CN110816699A

CN110816699A - Double-electric-drive crawler-type multifunctional mobile platform capable of deforming and self-balancing

Info

Publication number: CN110816699A
Application number: CN201911058038.3A
Authority: CN
Inventors: 陶亚平
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-10-22
Filing date: 2019-10-22
Publication date: 2020-02-21

Abstract

The invention discloses a double-electric-drive crawler-type multifunctional mobile platform capable of deforming and self-balancing, which is a platform for automatically controlling feedback deformation of a deformable support connected and supported by a bearing platform to keep the bearing platform balanced, and can be used for developing various special platforms in a derivative way, wherein a climbing power motor is arranged at the upper part of the support, two hub motors are arranged in a front lower tensioning wheel, and a crawler drive system is formed by constraining a plurality of groups of tensioning wheels and a crawler; the hydraulic control execution system for automatic balancing of the bearing platform consists of a bracket, an upper oil cylinder, a lower oil cylinder and a hydraulic control part; the damping spring at the upper and lower connecting part of the bracket and the plastic damping and shock absorbing layer in the tension wheel form a standby shock absorbing and shock absorbing system; the auxiliary balance crawler mounted at the bottom extends the gravity center supporting point of the platform, and one end of the auxiliary balance crawler firstly probes downwards to be in contact with the step for supporting when the lower step of the platform is initially started, so that the gravity center of the platform is stable when the platform descends the step; the electric flat car developed by derivation is provided with a simple reversing device of a control handle; powered chairs have been developed with a collapsible seat.

Description

Double-electric-drive crawler-type multifunctional mobile platform capable of deforming and self-balancing

Technical Field

The application relates to the technical field of robots, in particular to a double-electric-drive crawler-type multifunctional mobile platform capable of deforming and balancing self.

Background

The human resources are one of the biggest puzzles in the current social development and the real life and work, and through the invention creation of mechanical functions and the popularization and application of finished products, the working efficiency is improved, the labor intensity and the density of people are reduced, the human resource cost is reduced, the risk of industrial participants is reduced, and the quantity of living goods is improved, which is the common pursuit target of people and also the inevitable choice of social progress; especially, the invention is the first guide to the improvement of the life quality of the old, weak, sick and disabled groups because the free movement of people is limited. The existing multi-storey residential building is not provided with decoration materials of an elevator building, objects such as heavy furniture and the like are carried on the upper floor and the lower floor by original manpower, and corners of each city are provided with a lot of hasps; electric or manual mobility scooter and wheelchair that live in more under the eyes can only walk on level ground or gentle slope basically, meet step or steep slope slightly, and the utensil of riding instead of walk that has now on the market can satisfy the people of this group freely go on a journey very rarely, and less or the cost that can independently control is very high, hardly benefits middle-low income crowd. The invention has simple structure, lower manufacturing, maintenance and maintenance cost, small turning radius and convenient operation, can autonomously walk on steps and ramps below 40 degrees, greatly expands the independent moving range of old, weak, sick and disabled people and improves the life quality of the old, weak, sick and disabled people.

Disclosure of Invention

The invention discloses a method which comprises the following steps: the multifunctional crawler-type mobile platform is characterized in that a deformable support (2) connected and supported by a bearing platform (1) deforms through automatic controlled feedback so as to keep the bearing platform balanced, the bearing platform is a platform with the upper part capable of bearing or mounting special functional objects, a battery, a micro hydraulic pump station, control system hardware and the like are mounted in the space in the bearing platform, a climbing power motor (7) is connected with a speed reducer (8) and a clutch device (9) of the speed reducer, two hub motors (6), a hydraulic control execution system for automatically keeping the bearing platform balanced, a crawler driving system, a standby vibration damping system, a disc brake device and an auxiliary balance crawler (18) mounted at the bottom, a flat car for derivative development is provided with a simple control handle (23), and an electric chair for derivative development is provided with a foldable seat;

