CN110758515A - Weight climbing intelligent trolley - Google Patents
Weight climbing intelligent trolley Download PDFInfo
- Publication number
- CN110758515A CN110758515A CN201911210905.0A CN201911210905A CN110758515A CN 110758515 A CN110758515 A CN 110758515A CN 201911210905 A CN201911210905 A CN 201911210905A CN 110758515 A CN110758515 A CN 110758515A
- Authority
- CN
- China
- Prior art keywords
- frame
- gear
- support frame
- trolley
- bottom plate
- 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 33
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 239000002184 metal Substances 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000001276 controlling effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009125 negative feedback regulation Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
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
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
-
- 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
-
- 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
- B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2202/00—Indexing codes relating to type or characteristics of transported articles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a load climbing intelligent trolley which comprises a trolley frame, a bottom plate, handrails, a folding trolley frame, a metal hinge, a variable speed driving motor, a vehicle-mounted controller, a power supply, two universal wheels and a four-star wheel mechanism, wherein the trolley frame is vertically arranged at one end of the upper surface of the bottom plate; the handrail is arranged at the top of the frame; the folding bicycle frame is arranged at the upper end of the bottom plate, and one end of the folding bicycle frame is connected with the bicycle frame through a metal hinge; the variable speed driving motor is arranged on the lower surface of the bottom plate and used for driving the trolley; the vehicle-mounted controller is arranged at the upper part of the frame, close to the handrail, and is used for controlling the speed and the direction of the trolley; the power supply is arranged on the lower surface of the bottom plate, electrically connected with the variable-speed drive motor and the vehicle-mounted controller and used for providing working power for the variable-speed drive motor and the vehicle-mounted controller; the two universal wheels are respectively arranged at two sides below one end of the bottom plate far away from the frame and used for changing the walking direction of the handcart; the two four-star wheel mechanisms are respectively arranged on two sides of one end, close to the frame, of the bottom plate and connected with a variable speed driving motor shaft, and are used for driving the trolley to move forwards, move backwards and climb stairs through the driving of the variable speed driving motor.
Description
Technical Field
The invention relates to the field of trolleys, in particular to an intelligent trolley for weight climbing.
Background
At present, elevators are rarely installed in buildings with four floors and below four floors at home, the floors are connected by stairs, more personnel are often needed for carrying goods up and down the stairs in daily life for cooperative operation, great physical strength is consumed, and particularly, the size and the weight of the goods are large. In addition, in some enterprise production, the efficiency of carrying goods can be seriously influenced by completely depending on manpower, and meanwhile, the situations of goods damage, personnel injury and the like easily occur.
At present, the stair climbing device at home and abroad has a crawler type, walking type and wheel set type structure. The crawler type is heavy, inflexible in movement, and has large pressure on the edge of the step, and certain damage to the step; walking climbing devices are divided into two categories: the first kind actuating mechanism is the hinge, and through raising the heavy object, the horizontal motion is gone on in turn and is realized the climbing, and the second kind is the sufficient device of the human stair action of climbing, goes up and down in turn through many mechanical legs for the simulation, supports the heavy burden and climbs the building. The walking structure has higher control requirement, more complex operation, slow operation on the flat ground and higher energy consumption; the wheel set type has the advantages of fast movement, simple structure, low energy consumption and the like.
Goods that daily life carried tend to be diversified, and some small quantity is many, and some volumes are great, so, specific motorcycle type is difficult to satisfy multiple demand.
When the handcart is used for climbing stairs under a heavy load, the handcart body and the load are easy to swing around the driving shaft due to the change of the gravity center, and the stability of the handcart body and the load is difficult to control through manual operation.
The invention aims to improve the prior trolley aiming at the problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an intelligent load climbing trolley, which solves the problems that the existing trolley cannot automatically climb stairs with a load and is narrow in application range.
