CN110341823B - Stair climbing trolley - Google Patents
Stair climbing trolley Download PDFInfo
- Publication number
- CN110341823B CN110341823B CN201910535510.1A CN201910535510A CN110341823B CN 110341823 B CN110341823 B CN 110341823B CN 201910535510 A CN201910535510 A CN 201910535510A CN 110341823 B CN110341823 B CN 110341823B
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- Prior art keywords
- main rod
- wheel
- stair climbing
- driven wheel
- distance sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a stair climbing trolley, wherein an active driving module and a stair climbing module are arranged on a trolley frame; the upstairs module comprises a front supporting device and a rear supporting device; the front supporting device comprises a liftable front main rod and a front steering engine, and the tail end of the lower side of the front main rod is connected with a front driven wheel which can only rotate forwards; the rear supporting module comprises a rear main rod and a rear steering engine which can be lifted, and the tail end of the lower side of the rear main rod is connected with a rear driven wheel which can only rotate forwards; the front driven wheel is positioned in the middle position in front of the left rear wheel and the right rear wheel, and the rear driven wheel is positioned in the middle position behind the left front wheel and the right front wheel; the stair climbing trolley is provided with a main control board, a front wheel distance sensor, a rear wheel distance sensor and a vehicle head distance sensor. The trolley does not need to change the trolley body greatly, does not need to replace wheels, realizes the step climbing of the trolley, and has lower price of required parts and relatively simple manufacturing process. At the same time, the invention can be added to other mechanical structures as an additional module in a simpler manner.
Description
Technical Field
The invention relates to the field of deformable self-adaptive mechanical structures and intelligent carrying robots, in particular to a stair climbing trolley.
Background
When the trolley is off the net, the trolley has various forms and large price difference, so that the students are difficult to select and bear. The trolley for climbing stairs is not common, and has high price and complex principle if any.
Disclosure of Invention
The invention aims to solve the technical problem that the trolley is inconvenient to go upstairs and needs special wheels for matching, and provides a stair climbing trolley which realizes the gradual upstairs going-upstairs on the basis of maintaining the general structure of a common trolley through the combined cooperation of all modules. The technical scheme adopted by the invention is as follows:
a stair climbing trolley comprises a trolley frame, wherein an active driving module and a stair climbing module are arranged on the trolley frame; the active driving module includes: the left front wheel, the right front wheel, the left rear wheel, the right rear wheel and their respective driving motors; the upstairs module comprises a front supporting device and a rear supporting device; the front supporting device comprises a liftable front main rod and a front steering engine, and the tail end of the lower side of the front main rod is connected with a front driven wheel which can only rotate forwards; the rear supporting module comprises a rear main rod and a rear steering engine which can be lifted, and the tail end of the lower side of the rear main rod is connected with a rear driven wheel which can only rotate forwards; the front driven wheel is positioned in the middle position in front of the left rear wheel and the right rear wheel, and the rear driven wheel is positioned in the middle position behind the left front wheel and the right front wheel; the stair climbing trolley is provided with a main control board, a front wheel distance sensor, a rear wheel distance sensor and a trolley head distance sensor, and a driving motor of the active driving module, a driving motor in the stair climbing module, the front wheel distance sensor, the rear wheel distance sensor and the trolley head distance sensor are connected with the main control board.
Furthermore, the front main rod is arc-shaped, the middle of the front main rod is provided with a groove, and teeth are arranged along the inner side of the arc shape to form an arc-shaped rack; the front steering engine is connected with the first gear and can drive the first gear to rotate; the first gear is meshed with the arc-shaped rack of the front main rod, and the shaft of the second gear penetrates through the groove.
Furthermore, a guide structure for the movement of the front main rod is arranged on the frame; the radian of guide structure is identical with the radian of preceding mobile jib, and preceding mobile jib can pass guide structure free slip.
Furthermore, the rear main rod is strip-shaped, a groove is formed in the middle of the rear main rod, and teeth are arranged along one side of the rear main rod to form a strip-shaped rack; the rear steering engine is connected with the second gear and can drive the second gear to rotate; the second gear is meshed with the strip-shaped rack of the rear main rod, and a shaft of the second gear penetrates through the groove.
Furthermore, a guide structure for the movement of the rear main rod is arranged on the frame; the rear main rod can freely slide through the guide structure.