the deformable support (2) is respectively connected with a left front upper tensioning wheel, a right front upper tensioning wheel, a left front lower tensioning wheel, a right front lower tensioning wheel (11) through a common shaft, and is respectively connected with a left rear upper tensioning wheel, a right rear upper tensioning wheel (13), a left buckling point tensioning wheel, a right buckling point tensioning wheel (12) and a left rear lower tensioning wheel (14) through concentric shafts, and the climbing power motor (7) is connected with a speed reducer (8) and is arranged on the upper part of the bearing platform supporting system; the special driving force output when the platform climbs a slope or goes up a step is provided with a clutch device (9), the output shaft of the speed reducer is concentric with the left and right rear tensioning wheels, a one-way bearing is arranged between the rear tensioning wheel and a fixed shaft thereof, the fixed shaft and the deformation support are in transition connection through a two-way bearing, the corresponding and necessary deceleration stable resistance is transmitted when the platform goes down the slope or goes down the step, and the reverse charging can be carried out, so that the battery endurance is improved;

the left rear upper tensioning wheel (13) and the right rear upper tensioning wheel (13) are respectively in transition constraint fixation with a rear upper tensioning wheel fixing short shaft (39) and a rear upper tensioning wheel fixing long shaft (40) through a one-way bearing, and the rear upper tensioning wheel fixing short shaft (39) and the rear upper tensioning wheel fixing long shaft (40) are in transition constraint fixation with the bracket through a two-way bearing;

a clutch sliding rod (38) on the climbing power clutch device (9) is matched with the output of the speed reducer through a shaft spline, a clutch execution oil cylinder (36) pulls a clutch sliding plate (35) to drive the clutch sliding rod (38) which is in transition connection through a ball bearing, a spline on the outer side of the clutch sliding rod is matched with the spline of the output shaft of the speed reducer, and a spline on the inner side of the clutch sliding rod is matched with a spline on one end of a fixed short shaft (39) of a rear rising pinch roller and a spline on one end of a fixed long shaft (40) of the rear rising pinch roller in concentric engagement and separation, so that the.

The hydraulic control execution system for automatically keeping balance of the bearing platform is characterized in that a side vertical surface of a platform support is formed by a parallelogram principle and consists of a deformable support, an upper oil cylinder (3), a lower oil cylinder (4) and a hydraulic control part, the upper oil cylinder (3) and the lower oil cylinder (4) are controlled to automatically feed back and adjust the inner angle of the parallelogram by applying the parallelogram principle, a bendable turning point is selected at the middle part of the side below the parallelogram, when the platform walks on a ramp or a step, the side above the parallelogram is always kept in a horizontal state, so that the platform has three walking forms, one is to walk on the flat ground in a state of keeping the lowest gravity center (figure 1), the other is to walk on a non-flat ground (figure 2), the other is to walk to the step turning angle, the inner angle of the parallelogram of the support is regulated to 90 degrees (figure 3), the size of the appearance length of the platform is minimum, so that the problems that the size of a step corner is relatively small and the platform is not easy to turn are solved;

the crawler driving system is fixedly and symmetrically arranged on the left side and the right side of the platform by a deformable support (2), a plurality of groups of tensioning wheels { a front upper tensioning wheel (10), a front lower tensioning wheel (11), a turning point tensioning wheel (12), a rear upper tensioning wheel (13), a rear lower tensioning wheel (14) } and a crawler in a restraining and symmetrical mode;

the spare vibration damping system is characterized in that a damping spring (15) is arranged at the upper and lower connecting part of a deformable support (2) to reduce vibration of a platform during walking, a tension wheel is designed into three pieces, a plastic damping layer (22) is additionally arranged between an outer ring (20) of the tension wheel and an inner ring (21) of the tension wheel to jointly construct the spare vibration damping system, and the spare vibration damping system is automatically adjusted by utilizing the elasticity of the damping spring and the constraint of a driving crawler belt when the support deforms, so that the problem that the length of the driving crawler belt (5) cannot be changed when the support deforms is solved;

