and described variable-force actuator, thereby response is to the selection of creeping formwork formula down.
14. car according to claim 1 further comprises:
Support column is used to support runner, and described support column rotor rotates to operating position, at this operating position, and described runner kiss the earth, and cooperate with the wheel of described spider-assemblies, described car is bearing in stand up position.
15. car according to claim 1 further comprises:
Bottom master's flat board is bearing in the appropriate location on the described framework, is used for carry load; And
The top assistant flat-plate, be bearing in the appropriate location on the described framework of described protrusion top, be used to carry second load, described assistant flat-plate is installed on this framework to rotate with pivot between the position at off position and operation, the contiguous described framework of wherein said off position, and described assistant flat-plate is substantially perpendicular to described framework extension when described assistant flat-plate is in described operation with the position.
16. car according to claim 1 further comprises:
The goods basket removably is bearing on the described framework.
17. car according to claim 1 further comprises:
A pair of wheel cover is bearing in the appropriate location on this framework, so as in spider-assemblies during described axle rotation, sealing spider-assemblies separately at least in part.
18. car according to claim 6 further comprises:
Handle piece is bearing on the described framework, and described handle piece is supported on the telescopic shaft, and this telescopic shaft can be around its longitudinal axis rotation, and described a plurality of master cocies are installed on the described handle piece.
19. the method for operation of a cat ladder wheel car, described method comprises:
Wheel car is provided, and this wheel car comprises:
Rigid frame supports rotatable axle;
A pair of spider-assemblies can be rotated to support on the adjacent of the opposite end of described axle, and each spider-assemblies in the described a pair of spider-assemblies supports a plurality of runners, and described a plurality of runners are connected with synchronous rotation;
Position transduser is bearing in the appropriate location on the described framework, to measure a spider-assemblies in the described a pair of spider-assemblies with respect to the position, angle of described framework; And
Electro-motor is bearing on the described framework, and is operably connected, to drive described a pair of spider-assemblies rotation;
Power supply is bearing on the described framework, is operably connected to described electro-motor; And
Controller is bearing on the described framework, and is operably connected to described position transduser and described power supply;
Operate described position transduser, with the position, angle with respect to described framework of a spider-assemblies in the described a pair of spider-assemblies of duplicate measurements; And
According to the measurement that described position transduser is done, control described electro-motor, so that described a pair of spider-assemblies is applied the torque of variation, thereby make described a pair of spider-assemblies remain on selected position, angle with respect to described framework.
20. the method for operation of a cat ladder wheel car, described method comprises:
Wheel car is provided, and this wheel car comprises:
Rigid frame supports rotatable axle;
A pair of spider-assemblies can be rotated to support on the adjacent of the opposite end of described axle, and each spider-assemblies in the described a pair of spider-assemblies supports a plurality of runners, and described a plurality of runners are connected with synchronous rotation;
Position transduser is bearing in the position on the described framework, to measure a spider-assemblies in the described a pair of spider-assemblies with respect to the position, angle of described framework; And
Electro-motor is bearing on the described framework, and is operably connected, to drive described a pair of spider-assemblies rotation;
Power supply is bearing on the described framework, is operably connected to described electro-motor;
A plurality of master cocies can be operated by the user, and described a plurality of master cocies can be selected by the user, to select the mode of operation of described car;
Controller, be bearing on the described framework, and be operably connected to described position transduser and described power supply, described controller is stored one group of microprocessor executable instruction that is used for every kind of mode of operation of multiple mode of operation, and every group of instruction is provided for controlling the instruction of described motor;
Receive the mode of operation that the user selects by the described a plurality of master cocies of operation;
Operate described position transduser, with the position, angle with respect to described framework of a spider-assemblies in the described a pair of spider-assemblies of duplicate measurements; And
Select the regulation of the described instruction group of described pattern according to described user, control described electro-motor, so that described a pair of spider-assemblies is applied the torque of variation, thereby make described a pair of spider-assemblies rotation.
21. method according to claim 20, wherein said one group of instruction group guarantees to make described spider-assemblies rotate to predetermined angle position, and described motor is controlled in the measurement that described controller is done according to described position transduser.
22. method according to claim 20, wherein receive the user and select mode of operation to comprise to receive the user to select down the creeping formwork formula, and wherein said one group of instruction provides and makes described controller quicken the described spider-assemblies of rotation by being scheduled to the instruction of unstable angular region.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US90081307P | 2007-02-12 | 2007-02-12 | |
| US60/900,813 | 2007-02-12 | ||
| US61/021,167 | 2008-01-15 |
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| Publication Number | Publication Date |
|---|---|
| CN101622169A true CN101622169A (en) | 2010-01-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200880006386A Pending CN101622169A (en) | 2007-02-12 | 2008-02-12 | Stair-climbing wheeled vehicle |
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| CN (1) | CN101622169A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102328680A (en) * | 2011-08-04 | 2012-01-25 | 谢哲 | Inner planetary gear type stair climbing device |
| CN102536258A (en) * | 2011-12-29 | 2012-07-04 | 重庆市鹏创道路材料有限公司 | Highway tunnel maintenance car occupying no lane |
| CN102525753A (en) * | 2010-11-15 | 2012-07-04 | 滕美君 | Bionic walking and stair climbing trolley |
| CN102781758A (en) * | 2010-02-08 | 2012-11-14 | 列奥尼德·克奥多 | Folding chassis for manually driven carrier vehicles capable of traversing obstacles |
| CN107628075A (en) * | 2017-09-28 | 2018-01-26 | 谢佳怡 | A kind of stair transfer car |
| CN112609933A (en) * | 2021-01-08 | 2021-04-06 | 重庆工程职业技术学院 | Wall whitewashes equipment for building engineering construction |
| CN115402388A (en) * | 2022-09-27 | 2022-11-29 | 国家电网有限公司 | Multifunctional power-assisted gas cylinder carrier |
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2008
- 2008-02-12 CN CN200880006386A patent/CN101622169A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102781758A (en) * | 2010-02-08 | 2012-11-14 | 列奥尼德·克奥多 | Folding chassis for manually driven carrier vehicles capable of traversing obstacles |
| CN102781758B (en) * | 2010-02-08 | 2016-03-02 | 列奥尼德·克奥多 | For the folding stand of the manual drives carrier vehicle of obstacle can be crossed |
| CN102525753A (en) * | 2010-11-15 | 2012-07-04 | 滕美君 | Bionic walking and stair climbing trolley |
| CN102525753B (en) * | 2010-11-15 | 2015-04-22 | 滕美君 | Bionic walking and stair climbing trolley |
| CN102328680A (en) * | 2011-08-04 | 2012-01-25 | 谢哲 | Inner planetary gear type stair climbing device |
| CN102536258A (en) * | 2011-12-29 | 2012-07-04 | 重庆市鹏创道路材料有限公司 | Highway tunnel maintenance car occupying no lane |
| CN107628075A (en) * | 2017-09-28 | 2018-01-26 | 谢佳怡 | A kind of stair transfer car |
| CN112609933A (en) * | 2021-01-08 | 2021-04-06 | 重庆工程职业技术学院 | Wall whitewashes equipment for building engineering construction |
| CN115402388A (en) * | 2022-09-27 | 2022-11-29 | 国家电网有限公司 | Multifunctional power-assisted gas cylinder carrier |
| CN115402388B (en) * | 2022-09-27 | 2024-01-19 | 国家电网有限公司 | Multifunctional power-assisted gas cylinder carrier |
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