In order to achieve the above purpose, the technical solution for solving the technical problem is as follows:
the utility model provides a heavy burden climbing intelligence handcart, includes frame, bottom plate, handrail, folding car frame, metal hinge, variable speed driving motor, on-vehicle controller, power to and two universal wheels and four star wheel mechanisms, wherein:
the frame is vertically arranged at one end of the upper surface of the bottom plate;
the handrail is arranged at the top of the frame;
the folding bicycle frame is arranged at the upper end of the bottom plate, and one end of the folding bicycle frame is connected with the bicycle frame through the metal hinge;
the variable-speed driving motor is arranged on the lower surface of the bottom plate and used for driving the trolley;
the vehicle-mounted controller is arranged at the upper part of the frame, close to the handrail, and is used for controlling the speed and the direction of the trolley;
the power supply is arranged on the lower surface of the bottom plate, is electrically connected with the variable speed drive motor and the vehicle-mounted controller, and is used for providing working power supply for the variable speed drive motor and the vehicle-mounted controller;
the two universal wheels are respectively arranged on two sides below one end of the bottom plate, which is far away from the frame, and are used for changing the walking direction of the trolley;
the two four-star wheel mechanisms are respectively arranged on two sides of one end, close to the frame, of the bottom plate, are connected with the variable speed driving motor shaft, and are used for driving the hand cart to advance, retreat and climb stairs through the driving belt of the variable speed driving motor.
Further, every four star gears mechanism includes four groups of spur gears, spur gear center pin, planetary gear center pin and planet wheel to and a sun gear, drive shaft and planet wheel support frame, wherein:
the four groups of straight gears, straight gear central shafts, planetary gears and planetary gear central shafts and the planetary gears are in a cross-shaped layout around the central gears and the driving shafts;
the central gear is sleeved on the driving shaft and is in meshing transmission connection with four adjacent planetary gears respectively;
the planetary gear is sleeved on the central shaft of the planetary gear and is in meshing transmission connection with the adjacent straight gear and the central gear respectively;
the straight gear is sleeved on the straight gear central shaft and is in meshing transmission connection with the adjacent planetary gears;
the four planet gear central shafts are fixedly connected with the planet gear support frame;
the four straight gear central shafts are respectively and correspondingly fixedly connected with the four planet gears;
and the two four-star mechanisms realize synchronous motion through the driving shaft.
Further, each four-star mechanism still includes four straight-gear center shaft bearings and a drive shaft bearing, wherein:
the four straight gear central shaft bearings are respectively sleeved on the peripheries of the four straight gear central shafts and are fixedly connected with the planet gear support frame;
the driving shaft bearing sleeve is arranged on the periphery of the driving shaft and is fixedly connected with the planet wheel supporting frame.
Further, still include first bevel gear and second bevel gear, wherein:
the first bevel gear is fixedly connected with an output shaft of the variable speed driving motor;
the second bevel gear is sleeved in the middle of the driving shaft, is meshed with the first bevel gear, and is used for driving the four-star wheel mechanisms positioned at two ends of the driving shaft to move through the driving of the variable speed driving motor.
Further, the planet wheel support frame includes first support frame, second support frame and third support frame, wherein:
the first support frame and the second support frame are positioned on the inner sides of the four planet wheels, and the second support frame is arranged close to the four planet wheels;
the third support frame is positioned at the outer sides of the four planet wheels;
the four straight gear central shafts penetrate through the second support frame and the corresponding planet gears and are respectively used for fixedly connecting each straight gear between the first support frame and the second support frame and fixedly connecting each planet gear between the second support frame and the third support frame;
the central shaft of the planetary gear is fixedly arranged between the first support frame and the second support frame;
the driving shaft penetrates through the first support frame, the second support frame and the third support frame.
Furthermore, the four-star mechanism driving mechanism further comprises two fixing blocks with through holes in the middle, the two fixing blocks are respectively and vertically fixedly connected to the lower end, close to one side of the frame, of the bottom plate and are respectively located on two sides of the second bevel gear, and the driving shaft penetrates through the two fixing blocks and is connected with the two four-star mechanism shafts.