the disc brake device is a hydraulic locking disc (16) arranged on the inner sides of the left front upper tension wheel (10) and the right front upper tension wheel (10) and a hydraulic locking device (17) arranged on the fixed shaft are controlled by hydraulic pressure, so that a brake platform can be timely and effectively realized;

the auxiliary balance crawler belt (18) is arranged at the bottom in the middle of the two driving crawler belts (5) and is parallel to the bottom of the two driving crawler belts, one control and adjustment oil cylinder (19) is additionally arranged, the auxiliary balance crawler belt has two major functions, one function is that when the platform walks on a ramp or a step, the auxiliary balance crawler belt extends the gravity center supporting point of the platform to ensure the safety and stability of the gravity center, and the other function is that when the platform starts at the initial step, one end of the auxiliary balance crawler belt is firstly downwards contacted with the step to support, so that the gravity center of the platform is safe.

The electric flat car developed by derivation is provided with an operation handle (23) simple reversing device, the multifunctional mobile platform moves up and down on a ramp or a step and is designed to do reciprocating motion, the operation handle is also required to be reversed in a reciprocating mode, the unlocking handle is opened by one hand during operation, the locking piece is pulled by a steel wire connected with the locking piece, two groups of springs are symmetrically arranged below a base of the operation handle to bounce the base, a rotating shaft is arranged at the central point of the base, the unlocking handle is loosened after the base is slightly stepped down by feet by rotating the base for 180 degrees, the spring behind the locking piece pushes the locking piece to lock the base, and reversing is completed;

the electric chair developed in a derivative way is provided with a foldable seat (30), the side vertical surfaces of seat supporting legs are designed according to the parallelogram principle, the electric chair can be folded by lightly pushing after unlocking, the left and right armrests (33) and the rear backrest (34) can be sequentially folded, the total height is effectively reduced, the electric chair can be moved into a private car, and the electric chair is convenient to carry and walk.

The present invention is not limited to the details of the foregoing exemplary embodiments, and may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the embodiments be considered as exemplary and not limiting, and that all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description is described in terms of embodiments, not every embodiment includes only a single technical solution, and such descriptions in the present description are merely examples, and it should be understood that the technical solutions in the examples can be combined in various ways to form other possible embodiments that implement the functional elements of the present patent.

Drawings

FIG. 1 is a posture of the platform walking on flat ground; FIG. 2 shows the platform walking on a non-level ground;

FIG. 3 attitude of the platform walking to a step corner; FIG. 4 a platform support and a portion of the functional element;

FIG. 5 the stage in the initial downstep condition; fig. 6 is an exploded view of the tension roller;

FIG. 7 shows a schematic of a derivative platform trailer; FIG. 8 shows one of the reversing processes of the handle bar of the cart;

FIG. 9 shows a schematic of a power chair developed in derivation; fig. 10 is a schematic view of the foldable seat after folding:

FIG. 11 exploded view of a climbing power clutch

1, a bearing platform; 2 a deformable support; 3, an upper oil cylinder; 4, a lower oil cylinder; 5 driving the crawler belt; 6, a hub motor; 7 climbing power motor; 8, a speed reducer; 9 a clutch device; 10, mounting a tension wheel in front of the frame; 11, a front lower tension wheel; 12 a deflection point tension wheel; 13, a tensioning wheel is raised; 14, a rear lower tensioning wheel; 15 a damping spring; 16 hydraulic locking discs; 17 hydraulic locking device; 18 auxiliary groups of balance tracks; 19 auxiliary groups of balance caterpillar band control adjusting oil cylinders; 20, tensioning wheel outer rings; 21, tensioning wheel inner ring; 22, a tension roller plastic damping layer; 23 operating handle; 24 steering handle reversing rotation center; 25 a locking member; 26 unlocking the handle; 27 operating handle base, 28 base spring; 29 operating and controlling the handle height adjusting locking ring; 30 a folding chair; 31 folding chair legs; 32 a tilt lock lever; 33 a handrail; 34 a backrest; 35 clutch slide plate; 36 clutch actuating oil cylinder; 37 reducer output shafts; 38 a clutch slide bar; 39 rear rising pinch roller to fix the short shaft; the long shaft is fixed by the tensioning wheel after 40.

