CN107487348A - A kind of multi link formula electric stair climbing mechanism - Google Patents
A kind of multi link formula electric stair climbing mechanism Download PDFInfo
- Publication number
- CN107487348A CN107487348A CN201710857467.1A CN201710857467A CN107487348A CN 107487348 A CN107487348 A CN 107487348A CN 201710857467 A CN201710857467 A CN 201710857467A CN 107487348 A CN107487348 A CN 107487348A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- frame
- driver
- motor
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
Abstract
The present invention relates to robotic technology field, more particularly to a kind of transmission mechanism is the electric stair climbing mechanism of multi link formula.The climbing machine includes：Handle, frame, rear base plate, wheel, climb building component (motor and driver, multi-link structure).Frame both ends are respectively arranged with wheel, and motor and driver are fixed in the side of frame.Multi-link structure each side installs one along motor and driver, is symmetric.Described two multi-link structures are linked into an integrated entity by supportting ground connecting rod end, and support ground connecting rod is rotatablely connected with contact wheel respectively.The present invention make it that to climb that building is steady, efficiency high, the safety and stability during use is high, is driven by motor, simple in construction, cost is low by using the multi-jointed gear unit of symmetric design using the quickreturn characteristics of multi-connecting-rod mechanism.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of transmission mechanism is the electric stair climbing machine of multi link formula
Structure.
Background technology
Electronic loading climbing machine is commonly used for logistics and carries field, and alloing staff, easily carrying heavy goods are carried out up and down
Stair.At present in domestic logistics industry field, dispatching goods process uses manpower means of distribution more, if heavier big part goods
Product are dispensed into upstairs, it is necessary to rely on two or more physical labourers.Electronic loading climbing machine can largely be alleviated pair
Logistics distribution personnel muscle power and experience dependence, can easily, quickly by goods handling to designated floor.Current electric stair climbing
Machine uses star wheel type structure more, but its stationarity is not high, and star wheel type structure space-consuming is larger, and is unfavorable for carrying.Cause
This is necessary to develop that a kind of structure is relatively easy, Climbing building device of dependable performance.
The content of the invention
The problem to be solved in the present invention is to provide a kind of Climbing building device of multi link formula, it is desirable to which its is simple in construction, and performance can
Lean on, can complete to climb building task, save manpower.
The present invention solves the technical scheme that its technical problem uses：
A kind of multi link formula electric stair climbing mechanism, the climbing machine include：Handle, frame, rear base plate, wheel, climb building component
(motor and driver, multi-link structure).
Frame both ends are respectively arranged with wheel, and motor and driver are fixed in the side of frame.
Multi-link structure each side installs one along motor and driver, is symmetric.Described two multi links
Structure is linked into an integrated entity by supportting ground connecting rod end, and support ground connecting rod is rotatablely connected with contact wheel respectively.
Every group of multi-link structure includes power crank, support ground connecting rod, oscillating rod, swinging connecting rod and follows connecting rod, moves
Power crank one end is fixedly connected with the output shaft of motor and driver, is rotatablely connected at the other end and the one of support ground connecting rod, support ground
Be rotatablely connected at the second of connecting rod and at the one of oscillating rod, oscillating rod second at be connected with gantry rotation, the 3rd of oscillating rod the
Place is rotatablely connected with one end of swinging connecting rod, the other end of swinging connecting rod and follows one end of connecting rod to be rotatablely connected, with
With the other end of connecting rod with being rotatablely connected at the 3rd of support ground connecting rod.
Motor and driver are fixed on frame, and driver includes two output shafts, and two output shafts drive more than two respectively
Bar linkage structure moves.
Connected between frame and wheel by vehicle wheel frame, frame both ends are fixedly connected with handle respectively.
The opposite side of frame is fixedly connected with the rear base plate for arrangement of goods.
The present invention compares possessed beneficial effect with prior art：The present invention passes by using the multi link of symmetric design
Motivation structure, make it that to climb that building is steady, efficiency high using the quickreturn characteristics of multi-connecting-rod mechanism, the safety and stability during use
Height, driven by motor, simple in construction, cost is low.