Furthermore, ratchets are arranged on the inner side of the front driven wheel, a ratchet buckle is arranged on the front main rod and meshed with the ratchets on the inner side of the front driven wheel, and the front driven wheel rotates forwards in a single direction.
Furthermore, ratchets are arranged on the inner side of the rear driven wheel, a ratchet buckle is arranged on the rear main rod and meshed with the ratchets on the inner side of the rear driven wheel, and the rear driven wheel rotates forwards in a single direction.
Furthermore, the front steering engine is fixed on the front side of the upper layer of the frame and is parallel to the front main rod movement guide structure; the rear steering engine is fixed on the rear side of the upper layer of the frame and is parallel to the rear main rod movement guide structure; a main control board is fixed in the middle of the frame, and a battery rack is fixed between the rear steering engine and the main control board.
Compared with the prior art, the invention has the advantages that: the trolley does not need to be greatly changed, the wheels do not need to be replaced, the upper step of the trolley is realized, the price of required parts is low, and the manufacturing process is relatively simple. At the same time, the invention can be added to other mechanical structures as an additional module in a simpler manner.
Drawings
Fig. 1 is a bottom oblique view of an embodiment of the present invention.
Fig. 2 is a bottom view of an embodiment of the present invention.
Fig. 3 is an oblique top view of an embodiment of the present invention.
Fig. 4 is a side cross-sectional view of an embodiment of the invention.
Fig. 5 is a schematic view of the stair climbing process on the front wheel according to the embodiment of the invention.
Fig. 6 is a schematic view of the rear wheel stair climbing process according to the embodiment of the invention.
Fig. 7 is a schematic diagram of the end of the staircase on the rear wheels according to an embodiment of the invention.
Fig. 8 is a schematic view of the cart for ascending stairs according to the embodiment of the present invention.
Detailed Description
The invention provides a stair climbing trolley, which is characterized in that: the trolley is supported successively through the rods to realize stepping up; the trolley comprises a trolley frame, and an active running module and an upstairs module are arranged on the trolley frame; the active driving module includes: left front wheel, right front wheel, left rear wheel, right rear wheel and their respective drive motors 5; each wheel is connected with the corresponding motor 5 through a shaft 17, and each wheel is represented by a reference numeral 6; the upstairs module comprises a front supporting device and a rear supporting device; the front supporting device comprises a front main rod 2 and a front steering engine 20 which can be lifted, and the tail end of the lower side of the front main rod 2 is connected with a front driven wheel 23 which can only rotate forwards; the rear support module comprises a rear main rod 3 and a rear steering engine 9 which can be lifted, and the tail end of the lower side of the rear main rod 3 is connected with a rear driven wheel 8 which can only rotate forwards; the front driven wheel 23 is positioned at the middle position in front of the left rear wheel and the right rear wheel, and the rear driven wheel 8 is positioned at the middle position behind the left front wheel and the right front wheel; the stair climbing trolley is provided with a main control board 11, a front wheel distance sensor 16, a rear wheel distance sensor 10 and a vehicle head distance sensor 14, and a driving motor 5 of the active driving module, a driving motor in the upstairs module, wheels and the vehicle head distance sensor are connected with the main control board 11. The driving motors in the upstairs module are the front steering engine 20 and the rear steering engine 9.
The front wheel distance sensor 16 for detecting the height of the front wheel from the ground and whether the axis of the front wheel exceeds the step vertical plane may be installed on the lower surface of the front wheel behind the driving motor. The rear wheel distance sensor 10 is used to detect the ground clearance of the rear wheel and whether the axis of the rear wheel exceeds the vertical surface of the step, and may be installed on the lower surface of the rear wheel behind the driving motor.
The front main rod 2 is arc-shaped, the middle of the front main rod is provided with a groove, and teeth are arranged along the inner side of the arc shape to form an arc-shaped rack; the front steering engine 20 is connected with the first gear 21 through a shaft 41 and can drive the first gear 21 to rotate; the first gear 21 is engaged with the circular arc-shaped rack of the front main rod, and the shaft of the first gear passes through the slot.
The frame 1 is provided with a guide structure 19 for the movement of the front main rod 2, and the guide structure can be in a shape of an arc-shaped bent pipe; the radian of the guide structure 19 is matched with that of the front main rod 2, and the front main rod 2 can freely slide through the guide structure 19.