Further, the vehicle-mounted controller comprises a power switch button, a stepless speed regulation knob, a forward and reverse motion switch and a display screen, wherein:
the power switch button is used for controlling the switch of the power supply;
the stepless speed regulating knob is used for controlling the rotating speed of the variable speed driving motor;
the forward and reverse movement switch is used for controlling the trolley to move forwards or backwards;
and the display screen is used for displaying the current motion state, the vehicle speed and the electric quantity information of the trolley.
Further, folding car frame still includes preceding car frame, left car frame, right car frame and back car frame, wherein:
the front frame is arranged above the universal wheels and is connected with the left frame and the right frame through hinges;
the left vehicle frame and the right vehicle frame are composed of four windows welded by angle steel and a steel wire mesh and are connected through a metal hinge;
the rear frame is arranged above the four-star wheel mechanism and connected with the left frame and the right frame through metal hinges.
Preferably, the power supply adopts a rechargeable battery.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
(1) the invention relates to a load climbing intelligent trolley, which is characterized in that a foldable trolley frame is designed according to different types and sizes of transported articles, and the trolley frame is used for small-size and large-quantity goods; for goods with overlarge volume, the frame is folded beside the handrail, and the goods are bound by using the rope.
(2) According to the intelligent load climbing trolley, under the condition of no climbing, the motor is driven, and the physical strength is saved; the speed is adjustable, and the safety and the working efficiency are improved; the forward and reverse rotation of the variable-speed drive motor enables the cart to be pushed and pulled. Under the condition of climbing the step, four star gear mechanisms and the PID controller of two closed loops combine, make the handcart climb the action high-efficiently steadily.
(3) The invention relates to a load climbing intelligent trolley, which adopts a four-star wheel mechanism, takes the step size of the national standard as the reference, designs the size of a planet wheel and the gear ratio of a planet wheel train, makes the whole structure more compact, has the advantages of large carrying capacity, low operation noise and long service life in transmission of the planet wheel train, and has higher climbing efficiency and stability compared with the traditional three-star wheel climbing structure and leg climbing mechanism.
(4) The intelligent weight-bearing climbing trolley has the advantages of dual purposes of road leveling and step transportation, simple structural design, simplicity and convenience in operation, capability of saving a large amount of physical power of workers and wide range of types of transported articles; the storage and the transport that can be used to some specific project outsourcing of enterprise or machined part also can be used to the transport of the daily goods of family, and the cost is lower, uses extensively, the facilitate promotion.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is an assembled schematic view of a weight-climbing smart cart of the present invention;
FIG. 2 is a schematic view of a 45 degree angle assembly of a weight climbing smart cart of the present invention;
FIG. 3 is a folding assembly view of a frame of the weight-climbing smart cart of the present invention;
FIG. 4 is a schematic diagram of a planetary gear train of a four-star mechanism in the weight-climbing smart cart of the present invention;
FIG. 5 is a partially assembled schematic view of a weight-climbing smart cart of the present invention;
FIG. 6 is a diagram of a step climbing process of a weight climbing smart cart of the present invention;
FIG. 7 is a second diagram of a step climbing process of the weight climbing smart cart of the present invention;
FIG. 8 is a three-stage stair climbing process of the weight-climbing smart cart of the present invention;
FIG. 9 is a diagram of a mathematical model for double closed loop PID control of a weight-climbing smart cart in accordance with the present invention;
FIG. 10 is a diagram of a dual closed-loop PID control model of a weight-climbing smart cart in accordance with the present invention;
FIG. 11 is a flow chart of the double closed loop PID control of the weight climbing smart cart of the present invention.