Detailed Description

The invention provides a crawler-type multifunctional mobile platform which is connected with and supported by a bearing platform (1), wherein a deformable support (2) is automatically controlled to perform feedback deformation so as to keep the bearing platform balanced, the side elevation of the platform support is formed by a parallelogram principle, the deformable support, an upper oil cylinder (3), a lower oil cylinder (4) and a hydraulic control part are formed, the upper oil cylinder (3) and the lower oil cylinder (4) are controlled to automatically perform feedback adjustment on the inner angle of the parallelogram by applying the parallelogram principle, a bendable point is selected at the middle part of the side below the parallelogram, when the platform walks on a ramp or a step, the uppermost side of the parallelogram is always kept in a horizontal state, the platform is provided with three walking forms, one is walking in a lowest gravity center form on the flat ground (figure 1), and the other is in a non-flat ground walking form (figure 2), thirdly, the platform walks to the corner of the step, the inner angle of the parallelogram of the bracket is regulated and controlled to be in a 90-degree shape (figure 3), and the length of the appearance of the platform is the smallest, so that the problems that the size of the corner of the step is relatively small and the platform is not easy to turn are solved; when the platform walks on a ramp or a step, the contact surface of the driving crawler belt (5) and the ramp or the step becomes small, the center of gravity is supported unstably, to this end, an auxiliary group balance crawler belt (18) is arranged, the bottom of the auxiliary group balance crawler belt positioned in the middle of the two walking crawler belts (5) is flush with the bottom of the auxiliary group balance crawler belt, one control and adjustment oil cylinder (19) is arranged, the auxiliary group balance crawler belt (18) has two functions, one function is that the platform walks on the ramp or the step, the auxiliary balance crawler belt (18) plays a role in extending the center of gravity supporting point of the platform to ensure the safe and stable center of gravity, and the other function is that when the platform starts at the beginning of the step, one end of the.

In order to solve the problem, a low-speed climbing power motor (7) is specially designed, is connected with a speed reducer (8) and is specially used for outputting driving force when the platform climbs or goes up the steps, and a pair of hub motors (6) can also be driven in an auxiliary group when necessary to ensure the power required when the platform climbs or goes up the steps; when the platform goes down a slope or steps, a speed reducer and a low-speed motor are configured to be combined, and corresponding and necessary speed reduction and stabilization resistance can be transmitted, so that the platform is ensured to stably go down and can be reversely charged; when the platform walks on flat ground or on a downhill slope or on steps, the two hub motors (6) drive the crawler belt, and the corresponding platform walking speed regulation range is wide.

The left rear upper tensioning wheel (13) and the right rear upper tensioning wheel (13) are respectively in transition constraint fixation with a rear upper tensioning wheel fixed short shaft (39) and a rear upper tensioning wheel fixed long shaft (40) through a one-way bearing, and the rear upper tensioning wheel fixed short shaft (39) and the rear upper tensioning wheel fixed long shaft (40) are in transition constraint fixation with the support through a two-way bearing.

A clutch slide rod (38) on the climbing power clutch device (9) is matched with the output of a speed reducer through a shaft spline, a clutch execution oil cylinder (36) pulls a clutch slide plate (35) to drive the clutch slide rod (38) which is in transition connection through a ball bearing, the spline on the outer side of the clutch slide rod is matched with the spline on the output shaft of the speed reducer, and the spline on the inner side of the clutch slide rod is matched with the spline on one end of a rear rising pinch roller fixing short shaft (39) and the spline on one end of a rear rising pinch roller fixing long shaft (40) in concentric engagement and separation, so that the clutch purpose is.

A damping spring (15) is arranged at the upper and lower connecting parts of a deformable support (2) to reduce vibration of the platform during walking, the tension wheel is designed into three sets, and a plastic damping layer (22) is additionally arranged between an outer ring (20) of the tension wheel and an inner ring (21) of the tension wheel to jointly construct a damping system for the emergency operation.