Brief description of the drawings
The front side angle dimensional structure diagram of Fig. 1 electric stair climbing machines；
The left side angle dimensional structure diagram of Fig. 2 electric stair climbing machines；
The right side angle dimensional structure diagram of Fig. 3 electric stair climbing machines；
The partial structural diagram of Fig. 4 electric stair climbing machines；
Tu5Pa buildings component structure diagram；
Fig. 6 electric stair climbing machine climbing stair starting stage schematic diagrames；
Fig. 7 electric stair climbing machine climbing stair second stage schematic diagrames；
Fig. 8 electric stair climbing machine climbing stair phase III schematic diagrames；
Fig. 9 electric stair climbing machine climbing stair fourth stage schematic diagrames；
Figure 10 electric stair climbing machines climbing stair completes stage schematic diagram；
In figure：Handle 1, frame 2, rear base plate 3, wheel 4, building component 5 is climbed, stair 6, climbs building track 7, oscillating rod 5-1, pendulum
Dynamic connecting rod 5-2, support ground connecting rod 5-3, motor and driver 5-4, power crank 5-5, follow connecting rod 5-6.
Embodiment
With reference to accompanying drawing, the present invention will be further described.
The problem to be solved in the present invention is to provide a kind of Climbing building device of multi link formula, it is desirable to which its is simple in construction, and performance can
Lean on, can complete to climb building task, save manpower.
The present invention solves the technical scheme that its technical problem uses：
A kind of multi link formula electric stair climbing mechanism, the climbing machine include：Handle 1, frame 2, rear base plate 3, wheel 4, climb building
Component 5 (motor and driver 5-4, multi-link structure).
The both ends of frame 2 are respectively arranged with wheel 4, and motor and driver 5-4 are fixed in the side of frame 2.
Multi-link structure each side installs one along motor and driver 5-4, is symmetric.It is described two to connect more
Bar structure is linked into an integrated entity by supportting ground connecting rod 5-3 ends, and support ground connecting rod 5-3 is rotatablely connected with contact wheel respectively.
Every group of multi-link structure include power crank 5-5, support ground connecting rod 5-3, oscillating rod 5-1, swinging connecting rod 5-2 and with
With connecting rod 5-6, power crank 5-5 one end is fixedly connected with the output shaft of motor and driver 5-4, the other end and support ground connecting rod
Be rotatablely connected at the one of 5-3, support ground connecting rod 5-3 second at the one of oscillating rod 5-1 at be rotatablely connected, the of oscillating rod 5-1
Be rotatablely connected at two with frame 2, oscillating rod 5-1 the 3rd at be rotatablely connected with swinging connecting rod 5-2 one end, swinging connecting rod
The 5-2 other end follows the connecting rod 5-6 other end with support ground connecting rod 5-3's with following connecting rod 5-6 one end to be rotatablely connected
It is rotatablely connected at 3rd.
Motor and driver 5-4 are fixed on frame 2, and driver includes two output shafts, and two output shafts drive two respectively
Individual multi-link structure motion.
Connected between frame 2 and wheel 4 by vehicle wheel frame, the both ends of frame 2 are fixedly connected with handle 1 respectively.
The opposite side of frame 2 is fixedly connected with the rear base plate 3 for arrangement of goods.
As illustrated in figures 6-10, the operation principle of electric stair climbing machine is as follows：
When upstairs, when wheel 4 is close to the first rank mesa sidewall, contact wheel, which is located to wait on next stage step, to be pushed.Motor
During driving, power crank 5-5 drives multi-link structure motion, and the roller of support ground connecting rod 5-3 front ends moves along the track of crescent
(as shown in Figure 6), roller pushes since a high position, counter to boost whole mechanism.As roller moves rearward, Push-out device makes
While wheel 4 prepares to fall to second-order step, also cause the distance to have furthered with the 3rd stage rank, the mechanism in lowest order
Wheel 4 is placed on second-order step.Power crank 5-5 continues to rotate, and after support ground connecting rod 5-3 is turned back to low level, utilizes multi link
The quickreturn characteristics of structure, a high position is rapidly returned back to along track, one step of completion climbs building process.
The present invention compares possessed beneficial effect with prior art：The present invention passes by using the multi link of symmetric design
Motivation structure, make it that to climb that building is steady, efficiency high using the quickreturn characteristics of multi-connecting-rod mechanism, the safety and stability during use
Height, simple in construction without using sensor, cost is low.