[ description of main symbols ]
1-a vehicle frame;
2-a bottom plate;
3-a handrail;
4-folding the bicycle frame;
5-a metal hinge;
6-variable speed driving motor;
7-an onboard controller;
8-a power supply;
9-universal wheels;
10-a spur gear;
11-straight gear central axis;
12-a planetary gear;
13-a planet gear central shaft;
14-a planet wheel;
15-a sun gear;
16-a drive shaft;
17-a planet wheel support;
18-drive shaft bearing;
19-a first bevel gear;
20-a second bevel gear;
21-a first support frame;
22-a second support;
23-a third support;
24-fixing blocks;
25-left frame;
26-rear frame;
101-four star wheel mechanism.
Detailed Description
While the embodiments of the present invention will be described and illustrated in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.
As shown in fig. 1-3, the present embodiment discloses a weight climbing smart cart, which comprises a cart frame 1, a bottom plate 2, a handrail 3, a foldable cart frame 4, a metal hinge 5, a variable speed driving motor 6, an on-board controller 7, a power supply 8, two universal wheels 9 and a four-star wheel mechanism 101, wherein:
the frame 1 is vertically arranged at one end of the upper surface of the bottom plate 2;
the handrail 3 is arranged at the top of the frame 1;
the folding bicycle frame 4 is arranged at the upper end of the bottom plate 2, and one end of the folding bicycle frame is connected with the bicycle frame 1 through the metal hinge 5;
the variable speed driving motor 6 is arranged on the lower surface of the bottom plate 2 and is used for driving a trolley;
the vehicle-mounted controller 7 is arranged at the upper part of the frame 1 close to the handrail 3 and is used for controlling the speed and the direction of the trolley;
the power supply 8 is mounted on the lower surface of the bottom plate 2, electrically connected with the variable speed drive motor 6 and the vehicle-mounted controller 7, and used for providing working power supply for the variable speed drive motor 6 and the vehicle-mounted controller 7; preferably, the power supply 8 adopts a rechargeable battery.
The two universal wheels 9 are respectively arranged on two sides below one end of the bottom plate 2 far away from the frame 1 and used for changing the walking direction of the trolley;
the two four-star wheel mechanisms 101 are respectively installed on two sides of one end, close to the frame 1, of the bottom plate 2, are connected with the variable speed driving motor 6 through a shaft, and are used for driving the hand cart to advance, retreat and climb stairs through the driving of the variable speed driving motor 6.
In fig. 4, each of the four-planetary gear mechanisms 101 includes four sets of a spur gear 10, a spur gear center shaft 11, a planetary gear 12, a planetary gear center shaft 13, and a planetary gear 14, and one sun gear 15, a drive shaft 16, and a planetary gear support frame 17, where:
four groups of the spur gears 10, the spur gear central shafts 11, the planet gears 12, the planet gear central shafts 13 and the planet gears 14 are in a cross-shaped layout around the sun gear 15 and the driving shaft 16;
the central gear 15 is sleeved on the driving shaft 16 and is in meshing transmission connection with four adjacent planetary gears 12 respectively;
the planetary gear 12 is sleeved on the planetary gear central shaft 13 and is respectively meshed with and in transmission connection with the straight gear 10 and the central gear 15 which are adjacent;
the straight gear 10 is sleeved on the straight gear central shaft 11 and is in meshed transmission connection with the adjacent planetary gear 12;
the four planet gear central shafts 13 are fixedly connected with the planet gear support frame 17;
the four straight gear central shafts 11 are respectively and correspondingly fixedly connected with the four planet gears 14;
the two four-star mechanisms 101 are moved synchronously by the drive shaft 16.
In fig. 2 and 5, each of the four-star mechanisms 101 further includes four spur gear center shaft bearings (not shown) and one drive shaft bearing 18, wherein:
the four straight gear central shaft bearings are respectively sleeved on the periphery of the four straight gear central shafts 11 and are fixedly connected with the planet gear support frame 17;
the drive shaft bearing 18 is sleeved on the periphery of the drive shaft 16 and is fixedly connected with the planet wheel support frame 17.
