CN112407089B - Stair climbing logistics trolley with tail end lifting capability and stair climbing method thereof - Google Patents
Stair climbing logistics trolley with tail end lifting capability and stair climbing method thereof Download PDFInfo
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- CN112407089B CN112407089B CN202011336657.7A CN202011336657A CN112407089B CN 112407089 B CN112407089 B CN 112407089B CN 202011336657 A CN202011336657 A CN 202011336657A CN 112407089 B CN112407089 B CN 112407089B
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- 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
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Abstract
The invention discloses a stair climbing logistics trolley with tail end lifting capability and a stair climbing method thereof. The invention relates to a stair climbing logistics vehicle with tail end lifting capacity, which comprises a vehicle frame, a stair climbing power module and a rear wheel lifting assisting module. The rear wheel lifting assisting foot module is arranged at the tail end of the frame. The stair climbing power module is installed at the head end of the frame. The stair climbing power module comprises two triangular wheel trains which are respectively arranged on two sides of the head end of the frame. Three front wheels which are arranged in a regular triangle shape are arranged in the triangular wheel train. The rear wheel foot lifting assisting module comprises a fixed shaft, a foot lifting driving assembly and an outer support assembly. The fixed shaft is fixed at the tail end of the frame. The external support component comprises a crank case, a connecting rod, an external support gear set, a support rod and a slide rail. The rear wheel foot lifting assisting module can support the tail end of the logistics vehicle, so that the inclination angle of the logistics vehicle is reduced when the logistics vehicle is blocked by steps, and the stair climbing capacity of the logistics vehicle is improved.
Description
Technical Field
The invention belongs to the field of vehicles, and particularly relates to a stair climbing logistics vehicle with tail end lifting capability and a stair climbing method thereof.
Background
The logistics vehicle with the triangular wheel train has the function of going up the steps; however, when a small section of step with a steep gradient is encountered, insufficient power is easily caused by an overlarge inclination angle of the frame, so that the function of quickly climbing the step cannot be realized; in addition, the wheel track of the wheels in the triangular wheel train on the existing logistics vehicle cannot be automatically adjusted, so that the logistics vehicle cannot adapt to steps of different sizes.
Disclosure of Invention
The invention aims to provide a stair climbing logistics trolley with tail end lifting capability and a stair climbing method thereof.
The invention relates to a stair climbing logistics vehicle with tail end lifting capacity, which comprises a vehicle frame, a stair climbing power module and a rear wheel lifting assisting module. The rear wheel lifting assisting foot module is arranged at the tail end of the frame. The stair climbing power module is installed at the head end of the frame. The stair climbing power module comprises two triangular wheel trains which are respectively arranged on two sides of the head end of the frame. Three front wheels which are arranged in a regular triangle shape are arranged in the triangular wheel train.
The rear wheel foot lifting assisting module comprises a fixed shaft, a foot lifting driving assembly and an outer support assembly. The fixed shaft is fixed at the tail end of the frame. The external support component comprises a crank case, a connecting rod, an external support gear set, a support rod and a slide rail. The slide rail is fixed at the tail end of the frame. The slide rail is provided with a slide groove. The interior of the stay bar is matched with the sliding groove on the sliding rail, so that the stay bar can slide along the sliding groove and can rotate around the inner end of the stay bar. The inner end of the crank case and the fixed shaft form a revolute pair, and the outer end of the crank case is hinged with the inner end of the connecting rod. The outer end of the connecting rod is hinged with the middle part of the support rod. The external support gear set comprises a first external support gear, a second external support gear and a third external support gear. First outer supporting gear, second outer supporting gear and third outer supporting gear are all rotatably installed in the crank case and are meshed in sequence for transmission. The first external support gear is fixed with the fixed shaft. The third external supporting gear is fixed with the inner end of the connecting rod. The crank case is driven by the foot lifting driving assembly to rotate around the fixed shaft.
Preferably, the transmission ratio of the first outer supporting gear to the third outer supporting gear is 1: 2.