Claims (3)
- A kind of 1. multi link formula electric stair climbing mechanism, it is characterised in that：The Climbing building device includes：Handle (1), frame (2), rear dragging Plate (3), wheel (4), climb building component (5).Frame (2) both ends are respectively arranged with wheel (4), and the side of frame (2), which is fixed with, climbs building component (5).Climb in building component (5), multi-link structure each side installs one along motor and driver (5-4), is symmetric. Described two multi-link structures are linked into an integrated entity by supportting ground connecting rod (5-3) end, and support ground connecting rod (5-3) is respectively with contacting rotation Dynamic connection.
- A kind of 2. multi link formula electric stair climbing mechanism according to claim 1, it is characterised in that：Every group of multi-link structure bag Include power crank (5-5), support ground connecting rod (5-3), oscillating rod (5-1), swinging connecting rod (5-2) and follow connecting rod (5-6), move Power crank (5-5) one end is fixedly connected with the output shaft of motor and driver (5-4), the other end and the one of support ground connecting rod (5-3) Place's rotation connection, support at the second of ground connecting rod (5-3) and be rotatablely connected at the one of oscillating rod (5-1), the second of oscillating rod (5-1) Place is rotatablely connected with frame (2), oscillating rod (5-1) the 3rd at be rotatablely connected with one end of swinging connecting rod (5-2), the company of swing The other end of extension bar (5-2) follows the other end and the support of connecting rod (5-6) with following one end of connecting rod (5-6) to be rotatablely connected It is rotatablely connected at the 3rd of ground connecting rod (5-3).
- A kind of 3. multi link formula electric stair climbing mechanism according to claim 2, it is characterised in that：Motor and driver (5- 4) frame (2) is fixed on, driver includes two output shafts, and two output shafts drive two multi-link structure motions respectively.It is connected between frame (2) and wheel (4) by vehicle wheel frame, frame (2) both ends are fixedly connected with handle (1) respectively.The opposite side of frame (2) is fixedly connected with the rear base plate (3) for arrangement of goods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710857467.1A CN107487348A (en) | 2017-09-21 | 2017-09-21 | A kind of multi link formula electric stair climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710857467.1A CN107487348A (en) | 2017-09-21 | 2017-09-21 | A kind of multi link formula electric stair climbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107487348A true CN107487348A (en) | 2017-12-19 |
Family
ID=60651858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710857467.1A Pending CN107487348A (en) | 2017-09-21 | 2017-09-21 | A kind of multi link formula electric stair climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107487348A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6386552B1 (en) * | 1998-09-01 | 2002-05-14 | Jochum Bierma | Two-wheel hand truck |
| CN201033579Y (en) * | 2007-05-18 | 2008-03-12 | 浙江大学 | Portable semi-automatic stairway climbing carriage |
| US20130154207A1 (en) * | 2011-12-20 | 2013-06-20 | Douglas G. Sabin | Apparatus, System and Method for a Load-Bearing Cart |
| CN105818878A (en) * | 2016-05-10 | 2016-08-03 | 西安建筑科技大学 | Stair climbing mechanism driven by motor |
| CN205589851U (en) * | 2016-04-13 | 2016-09-21 | 桑新桓 | Electronic building machine that climbs constructs |
-
2017
- 2017-09-21 CN CN201710857467.1A patent/CN107487348A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6386552B1 (en) * | 1998-09-01 | 2002-05-14 | Jochum Bierma | Two-wheel hand truck |
| CN201033579Y (en) * | 2007-05-18 | 2008-03-12 | 浙江大学 | Portable semi-automatic stairway climbing carriage |
| US20130154207A1 (en) * | 2011-12-20 | 2013-06-20 | Douglas G. Sabin | Apparatus, System and Method for a Load-Bearing Cart |
| CN205589851U (en) * | 2016-04-13 | 2016-09-21 | 桑新桓 | Electronic building machine that climbs constructs |
| CN105818878A (en) * | 2016-05-10 | 2016-08-03 | 西安建筑科技大学 | Stair climbing mechanism driven by motor |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171219 |
|
| WD01 | Invention patent application deemed withdrawn after publication |