Further in fig. 2 and 5, the smart cart further comprises a first bevel gear 19 and a second bevel gear 20, wherein:
the first bevel gear 19 is fixedly connected with an output shaft of the variable speed driving motor 6;
the second bevel gear 20 is sleeved on the middle portion of the driving shaft 16, is meshed with the first bevel gear 19, and is used for driving the four-star mechanism 101 at two ends of the driving shaft 16 to move through the driving of the variable speed driving motor 6.
With continued reference to fig. 5, the planet carrier 17 includes a first carrier 21, a second carrier 22, and a third carrier 23, wherein:
the first support frame 21 and the second support frame 22 are positioned at the inner sides of the four planet wheels 14, and the second support frame 22 is arranged close to the four planet wheels 14;
the third support frame 23 is positioned at the outer sides of the four planet wheels 14;
the four straight gear central shafts 11 penetrate through the second support frame 22 and the corresponding planet gears 14, and are respectively used for fixedly connecting each straight gear 10 between the first support frame 21 and the second support frame 22 and fixedly connecting each planet gear 14 between the second support frame 22 and the third support frame 23;
the central shaft 13 of the planetary gear is fixedly arranged between the first support frame 21 and the second support frame 22;
the drive shaft 16 penetrates the first support frame 21, the second support frame 22 and the third support frame 23.
In this embodiment, the planet wheel support frame 17 only has a supporting function, has a simple and compact structure, and improves the stability and efficiency of the cart.
In fig. 2 and 5, the intelligent cart further comprises two fixing blocks 24 with through holes in the middle, the two fixing blocks 24 are respectively and vertically and fixedly connected to the lower end of the bottom plate 2 close to one side of the cart frame 1 and are respectively located at two sides of the second bevel gear 20, and the driving shaft 16 passes through the two fixing blocks 24 and is connected with the two four-star mechanisms 101 through a shaft.
Further, the vehicle-mounted controller 7 comprises a power switch button (not shown), a stepless speed regulation knob (not shown), a forward and reverse movement switch (not shown) and a display screen (not shown), wherein the power switch button is used for controlling the on and off of the power supply 8; the stepless speed regulating knob is used for controlling the rotating speed of the variable speed driving motor 6; the forward and reverse movement switch is used for controlling the trolley to move forwards or backwards; and the display screen is used for displaying the current motion state, the vehicle speed and the electric quantity information of the trolley. In the embodiment, a user can realize flexible and stable operation of the trolley through simple control operation; the speed and the swing angle of the trolley are adjusted in real time by using the PTD controller of the double closed loops in a climbing state, so that the trolley can run stably. Specifically, the vibration of the trolley can be effectively reduced through the closed-loop speed PID control; through the closed-loop swing angle PTD control, the stability of the handcart climbing process can be effectively improved.
As shown in fig. 1 to 3, the foldable frame 4 further includes a front frame (not shown), a left frame 25, a right frame (not shown), and a rear frame 26, the front frame is disposed above the universal wheels 9 and is connected to the left frame 25 and the right frame through hinges; the left vehicle frame 25 and the right vehicle frame are composed of four windows welded by angle steel and a steel wire mesh and are connected through a metal hinge 5; the rear frame 26 is arranged above the four-star wheel mechanism 101 and connected with the left frame 25 and the right frame through metal hinges 5. Through the articulated between left side car frame 25, right car frame and the preceding car frame, and the metal hinge 5 of left side car frame 25 and right car frame has made up the folding function that has realized the car frame, has expanded the kind and the size range of transported substance article.
The specific transmission principle is as follows:
the variable speed driving motor 6 outputs driving force, the first bevel gear 19 and the second bevel gear 20 transmit the power to a driving shaft 16 perpendicular to the motor, the central gears 15 fixed at two ends of the shaft transmit the power to the planetary gears 12 with central shafts fixed on a planetary gear support frame 17, and finally the planetary gears 12 transmit the power to a straight gear 10 connected with the planetary gears 14, so that four planetary gears 14 in the four-planetary gear mechanism 101 are driven to rotate simultaneously, and compared with the situation that the driving shaft 16 directly drives a driving wheel support frame, the torque borne by the planetary gear support frame 17 when climbing steps is reduced.