The rear main rod 3 is in a strip shape, a groove is formed in the middle of the rear main rod, and teeth are arranged along one side of the rear main rod 3 to form a strip-shaped rack; the rear steering engine 9 is connected with the second gear 4 through a shaft 42 and can drive the second gear 4 to rotate; the second gear 4 is meshed with the strip-shaped rack of the rear main rod 3, and the shaft of the second gear penetrates through the groove.
The frame 1 is provided with a guide structure 24 for the movement of the rear main rod 3; the guide structure 24 is in a long strip tubular shape, and the rear main rod 3 can freely slide through the guide structure 24.
The inner side of the front driven wheel 23 is provided with a ratchet, and the front main rod 2 is provided with a ratchet buckle 22; the ratchet buckle 22 is engaged with the ratchet teeth to enable the front driven wheel to rotate forwards in one direction.
The inner side of the rear driven wheel 8 is provided with a ratchet, and the rear main rod 3 is provided with a ratchet buckle 7; the ratchet buckle 7 is meshed with the ratchet to enable the rear driven wheel to rotate forwards in one direction.
The trolley is driven by two batteries 13; the battery is mounted in a battery compartment 12, the battery compartment 12 being mounted on a battery holder 18; the battery box 12 is detachably connected to a battery holder 18, which is fixed to the frame between the two rear wheels.
The car continuously detects the distance from the car head to the step by the car head distance sensor 14 before climbing stairs, and sends a signal to the main control board 11. The main control panel 11 drives the motor 5 to make the vehicle run slowly. When the sensor 14 is close to the wall of the stairs, the main control board 11 receives the signal and outputs a command to stop the motor 5 and stop the trolley. Next, the main control board 11 drives the front steering engine 20 to rotate the first gear 21 connected with the front steering engine, so as to drive the front main rod 2 to rotate and move downwards, and support the whole vehicle. At this time, the front wheel distance sensor 16 continuously detects the front wheel position until the lowermost end of the front wheel exceeds the step level, as shown in fig. 5. Subsequently, the main control board 11 drives the rear wheels and drives the driven wheels 23 at the bottom of the front main rod 2, so that the trolley moves forwards until the axis of the front wheels exceeds the vertical surface of the step.
Then, the main control board 11 drives the front steering engine 20 to rotate reversely to drive the front main rod 2 to move upwards and be retracted, and the front wheels of the vehicle fall on the steps. Next, the main control board 11 drives the rear steering engine 9 to rotate the second gear 4 connected thereto, and drives the rear main rod 3 to move downward to support the whole vehicle, as shown in fig. 6, until the front and rear wheels of the trolley reach the same horizontal height.
Finally, the main control board 11 drives the front wheels and drives the driven wheel 8 at the bottom of the rear main rod 3 to move the trolley forward, as shown in fig. 7. And meanwhile, the rear wheel distance sensor 10 continuously detects until the gravity center of the rear wheel exceeds the edge of the step in the vertical direction. At this time, the main control board 11 receives the signal and drives the rear steering engine to retract the rear main rod 3, and the step climbing is completed, as shown in fig. 8.
While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, the invention further resides in various changes and modifications which fall within the scope of the invention as claimed.
Claims (6)
1. The utility model provides a building dolly which characterized in that: the automatic stair climbing device comprises a frame, wherein an active traveling module and a stair climbing module are arranged on the frame; the active driving module includes: a left front wheel, a right front wheel, a left rear wheel, a right rear wheel and their respective drive motors (5); the upstairs module comprises a front supporting device and a rear supporting device; the front supporting device comprises a front main rod (2) and a front steering engine (20) which can be lifted, and the tail end of the lower side of the front main rod (2) is connected with a front driven wheel (23) which can only rotate forwards; the rear supporting device comprises a rear main rod (3) and a rear steering engine (9) which can be lifted, and the tail end of the lower side of the rear main rod (3) is connected with a rear driven wheel (8) which can only rotate forwards; the front driven wheel (23) is positioned in the middle position in front of the left rear wheel and the right rear wheel, and the rear driven wheel (8) is positioned in the middle position behind the left front wheel and the right front wheel; the stair climbing trolley is provided with a main control board (11), a front wheel distance sensor (16), a rear wheel distance sensor (10) and a vehicle head distance sensor (14), and a driving motor of the active driving module, a driving motor in the upstairs module, the front wheel distance sensor (16), the rear wheel distance sensor (10) and the vehicle head distance sensor are connected with the main control board (11);
the front main rod (2) is arc-shaped, a groove is formed in the middle of the front main rod, and teeth are arranged along the inner side of the arc shape to form an arc-shaped rack; the front steering engine (20) is connected with the first gear (21) and can drive the first gear (21) to rotate; the first gear (21) is meshed with the circular arc-shaped rack of the front main rod, and a shaft of the first gear penetrates through the groove.