When the support deforms, the support is automatically adjusted by utilizing the elasticity of the damping spring (15) and the restraint of the driving crawler belt, and the problem that the length of the driving crawler belt is invariable when the support deforms is solved.

In the aspect of platform braking, a disc brake device is arranged, and a hydraulic locking disc (16) positioned on the inner sides of the left front upper tension wheel (10) and the right front upper tension wheel (10) and a hydraulic locking device (17) arranged on the fixed shaft are controlled by hydraulic pressure, so that the platform can be effectively braked.

The electric flat car developed by derivation is provided with a control handle (23) simple reversing device, the multifunctional mobile platform moves up and down on a ramp or a step and is designed to do reciprocating motion, the control handle (23) is required to be reversed in a reciprocating mode, only one hand is needed to open an unlocking handle (26) during reversing, the locking piece is pulled through a steel wire connected with the locking piece (25), two groups of base springs (28) are symmetrically arranged below a control handle base (27) to bounce the base, a rotating shaft is arranged at the central point (24) of the base, the base is slightly stepped on by feet after rotating the base for 180 degrees, the unlocking handle is released, the spring behind the locking piece pushes the locking base of the locking piece, and the reversing is completed;

the electric chair developed by derivation is provided with a foldable seat (30), the side vertical surface of a seat supporting leg (31) is designed according to the parallelogram principle, and is also provided with an inclined locking rod (32), the chair can be folded by lightly pushing after unlocking, the left handrail, the right handrail and the rear backrest (34) can be folded in sequence, the height is effectively reduced, the electric chair can be moved into a private car, and the electric chair is convenient to carry and go to a long distance.

The multifunctional basic mobile platform can be derived and developed to be used for transporting vehicles going upstairs and downstairs of multi-storey buildings without elevators, objects such as decoration building materials, heavy furniture and the like, electric chairs, electric flat cars, single or double tourism vehicles in part of mountain scenic spots, professional mobile platforms in special environments or purposes and the like.

Claims

1. The deformable self-balancing double-electric-drive crawler-type multifunctional mobile platform is characterized by comprising a bearing platform (1), a hydraulic control execution system for automatically keeping balance of the bearing platform, a climbing power motor (7), a matched speed reducer (8), a clutch device of the speed reducer and the clutch device of the speed reducer, two hub motors (6), a crawler driving system, a standby vibration damping system, a disc brake device, an auxiliary balance crawler (18) installed at the bottom and other components are organically connected, assembled and combined, a derived flat car is provided with a simple reversing handle (23), and a derived developed electric chair is provided with a foldable seat.

2. The multifunctional mobile platform of double electric drive crawler type with deformable self-balancing according to claim 1, wherein the platform support side elevation is formed by parallelogram principle, and is composed of deformable support (2), upper cylinder (3), lower cylinder (4) and hydraulic control part, the upper cylinder and the lower cylinder are controlled by parallelogram principle to adjust the inner angle of the parallelogram, and a bendable point is selected at the middle part of the side below the parallelogram, when the platform is walking on a slope or a step, the uppermost side of the parallelogram is always kept horizontal, so that the platform has three walking states, one is walking on the flat ground with lowest gravity (figure 1), and the other is walking on non-flat ground (figure 2), thirdly, the platform walks to the step corner, the inner angle of the parallelogram of the support is regulated and controlled in a 90-degree state (figure 3), and the overall length of the platform is the minimum, so that the problems that the size of the step corner is relatively small and the platform is not easy to turn are solved.

3. The deformable self-balancing double-electric-drive crawler-type multifunctional mobile platform is characterized in that the climbing power motor (7) is connected with a speed reducer (8) and arranged at the upper part of a bearing platform supporting system according to the principle of claim 1; the clutch device (9) is specially used for outputting driving force when the platform climbs or goes upstairs, and correspondingly and necessarily decelerates and stabilizes resistance when the platform goes downslope or downstairs, and can be reversely charged, so that the battery endurance is increased.