The specific application example is as follows:
application example one: during the flat road transportation, the driving force is output by the variable speed driving motor 6, the power is transmitted to the driving shaft 16 through the first bevel gear 19 and the second bevel gear 20, and then the power is transmitted to each planet wheel 14 through the four-star mechanism 101 shown in fig. 1. Two planet wheels 14 in the four-planet wheel mechanism 101 touch the ground to form driving wheels, and two universal wheels 9 form driven wheels to control the steering of the trolley. The speed, the forward direction, the reverse direction and the start and stop of the trolley can be controlled by operating the vehicle-mounted controller 7.
Application example two: the folding car frame 4 can be unfolded when small goods are transported, as shown in figure 1, so that the small goods are convenient to load; when transporting large-volume goods, the foldable frame 4 is folded into the state shown in fig. 3, and the goods can be bound on the trolley frame 1 for transportation.
Application example three: when a load climbs a step, as shown in fig. 6, when a driving wheel contacts the front surface of the next step, the driving wheel stops rotating, the central gear 15 driven by the driving shaft 16 transmits driving force to the planetary gear 12, and the central shaft 13 of the planetary gear is connected with the planetary gear support frame 17, so that the whole four-star wheel mechanism 101 is driven to turn over as shown in fig. 7 until the next driving wheel contacts the upper surface of the next step; the two drive wheels then move together as shown in fig. 8 until the first drive wheel rides up the upper surface of the next step. The three steps are repeated, and the trolley can climb the step. The forward and reverse rotation of the variable speed driving motor 6 can realize that the handcart can safely go up and down steps.
When the weight is loaded and climbs the step, the control process is shown in figures 9-11: firstly, setting the expected running value of the trolley, namely an ideal swinging angle and an ideal speed; and then collecting actual working conditions, namely an actual swing angle and an actual speed value, taking the difference value between the actual swing angle and the actual speed value and an expected value as the output of a PID controller, and carrying out negative feedback regulation to carry out PID control on the trolley, so that the trolley finishes automatic load climbing.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a heavy burden climbing intelligence handcart which characterized in that, includes frame, bottom plate, handrail, folding car frame, metal hinge, variable speed driving motor, on-vehicle controller, power to and two universal wheels and four star wheel mechanisms, wherein:
the frame is vertically arranged at one end of the upper surface of the bottom plate;
the handrail is arranged at the top of the frame;
the folding bicycle frame is arranged at the upper end of the bottom plate, and one end of the folding bicycle frame is connected with the bicycle frame through the metal hinge;
the variable-speed driving motor is arranged on the lower surface of the bottom plate and used for driving the trolley;
the vehicle-mounted controller is arranged at the upper part of the frame, close to the handrail, and is used for controlling the speed and the direction of the trolley;
the power supply is arranged on the lower surface of the bottom plate, is electrically connected with the variable speed drive motor and the vehicle-mounted controller, and is used for providing working power supply for the variable speed drive motor and the vehicle-mounted controller;
the two universal wheels are respectively arranged on two sides below one end of the bottom plate, which is far away from the frame, and are used for changing the walking direction of the trolley;
the two four-star wheel mechanisms are respectively arranged on two sides of one end, close to the frame, of the bottom plate, are connected with the variable speed driving motor shaft, and are used for driving the hand cart to advance, retreat and climb stairs through the driving belt of the variable speed driving motor.