2. The stair climbing trolley according to claim 1, wherein: a guide structure (19) for the movement of the front main rod (2) is arranged on the frame (1); the radian of the guide structure (19) is matched with that of the front main rod (2), and the front main rod (2) can freely slide through the guide structure (19).
3. The stair climbing trolley according to claim 1, wherein: the rear main rod (3) is in a strip shape, a groove is formed in the middle of the rear main rod, and teeth are arranged along one side of the rear main rod (3) to form a strip-shaped rack; the rear steering engine (9) is connected with the second gear (4) and can drive the second gear (4) to rotate; the second gear (4) is meshed with the strip-shaped rack of the rear main rod (3), and the shaft of the second gear penetrates through the groove.
4. The stair climbing trolley according to claim 1, wherein: a guide structure (24) for the movement of the rear main rod (3) is arranged on the frame (1); the rear main rod (3) can freely slide through the guide structure (24).
5. The stair climbing trolley according to claim 1, wherein: ratchets are arranged on the inner side of the front driven wheel (23), and a ratchet buckle (22) is arranged on the front main rod (2); the ratchet buckle (22) is meshed with the ratchet to enable the front driven wheel to rotate forwards in one direction.
6. The stair climbing trolley according to claim 1, wherein: ratchets are arranged on the inner side of the rear driven wheel (8), and a ratchet buckle (7) is arranged on the rear main rod (3); the ratchet wheel buckle (7) is meshed with the ratchet, so that the rear driven wheel rotates forwards in one direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910535510.1A CN110341823B (en) | 2019-06-20 | 2019-06-20 | Stair climbing trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910535510.1A CN110341823B (en) | 2019-06-20 | 2019-06-20 | Stair climbing trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110341823A CN110341823A (en) | 2019-10-18 |
| CN110341823B true CN110341823B (en) | 2020-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910535510.1A Active CN110341823B (en) | 2019-06-20 | 2019-06-20 | Stair climbing trolley |
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| Country | Link |
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| CN (1) | CN110341823B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111270608B (en) * | 2020-03-09 | 2021-11-16 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN112407089B (en) * | 2020-11-25 | 2021-10-08 | 杭州师范大学钱江学院 | Stair climbing logistics trolley with tail end lifting capability and stair climbing method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02262484A (en) * | 1989-04-03 | 1990-10-25 | Toshiba Corp | Moving mechanism |
| JP3380893B2 (en) * | 1999-11-01 | 2003-02-24 | 独立行政法人産業技術総合研究所 | Electric wheelchair stair climbing mechanism |
| DE19955199C1 (en) * | 1999-11-16 | 2001-06-13 | Karlsruhe Forschzent | Stair-mounting electric wheel chair; has wheels arranged on wheel arms and mounted in body with hinged and rigid climbing arms to form wheel-climbing modules, where climbing arms are linearly guided |
| CN103963813B (en) * | 2014-04-03 | 2017-01-18 | 浙江理工大学 | Novel multipurpose electric carrier stair climbing vehicle |
| CN205256403U (en) * | 2015-12-08 | 2016-05-25 | 胡中圭 | Stair -climbing car |
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2019
- 2019-06-20 CN CN201910535510.1A patent/CN110341823B/en active Active
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| CN110341823A (en) | 2019-10-18 |
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| CB03 | Change of inventor or designer information |
Inventor after: Jiang Wenbiao Inventor after: Dong Guili Inventor after: Chen Yuzhong Inventor after: Li Hanfeng Inventor before: Dong Guili Inventor before: Chen Yuzhong Inventor before: Li Hanfeng |
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