CN103010274A - Power-assisting trolley - Google Patents
Power-assisting trolley Download PDFInfo
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- CN103010274A CN103010274A CN2012105476674A CN201210547667A CN103010274A CN 103010274 A CN103010274 A CN 103010274A CN 2012105476674 A CN2012105476674 A CN 2012105476674A CN 201210547667 A CN201210547667 A CN 201210547667A CN 103010274 A CN103010274 A CN 103010274A
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Abstract
The invention discloses a power-assisting trolley. The power-assisting trolley is characterized by comprising a trolley body, a drive device and a power-assisting system which can perform thrust acquiring, amplifying and following; the drive device is arranged at the bottom of the trolley body; and the power-assisting system is arranged at one end of the trolley body. The power-assisting trolley has the beneficial effects that when materials are transported by the power-assisting trolley, the thrust can be amplified and subjected to following control; a force control and force amplifying system of the power-assisting trolley is suitable for factory and construction site environments with complex road conditions, small space and heavy load; and the power-assisting trolley has high bearing, obstacle-crossing and climbing capacity, high stability and light weight, and is extremely convenient to operate.
Description
Technical field
The present invention relates to a kind of power assistive device and material transportation technology, especially relate to a kind of power trolley that the thrust amplification can be followed control.
Background technology
In recent years, along with the further expansion in mankind's activity field, people are unprecedentedly active with the research of power assistive device to nonmanufacturing industry.These industries are compared with manufacture, and its principal feature is destructuring and the uncertainty of working environment, and alerting ability and the good advantage of mechanical equipment load-carrying capacity that power assistive device combines the people can well adapt to the various working environments of worker.The exoskeletons such as the HAL-5 of the early stage wear of the U.S., Japan, Muscovite warrier 2 have been used for military, help the elderly help the disabled, etc. the aspect.Industrial boosting manipulator, external research mainly concentrates on mechanism's dexterity, lightweight, good rigidity, is convenient to load and unload and the High Performance power assistive device that keeps in repair.At present, the country of Robotics prosperity is all competitively developing industrial power assistive device, medical power assistive device, power assistive device for building and military power assistive device, and has obtained some good achievements.
Power assistive device is brand-new application of Robotics, and the exploitation boosted vehicle is intended to improve the degree of automation of building operation operation, factory's material transportation and agricultural production, lifting construction speed and safety, and reduce workman's labour intensity.At present heavy construction, industry, agricultural generally need the carrying of the materials such as sheet material, iron and steel, cement, the earthwork, these materials, Heavy Weight and more and more heavier, size is large and increasing, a dead lift inefficiency, poor stability, labour intensity is large, and carrying is had any problem more.Therefore, research and development are applicable to the strong load-carrying capacity of this adaptation short distance material handling needs, and the boosted vehicle of high stability and many alerting abilitys is having selected of certainty.
Summary of the invention
The problem to be solved in the present invention provides a kind of power trolley that the thrust amplification can be followed control.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of power trolley is characterized in that: comprise car body, actuating device and can carry out the force aid system that thrust collection amplification is followed; Described actuating device is arranged on vehicle bottom, and described force aid system is arranged on an end of described car body.
Described car body comprises horizontal frame, and described horizontal frame one end is vertically fixed a boosting frame; Described horizontal frame is edge-beam type lead frame structure.
Described actuating device comprises differential drive axle, motor, coupler, damping plate spring, tire on the drive wheels and guide wheel, a described damping plate spring is installed respectively in the both sides, bottom surface of described horizontal frame, two described damping plate springs all link to each other with described differential drive axle, the two ends of described differential drive axle respectively connect a described tire on the drive wheels, the two ends of described differential drive axle also are fixedly linked by the two ends, bottom of a pipe link and described boosting frame, and two jiaos of the bottoms of described boosting frame respectively are provided with a described guide wheel; Described motor links to each other with described differential drive axle by described coupler.
Described motor is the brush DC speed motor.