2. The weight-climbing smart cart of claim 1, wherein each of the four-planetary gear mechanisms comprises four sets of spur gears, spur gear center shafts, planetary gears, planetary gear center shafts, and planetary gears, and one center gear, drive shaft, and planetary gear support frame, wherein:
the four groups of straight gears, straight gear central shafts, planetary gears and planetary gear central shafts and the planetary gears are in a cross-shaped layout around the central gears and the driving shafts;
the central gear is sleeved on the driving shaft and is in meshing transmission connection with four adjacent planetary gears respectively;
the planetary gear is sleeved on the central shaft of the planetary gear and is in meshing transmission connection with the adjacent straight gear and the central gear respectively;
the straight gear is sleeved on the straight gear central shaft and is in meshing transmission connection with the adjacent planetary gears;
the four planet gear central shafts are fixedly connected with the planet gear support frame;
the four straight gear central shafts are respectively and correspondingly fixedly connected with the four planet gears;
and the two four-star mechanisms realize synchronous motion through the driving shaft.
3. The weight-climbing smart cart of claim 2, wherein each of the four-star mechanisms further comprises four spur gear central shaft bearings and one drive shaft bearing, wherein:
the four straight gear central shaft bearings are respectively sleeved on the peripheries of the four straight gear central shafts and are fixedly connected with the planet gear support frame;
the driving shaft bearing sleeve is arranged on the periphery of the driving shaft and is fixedly connected with the planet wheel supporting frame.
4. The weight-climbing smart cart of claim 2, further comprising a first bevel gear and a second bevel gear, wherein:
the first bevel gear is fixedly connected with an output shaft of the variable speed driving motor;
the second bevel gear is sleeved in the middle of the driving shaft, is meshed with the first bevel gear, and is used for driving the four-star wheel mechanisms positioned at two ends of the driving shaft to move through the driving of the variable speed driving motor.
5. The weight-climbing smart cart of claim 2, wherein the planet support comprises a first support, a second support, and a third support, wherein:
the first support frame and the second support frame are positioned on the inner sides of the four planet wheels, and the second support frame is arranged close to the four planet wheels;
the third support frame is positioned at the outer sides of the four planet wheels;
the four straight gear central shafts penetrate through the second support frame and the corresponding planet gears and are respectively used for fixedly connecting each straight gear between the first support frame and the second support frame and fixedly connecting each planet gear between the second support frame and the third support frame;
the central shaft of the planetary gear is fixedly arranged between the first support frame and the second support frame;
the driving shaft penetrates through the first support frame, the second support frame and the third support frame.
6. The intelligent weight-climbing trolley according to claim 2, further comprising two fixing blocks with through holes in the middle, wherein the two fixing blocks are vertically and fixedly connected to the lower end of the bottom plate on the side close to the trolley frame and located on two sides of the second bevel gear, and the driving shaft penetrates through the two fixing blocks and is connected with the two four-star wheel shafts.
7. The weight-climbing smart cart of claim 1, wherein the onboard controller comprises a power switch button, a stepless speed control knob, a forward and reverse motion switch, and a display screen, wherein:
the power switch button is used for controlling the switch of the power supply;
the stepless speed regulating knob is used for controlling the rotating speed of the variable speed driving motor;
the forward and reverse movement switch is used for controlling the trolley to move forwards or backwards;
and the display screen is used for displaying the current motion state, the vehicle speed and the electric quantity information of the trolley.
8. The weight-climbing smart cart of claim 1, wherein the folding cart frame further comprises a front cart frame, a left cart frame, a right cart frame, and a rear cart frame, wherein:
the front frame is arranged above the universal wheels and is connected with the left frame and the right frame through hinges;
the left vehicle frame and the right vehicle frame are composed of four windows welded by angle steel and a steel wire mesh and are connected through a metal hinge;
the rear frame is arranged above the four-star wheel mechanism and connected with the left frame and the right frame through metal hinges.