Preferably, the external support components are two in total. Two external support components are respectively arranged at two sides of the tail end of the frame and are both positioned between two rear wheels.
Preferably, the foot lifting driving assembly comprises a foot lifting driving motor, a transmission shaft and a foot lifting transmission gear set. The transmission shaft is supported at the tail end of the frame. The axes of the transmission shaft and the fixed shaft are parallel to each other. The foot lifting transmission gear set comprises a foot lifting driving gear, a foot lifting intermediate gear and a foot lifting driven gear. The foot lifting driving motor is arranged at the tail end of the frame. The foot lifting driving gear is fixed on an output shaft of the foot lifting driving motor. The two lifting foot intermediate gears are respectively fixed with two ends of the transmission shaft. The two foot lifting driven gears and the two crank boxes are respectively fixed. The foot lifting driving gear is meshed with one of the foot lifting intermediate gears; the two foot lifting intermediate gears are respectively meshed with the two foot lifting driven gears.
Preferably, the outer end of the stay bar is provided with an auxiliary wheel through a one-way bearing. The auxiliary wheel can only roll along with the forward movement of the logistics vehicle. And a pulley is arranged at the inner end of the support rod. The pulley sets up in the spout of slide rail.
Preferably, in the above-described triangular wheel train, the entire triangular wheel train is actively rotatable, and all of the three front wheels are actively rotatable.
Preferably, the stair climbing power module further comprises a stair climbing adjusting driving assembly; the triangular wheel train is a telescopic triangular wheel train. Two telescopic triangular wheel trains are respectively arranged at two sides of the head end of the bottom of the frame. The telescopic triangular wheel train comprises a front wheel, a sliding block, a damping rod, an outer rotating disc, an inner and outer locking mechanism and an outer disc locking mechanism. The outer turnplate and the inner turnplate are coaxially arranged and form a rotating pair with a common axis horizontal with the frame. The inner and outer locking mechanisms are used for locking the outer rotating disc and the inner rotating disc together, and the locking can be released. The outer dial locking mechanism is used for locking the outer dial and the inner dial together, and the locking can be released. The inner rotary discs in the two telescopic triangular gear trains are driven to rotate by the stair climbing adjusting drive component. The three damping rods are uniformly distributed along the circumferential direction of the outer rotating disk, and the inner ends of the damping rods are hinged with the outer side edge of the outer rotating disk. The three damping rods are all connected with a sliding block in a sliding mode. Three connecting rods are fixed on the outer side edge of the inner rotary disc. Three connecting rods are uniformly distributed along the circumferential direction of the inner rotary disc. The three connecting rods and the three sliding blocks respectively form a revolute pair. Each damping rod is provided with a front wheel.
Preferably, the inner and outer locking mechanisms and the outer disc locking mechanism both adopt magnetic powder clutches.
Preferably, the inner and outer locking mechanism comprises a first ratchet wheel and two first pawls. The first ratchet wheel is provided with two first ratchet ring gears which are coaxial and opposite in direction. The two first pawls are arranged on the outer side surface of the outer rotating disc, and the outer ends of the two first pawls correspond to the two first ratchet rings respectively. The outer disc locking mechanism comprises a second ratchet wheel and two second pawls. The second ratchet wheel is fixed on the frame. The second ratchet wheel adopts an end face ratchet wheel. Two second ratchet ring gears which are coaxial and opposite in direction are arranged on the second ratchet wheel. The two second pawls are arranged on the inner side of the outer rotating disc, and the outer ends of the two second pawls correspond to the two first ratchet rings respectively.
The telescopic triangular gear train further comprises a locking driving assembly. The locking driving assembly comprises two rotary electromagnets and two transmission ropes. The two rotary electromagnets are fixed on the outer rotating disc, and the output shaft is respectively fixed with the inner ends of the two first pawls. The power-on directions of the two rotary electromagnets are opposite. One ends of the two transmission ropes are fixed with the rotating shafts at the inner ends of the two first pawls respectively, and the other ends of the two transmission ropes penetrate through the two pawl mounting holes respectively and then are fixed with the two second pawls respectively.