Described force aid system comprises force acquisition device, force signal amplification module and motor control module; Described force acquisition device is fixed on the described boosting frame, and described force acquisition device links to each other with described force signal amplification module circuit, and described force signal amplification module links to each other with described motor control module circuit, and described motor control module links to each other with described motor.
Described force signal amplification module and motor control module are arranged at the inside of described boosting frame.
Described force acquisition device comprises feed rod, linear bearing, connecting panel, spring, damper, the power sensor, cross-tie plate and support handle, described cross-tie plate is fixed on the top of described boosting frame, a described support handle is fixed respectively at the two ends of described cross-tie plate, described one of them support handle is provided with described linear bearing, described linear bearing and feed rod form a straight-line motion pair, described feed rod links to each other with a side of described connecting panel by a Horizontal supporting seat near an end of described cross-tie plate, the opposite side of described connecting panel links to each other with described spring, described spring links to each other with described power sensor, described connecting panel also is fixed with described damper, and described power sensor all links to each other with described cross-tie plate by a fixing rack for sensor with described damper.
Advantage and good effect that the present invention has are: owing to adopting technique scheme, this power trolley is when carrying out material transportation, thrust can be amplified and follow control, the control of its power and power amplification system are applicable to road conditions complexity, narrow space, factory, building site environment that load is larger, have preferably carrying, obstacle detouring, hill climbing ability, stability is high, and quality is light, and operation is very easy.
Description of drawings
Fig. 1 is integral structure schematic diagram of the present invention
Fig. 2 is the structural representation of actuating device of the present invention
Fig. 3 is the structural representation of force aid system of the present invention
Among the figure:
1, car body 2, actuating device 3, force aid system
4, horizontal frame 5, boosting frame 6, differential drive axle
7, damping plate spring 8, tire on the drive wheels 9, pipe link
10, guide wheel 11, motor 12, coupler
13, feed rod 14, linear bearing 15, cross-tie plate
16, support handle 17, Horizontal supporting seat 18, connecting panel
19, spring 20, damper 21, power sensor
22, fixing rack for sensor
The specific embodiment
As shown in Figure 1, the present invention includes car body 1, actuating device 2 and can carry out the thrust collection and amplify the force aid system 3 follow; Actuating device 2 is arranged on car body 1 bottom, and force aid system 3 is arranged on an end of car body 1.
As shown in Figure 2, actuating device 2 comprises differential drive axle 6, motor 11, coupler 12, damping plate spring 7, tire on the drive wheels 8 and guide wheel 10, a damping plate spring 7 is installed respectively in the both sides, bottom surface of horizontal frame 4, two damping plate springs 7 all link to each other by the U-shaped screw rod with differential drive axle 6, the two ends of differential drive axle 6 respectively connect a tire on the drive wheels 8, the two ends of differential drive axle 6 also are fixedly linked by the two ends, bottom of a pipe link 9 with boosting frame 3, and two jiaos of the bottoms of boosting frame 3 respectively are provided with a guide wheel 10; Motor 11 links to each other with differential drive axle 6 by described coupler 12.
Motor 11 is the brush DC speed motor.
As shown in Figure 3, force aid system 3 comprises force acquisition device, force signal amplification module and motor control module; Force acquisition device is fixed on the boosting frame 3, and force acquisition device links to each other with described force signal amplification module circuit, and the force signal amplification module links to each other with the motor control module circuit, and motor control module links to each other with motor 11.
Force signal amplification module and motor control module are arranged at the inside of boosting frame 3.
Force acquisition device comprises feed rod 13, linear bearing 14, connecting panel 18, spring 19, damper 20, power sensor 21, cross-tie plate 15 and support handle 16, cross-tie plate 15 is fixed on the top of boosting frame 5, a support handle 16 is fixed respectively at the two ends of cross-tie plate 15, one of them support handle 16 is provided with linear bearing 14, linear bearing 14 and feed rod 13 form a straight-line motion pair, feed rod 13 links to each other with a side of connecting panel 18 by a Horizontal supporting seat 17 near an end of cross-tie plate 15, the opposite side of connecting panel 18 links to each other with spring 19, spring 19 links to each other with power sensor 21, connecting panel 18 also is fixed with damper 20, and power sensor 21 all links to each other with cross-tie plate 15 by a fixing rack for sensor 22 with damper 20.