4. The deformable self-balancing double-electric-drive crawler-type multifunctional mobile platform is characterized in that a clutch slide bar (38) on the climbing power clutch device (9) is in spline fit with the output of a speed reducer through a shaft, a clutch execution oil cylinder (36) pulls a clutch slide bar plate (35) to drive the clutch slide bar (38) in transitional connection through a ball bearing, the outer spline of the clutch slide bar is in spline fit with the output shaft of the speed reducer, and the inner spline of the clutch slide bar is in concentric meshing and separated fit with the spline at one end of a rear upper tensioning wheel fixing short shaft (39) and the spline at one end of a rear upper tensioning wheel fixing long shaft (40) respectively to achieve the purpose of clutch.

5. The multifunctional mobile platform of the double electric drive crawler type with the deformable self-balancing function as claimed in claim 1 is characterized in that the two hub motors (6) are respectively and symmetrically arranged in the left and right front lower tension wheels (11) and are mainly used for driving the platform when the platform walks on the flat ground or on a lower step or a lower slope.

6. The deformable self-balancing double-electric-drive crawler-type multifunctional mobile platform is characterized in that the vibration-damping system is composed of two parts, a damping spring (15) is arranged at the upper and lower connecting parts of a deformable support to reduce the vibration of the platform during walking, a tension wheel is designed into three parts, a tension wheel plastic damping layer (22) is additionally arranged between an outer ring (20) of the tension wheel and an inner ring (21) of the tension wheel, and the vibration-damping system is constructed together; when the support deforms, the elasticity of the damping spring (15) is restrained by the driving crawler belt (5) to automatically adjust the closed size, so that the problem that the length of the driving crawler belt (5) is invariable when the support deforms is solved.

7. The multifunctional mobile platform of the double electric drive crawler type with the deformable self-balancing function as claimed in claim 1 is characterized in that the disc brake device is a hydraulic locking disc (16) arranged inside the left and right front upper tension wheels (10) of the platform and a hydraulic locking device (17) arranged on a fixed shaft, and the hydraulic locking disc is controlled by hydraulic pressure to effectively brake the platform in time.

8. The multifunctional mobile platform of the double-electric-drive crawler type capable of deforming and balancing the self is characterized in that the auxiliary balance crawler (18) is arranged between the two drive crawlers (5), the bottom of the auxiliary balance crawler (18) is flush with the bottom of the two drive crawlers, one control and adjustment cylinder (19) is additionally arranged, the auxiliary balance crawler has two functions, one function is that when the platform runs on a ramp or a step, the auxiliary balance crawler (18) extends the supporting point of the gravity center of the platform to ensure the safe and stable gravity center, and the other function is that when the platform starts at the initial stage of the lower step, one end of the auxiliary balance crawler (18) firstly probes and contacts with the step support to ensure the stable gravity center of the platform at.

9. The multifunctional mobile platform is characterized in that the flatbed developed by derivation is provided with a simple reversing device of a control handle (23), the flatbed ascends and descends on a ramp or a step and is designed to do reciprocating motion, the control handle (23) needs to be reversed in a reciprocating mode, the unlocking handle (26) is opened by one hand during reversing, the locking member is pulled through a steel wire connected with the locking member (25), two groups of springs are symmetrically arranged below a base (27) of the control handle to bounce the base, a rotating shaft is arranged at a central point (24) of the base, the unlocking handle (26) is loosened after the base is slightly treaded down by feet by rotating the base for 180 degrees, the locking member is pushed by the spring behind the locking member (25), and reversing is completed.

10. The multifunctional mobile platform is characterized in that the electric chair developed in a derivative mode is provided with a foldable seat (30), the side elevation of a seat supporting leg (31) is designed according to the parallelogram principle, inclined locking rods which are fixedly connected to two sides of the seat and lock two opposite corners of the supporting leg are additionally arranged, the electric chair can be folded by lightly pushing after unlocking, left and right armrests and a rear backrest can be sequentially folded, the total height is effectively reduced, the electric chair can be moved into a private car, and the multifunctional mobile platform is convenient to carry.