Preferably, the stair climbing adjusting driving assembly comprises a gear set, an adjusting driving motor, an inner rotating shaft and two outer rotating cylinders. The two outer rotating cylinders are coaxially arranged and respectively supported at the bottom of the head end of the frame; the outer ends of the two outer rotating cylinders are respectively fixed with the outer rotating discs in the two telescopic triangular wheel trains. Two ends of the inner rotating shaft are coaxially supported on the two outer rotating cylinders and are respectively fixed with the inner rotating discs in the two telescopic triangular gear trains. The inner rotating shaft is driven to rotate by the adjusting and driving motor.
Preferably, the telescopic triangular wheel train further comprises a grating disc and a photoelectric sensor; the grating disc and the photoelectric sensor are respectively arranged on the outer rotating disc and the inner rotating disc, and the detection head of the photoelectric sensor corresponds to the position of a circle of grating lines on the grating disc.
The stair climbing method of the stair climbing logistics vehicle with the tail end lifting capacity comprises the following specific steps:
when meetting the step, the commodity circulation car advances two telescopic triangle train and supports the state of step, climbs the building and adjusts drive assembly and drive two telescopic triangle train wholely rotations, and two telescopic triangle train are the rotatory in-process and constantly climb up the step. If the power of the logistics vehicle is insufficient to drive the logistics vehicle to upwards run due to the fact that the gradient of the step is too steep, the foot lifting driving assembly drives the crank box to rotate, the support rod is driven to incline and outwards extend, the tail end of the vehicle frame is supported, the inclination angle of the vehicle frame is reduced, and the logistics vehicle is assisted to continuously upwards run.
The invention has the beneficial effects that:
1. the rear wheel foot lifting assisting module can support the tail end of the logistics vehicle, so that the inclination angle of the logistics vehicle is reduced when the logistics vehicle is blocked by steps, and the stair climbing capacity of the logistics vehicle is improved.
2. According to the invention, the outer end of the connecting rod moves along the oblong elliptical-like track in a way of matching the crank case, the external support gear set and the connecting rod, so that the swinging amplitude of the supporting rod is reduced, the space required by the rear wheel auxiliary foot lifting module to work is obviously reduced while the internal and external motion amplitude of the supporting rod is ensured, more carrying space is reserved for the logistics vehicle, and the carrying efficiency is improved.
3. The telescopic triangular wheel train wheel can realize the adjustment of the wheel distance in the triangular wheel train through the relative movement of the outer rotating disc and the inner rotating disc, so that the triangular wheel train can adapt to steps with different sizes.
4. According to the invention, the inner and outer locking mechanisms are matched with the outer disc locking mechanism, and the wheel span adjustment of the triangular wheel train and the integral rotation of the triangular wheel train during climbing stairs can be realized only by using one adjusting driving motor.
5. The invention utilizes the transmission rope to connect the pawls on the inner and outer locking mechanisms and the outer disc locking mechanism, so that one of the inner and outer locking mechanisms and the outer disc locking mechanism is in a locking state, and the other one is automatically in a unlocking state.
Drawings
FIG. 1 is a schematic view of the present invention in a state where a wheel base of a retractable triangular wheel system is minimized;
FIG. 2 is a schematic view of the present invention in a state where the track of the retractable triangular wheel system is at a maximum;
FIG. 3 is a schematic view of a rear wheel assist in foot lift module of the present invention;
FIG. 4 is a schematic view of the outer support assembly of the present invention;
FIG. 5 is a schematic diagram of a stair climbing power module of the present invention;
FIG. 6 is a schematic diagram of a stair climbing power module of the present invention;
FIG. 7 is a schematic view of the inner and outer locking mechanisms of the present invention;
fig. 8 is a schematic view of the outer disc lock mechanism of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, 2 and 3, a stair climbing logistics vehicle with tail end lifting capability comprises a vehicle frame 1, a traveling power module 2, a stair climbing power module 3 and a rear wheel auxiliary foot lifting module 4. The frame 1 comprises a front support plate 1-1, a rear support plate 1-2 and a locking marble. The top of the front supporting plate 1-1 is provided with two square core rods; the top of the rear supporting plate 1-2 is provided with two square sleeves; a plurality of locking holes which are sequentially arranged along the length direction are formed in the side wall of one side of the square sleeve; the outer end of one side wall of the square core rod is provided with a locking marble. The locking marble can be extended and contracted. The two square core rods respectively extend into the two square sleeves to form sliding pairs. The lock position marble on the square core rod is clamped into one of the lock position holes of the corresponding square sleeve. The length of the frame 1 can be adjusted by switching the locking balls to be fixed with different locking holes. The top of the back supporting plate 1-2 is provided with a handle.