The working process of this example: when needing transported material, the people is conducted control effort to power sensor 21 by hand push feed rod 13, and power sensor 21 changes force signal into voltage signal by the transmitter in the force signal amplification module, again voltage signal is changed into the pwm signal, and in conversion process, incorporate pid algorithm, the pwm signal enters motor control module by amplifying circuit again, motor control module is directly controlled speed and the moment output of brushless DC speed reduction motor 11, thereby reaches the amplification of people's thrust and following of people's displacement.
The major impetus of boosted vehicle is to be provided by brushless DC speed reduction motor 11, and power is input in the differential drive axle 6 through coupler 12 by brushless DC speed reduction motor 11, drives tire on the drive wheels 8 by differential drive axle 6 again and finishes integral power output.
Finally, the people only need control the direction of car and provide a very little thrust just can reach and be pushed into ton purpose of material goods and materials.
Above one embodiment of the present of invention are had been described in detail, but described content only is preferred embodiment of the present invention, can not be considered to be used to limiting practical range of the present invention.All equalizations of doing according to the present patent application scope change and improve etc., all should still belong within the patent covering scope of the present invention.
Claims (8)
1. a power trolley is characterized in that: comprise car body, actuating device and can carry out the force aid system that thrust collection amplification is followed; Described actuating device is arranged on vehicle bottom, and described force aid system is arranged on an end of described car body.
2. power trolley according to claim 1, it is characterized in that: described car body comprises horizontal frame, described horizontal frame one end is vertically fixed a boosting frame.
3. power trolley according to claim 2, it is characterized in that: described actuating device comprises differential drive axle, motor, coupler, damping plate spring, tire on the drive wheels and guide wheel, a described damping plate spring is installed respectively in the both sides, bottom surface of described horizontal frame, two described damping plate springs all link to each other with described differential drive axle, the two ends of described differential drive axle respectively connect a described tire on the drive wheels, the two ends of described differential drive axle also are fixedly linked by the two ends, bottom of a pipe link and described boosting frame, and two jiaos of the bottoms of described boosting frame respectively are provided with a described guide wheel; Described motor links to each other with described differential drive axle by described coupler.
4. power trolley according to claim 3, it is characterized in that: described motor is the brush DC speed motor.
5. power trolley according to claim 2, it is characterized in that: described force aid system comprises force acquisition device, force signal amplification module and motor control module; Described force acquisition device is fixed on the described boosting frame, and described force acquisition device links to each other with described force signal amplification module circuit, and described force signal amplification module links to each other with described motor control module circuit, and described motor control module links to each other with described motor.
6. power trolley according to claim 5, it is characterized in that: described force signal amplification module and motor control module are arranged at the inside of described boosting frame.
7. power trolley according to claim 5, it is characterized in that: described force acquisition device comprises feed rod, linear bearing, connecting panel, spring, damper, the power sensor, cross-tie plate and support handle, described cross-tie plate is fixed on the top of described boosting frame, a described support handle is fixed respectively at the two ends of described cross-tie plate, described one of them support handle is provided with described linear bearing, described linear bearing and feed rod form a straight-line motion pair, described feed rod links to each other with a side of described connecting panel by a Horizontal supporting seat near an end of described cross-tie plate, the opposite side of described connecting panel links to each other with described spring, described spring links to each other with described power sensor, described connecting panel also is fixed with described damper, and described power sensor all links to each other with described cross-tie plate by a fixing rack for sensor with described damper.