9. The weight-climbing smart cart according to claim 1, wherein the power source is a rechargeable battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911210905.0A CN110758515A (en) | 2019-11-27 | 2019-11-27 | Weight climbing intelligent trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911210905.0A CN110758515A (en) | 2019-11-27 | 2019-11-27 | Weight climbing intelligent trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110758515A true CN110758515A (en) | 2020-02-07 |
Family
ID=69340628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911210905.0A Pending CN110758515A (en) | 2019-11-27 | 2019-11-27 | Weight climbing intelligent trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110758515A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232030A (en) * | 2020-04-10 | 2020-06-05 | 辽宁科技大学 | Multifunctional shopping cart for stair climbing under assistance of storage battery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648447A (en) * | 2013-11-25 | 2015-05-27 | 李鑫鑫 | Pulling cart with adjusting wheel |
| CN109249977A (en) * | 2018-10-17 | 2019-01-22 | 丁毅 | Intelligent electric stairs-mover |
| CN110182249A (en) * | 2019-07-03 | 2019-08-30 | 洛阳蒂拉电子商务有限公司 | A kind of folding shopping vehicle |
| CN209553240U (en) * | 2018-12-14 | 2019-10-29 | 重庆浪尖渝力科技有限公司 | Shopping cart |
| CN211107554U (en) * | 2019-11-27 | 2020-07-28 | 上海应用技术大学 | Weight climbing intelligent trolley |
-
2019
- 2019-11-27 CN CN201911210905.0A patent/CN110758515A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648447A (en) * | 2013-11-25 | 2015-05-27 | 李鑫鑫 | Pulling cart with adjusting wheel |
| CN109249977A (en) * | 2018-10-17 | 2019-01-22 | 丁毅 | Intelligent electric stairs-mover |
| CN209553240U (en) * | 2018-12-14 | 2019-10-29 | 重庆浪尖渝力科技有限公司 | Shopping cart |
| CN110182249A (en) * | 2019-07-03 | 2019-08-30 | 洛阳蒂拉电子商务有限公司 | A kind of folding shopping vehicle |
| CN211107554U (en) * | 2019-11-27 | 2020-07-28 | 上海应用技术大学 | Weight climbing intelligent trolley |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232030A (en) * | 2020-04-10 | 2020-06-05 | 辽宁科技大学 | Multifunctional shopping cart for stair climbing under assistance of storage battery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103359139A (en) | Lifting trolley | |
| CN205632614U (en) | Building machine was climbed to thing in electronic year | |
| CN211107554U (en) | Weight climbing intelligent trolley | |
| CN207120787U (en) | A kind of electronic loading stair climbing vehicle | |
| CN204871105U (en) | Stairs -mover carries cargo | |
| CN203451167U (en) | Lift handcart | |
| CN110758515A (en) | Weight climbing intelligent trolley | |
| CN208102055U (en) | A kind of scalable vehicle basket diamond shape climbs building vehicle using motor | |
| CN205971425U (en) | Climb building and pile high robot | |
| CN203496974U (en) | Electric barrow for upstairs | |
| CN104648458B (en) | A kind of stairs-mover | |
| CN203937758U (en) | A kind of electric stair climbing floor truck | |
| CN204355188U (en) | A kind of automatic transportation dolly | |
| CN215946644U (en) | Staircase cargo carrying vehicle | |
| CN204863727U (en) | Wheelchair butt joint stairs -mover | |
| CN202821884U (en) | Electrically powered wheelchair capable of moving up and down stairs in self-help mode | |
| CN102381343A (en) | Multi-functional trolley capable of climbing stairs | |
| CN109367609B (en) | Dual-purpose device for assisting in carrying cargo, climbing stairs and translating | |
| CN207860239U (en) | Based on bevel geared electric stair climbing machine | |
| CN207790794U (en) | A kind of electric stair climbing ladder loading trolley | |
| CN110920716B (en) | Object-carrying stair climbing device and operation method thereof | |
| CN210454845U (en) | Shopping cart capable of climbing ladder | |
| CN216886062U (en) | Wheel set structure capable of switching flat ground driving and stair climbing states | |
| CN206885126U (en) | Stroller and children trolley | |
| CN202765065U (en) | Light and convenient stair chair |
Legal Events
| 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 |