The traveling power module 2 includes rear wheels 2-1 and a rear traveling motor. The two rear traveling motors are respectively arranged at two sides of the tail end of the bottom of the frame 1 (namely the bottom of the rear supporting plate 1-2); two rear wheels 2-1 are respectively arranged on the output shafts of the two rear traveling motors.
As shown in fig. 3 and 4, the rear wheel foot-lifting assisting module 4 comprises a fixed shaft 4-1, a foot-lifting driving assembly and two outer support assemblies 5. The fixed shaft 4-1 is fixed at the tail end of the frame 1. The two external support assemblies 5 are respectively arranged at two sides of the tail end of the frame 1 and are positioned between the two rear wheels 2-1. The external support component 5 comprises a crank case 5-1, a connecting rod 5-2, an external support gear set, a support rod 5-3 and a slide rail 5-4. The slide rail 5-4 is fixed at the tail end of the frame 1. The slide rail 5-4 is provided with an inclined slide groove. The bottom end of the sliding chute inclines outwards and faces downwards. The inner end of the stay bar 5-3 is supported with a pulley. The pulley is arranged in the sliding groove of the sliding rail 5-4, so that the support rod 5-3 can rotate around the inner end and can slide along the sliding groove. The inner end of the crank case 5-1 and the fixed shaft 4-1 form a revolute pair, and the outer end is hinged with the inner end of the connecting rod 5-2. The outer end of the connecting rod 5-2 is hinged with the middle upper part of the support rod 5-3.
The external support gear set comprises a first external support gear 5-5, a second external support gear 5-6 and a third external support gear 5-7. The ratio of the reference circle diameters of the first external support gear 5-5 and the third external support gear 5-7 is 2: 1. the first external supporting gear 5-5, the second external supporting gear 5-6 and the third external supporting gear 5-7 are rotatably arranged in the crank case 5-1 and are meshed in sequence. The first outer supporting gear 5-5 is fixed to the end of the fixed shaft 4-1 such that the first outer supporting gear 5-5 is kept fixed while the crank case 5-1 rotates. The second external supporting gear 5-6 is supported in the crank case 5-1. The third external supporting gear 5-7 is fixed with the inner end of the connecting rod 5-2. Under the action of the external supporting gear set, the crank case 5-1 drives the connecting rod 5-2 to rotate around the outer end of the crank case 5-1 at the same angular speed when rotating. In this case, the outer end of the connecting rod 5-2 will make an ellipse-like motion; the outer end of the connecting rod 5-2 further drives the outer end of the support rod 5-3 to do oblong ellipse-like motion; when the outer ends of the support rods 5-3 extend outwards, the tail end of the vehicle frame 1 and the advancing power module 2 are supported to be suspended, so that the logistics vehicle can climb up a higher step.
When the outer end of the support rod 5-3 moves to the inner limit position and the outer limit position, the crank case 5-1 and the connecting rod 5-2 are connected into a straight line, so that the distance from the outer end of the connecting rod 5-2 to the inner end of the crank case 5-1 is the largest, the distance from the inner limit position to the outer limit position of the outer end of the support rod 5-3 is far, the rear wheel foot lifting assisting module 4 can support the tail end of the frame 1 to a high position, and the ability of climbing steps is improved to the maximum extent. The overlapping state of the crank case 5-1 and the connecting rod 5-2 occurs when the outer end of the support rod 5-3 is between the inner limit position and the outer limit position, and at the moment, the distance from the outer end of the connecting rod 5-2 to the inner end of the crank case 5-1 is smaller, so that the movement range of the outer end of the connecting rod 5-2 can be effectively reduced.