8. power trolley according to claim 2, it is characterized in that: described horizontal frame is edge-beam type lead frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210547667.4A CN103010274B (en) | 2012-12-14 | 2012-12-14 | Power trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210547667.4A CN103010274B (en) | 2012-12-14 | 2012-12-14 | Power trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103010274A true CN103010274A (en) | 2013-04-03 |
| CN103010274B CN103010274B (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210547667.4A Active CN103010274B (en) | 2012-12-14 | 2012-12-14 | Power trolley |
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| CN (1) | CN103010274B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752139A (en) * | 2016-04-06 | 2016-07-13 | 深圳市宝润科技有限公司 | Power-assisted propulsion system and propulsion assisted vehicle |
| CN106625541A (en) * | 2017-01-25 | 2017-05-10 | 金华市精工工具制造有限公司 | Tool car and control method |
| CN107097828A (en) * | 2017-06-15 | 2017-08-29 | 安徽工程大学 | A kind of anti-vibration electric push-and-pull car |
| CN108349362A (en) * | 2015-09-29 | 2018-07-31 | 雷德福来尔有限公司 | Power assist compartment |
| CN109953829A (en) * | 2019-04-12 | 2019-07-02 | 神耀媚 | It is a kind of to be convenient for Medical tray fixed cart for medical treatment |
| CN111452845A (en) * | 2020-04-09 | 2020-07-28 | 北京航天新风机械设备有限责任公司 | Intelligent sensing power-assisted cart |
Citations (5)
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| CN2271472Y (en) * | 1996-08-13 | 1997-12-31 | 朱炳俊 | Boosting hand pulling vehicle |
| JPH10338143A (en) * | 1997-06-09 | 1998-12-22 | Shinko Electric Co Ltd | Operating part for driving-assisted small vehicle |
| JP2011148330A (en) * | 2010-01-19 | 2011-08-04 | Araki Seisakusho:Kk | Motor-driven cart |
| JP2012166748A (en) * | 2011-02-16 | 2012-09-06 | Kyb Co Ltd | Power-assisted carriage |
| CN203078558U (en) * | 2012-12-14 | 2013-07-24 | 天津筑高机器人技术有限公司 | Force-assisted handcart |
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2012
- 2012-12-14 CN CN201210547667.4A patent/CN103010274B/en active Active
Patent Citations (5)
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| CN2271472Y (en) * | 1996-08-13 | 1997-12-31 | 朱炳俊 | Boosting hand pulling vehicle |
| JPH10338143A (en) * | 1997-06-09 | 1998-12-22 | Shinko Electric Co Ltd | Operating part for driving-assisted small vehicle |
| JP2011148330A (en) * | 2010-01-19 | 2011-08-04 | Araki Seisakusho:Kk | Motor-driven cart |
| JP2012166748A (en) * | 2011-02-16 | 2012-09-06 | Kyb Co Ltd | Power-assisted carriage |
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Non-Patent Citations (1)
| Title |
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| 吴朝霞等: "《控制电机及其应用》", 31 January 2012 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108349362A (en) * | 2015-09-29 | 2018-07-31 | 雷德福来尔有限公司 | Power assist compartment |
| CN108349362B (en) * | 2015-09-29 | 2022-03-22 | 雷德福来尔有限公司 | Power-assisted carriage |
| CN105752139A (en) * | 2016-04-06 | 2016-07-13 | 深圳市宝润科技有限公司 | Power-assisted propulsion system and propulsion assisted vehicle |
| CN106625541A (en) * | 2017-01-25 | 2017-05-10 | 金华市精工工具制造有限公司 | Tool car and control method |
| CN107097828A (en) * | 2017-06-15 | 2017-08-29 | 安徽工程大学 | A kind of anti-vibration electric push-and-pull car |
| CN109953829A (en) * | 2019-04-12 | 2019-07-02 | 神耀媚 | It is a kind of to be convenient for Medical tray fixed cart for medical treatment |
| CN109953829B (en) * | 2019-04-12 | 2021-06-22 | 袁泉 | Medical tray fixing cart convenient to treat |
| CN111452845A (en) * | 2020-04-09 | 2020-07-28 | 北京航天新风机械设备有限责任公司 | Intelligent sensing power-assisted cart |
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| Publication number | Publication date |
|---|---|
| CN103010274B (en) | 2016-04-27 |
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