Therefore, under the condition that the distance between the inner limit position and the outer limit position of the outer end of the support rod 5-3 is not changed, compared with the condition that a long crank is directly used for driving the support rod 5-3 to move, the space required by the rear wheel auxiliary lifting foot module 4 to work can be obviously reduced through the way that the crank box 5-1, the outer support gear set and the connecting rod 5-2 are matched, so that more carrying space is reserved for the logistics vehicle, and the carrying efficiency is improved.
The foot lifting driving assembly comprises a foot lifting driving motor 4-2, a transmission shaft 4-3 and a foot lifting transmission gear set. The propeller shaft 4-3 is supported at the rear end of the frame 1. The axes of the transmission shaft 4-3 and the fixed shaft 4-1 are parallel to each other. The foot lifting transmission gear set comprises a foot lifting driving gear 4-4, a foot lifting intermediate gear 4-5 and a foot lifting driven gear 4-6. The foot lifting driving motor 4-2 is arranged at the tail end of the frame 1. The foot lifting driving gear 4-4 is fixed on an output shaft of the foot lifting driving motor 4-2. Two lifting foot intermediate gears 4-5 are respectively fixed with two ends of the transmission shaft 4-3. Two foot lifting driven gears 4-6 are respectively fixed with the rotary cylinders on the two crank boxes 5-1. The foot lifting driven gear 4-6 and the fixed shaft 4-1 are coaxially arranged. The foot lifting driving gear 4-4 is meshed with one of the foot lifting intermediate gears 4-5; the two foot lifting intermediate gears 4-5 are respectively meshed with the two foot lifting driven gears 4-6; so that the foot lifting driving motor 4-2 can drive the two crank boxes 5-1 to synchronously rotate.
The stair climbing power module 3 comprises a stair climbing adjusting driving assembly and two telescopic triangular gear trains. Two telescopic triangular wheel trains are respectively arranged at two sides of the head end of the bottom of the frame 1. Climb the building and adjust drive assembly and install between two telescopic triangle train for adjust the shape of telescopic triangle train.
As shown in fig. 1, 5, 6, 7 and 8, the telescopic triangular wheel system includes a front wheel 3-1, a forward travel motor 3-2, a slider 3-3, a damping lever 3-4, an outer rotating disk 3-5, an inner rotating disk 3-6, an inner and outer locking mechanism, an outer disk locking mechanism and a locking driving assembly. The outer turnplate 3-5 and the inner turnplate 3-6 are coaxially arranged and form a rotating pair with a common axis horizontal with the frame 1. The rotation of the outer rotating disk 3-5 and the rotation of the inner rotating disk 3-6 are not interfered with each other.
The three damping rods 3-4 are uniformly distributed along the circumferential direction of the outer rotating disk 3-5, and the inner ends of the damping rods are hinged with the outer side edge of the outer rotating disk 3-5. The three damping rods 3-4 are sleeved with an annular slide block 3-3. Three connecting rods are fixed on the outer side edges of the inner rotary discs 3-6. The three connecting rods are uniformly distributed along the circumferential direction of the inner rotary disc 3-6. The three connecting rods and the three sliding blocks 3-3 respectively form a revolute pair. The outer end of each damping rod 3-4 is provided with a forward moving motor 3-2; the output shaft of the forward motor 3-2 is fixed with a front wheel 3-1. The front wheels 3-1 in the same telescopic triangular wheel train are arranged in a regular triangle.
When the inner rotary disk 3-6 rotates relative to the outer rotary disk 3-5, the connecting rod drives the sliding block 3-3 to move, the connecting rod drives the damping rod 3-4 to rotate around a hinge point on the outer rotary disk 3-5, so that the distance from the outer end of the damping rod 3-4 to a central hole of the outer rotary disk 3-5 is changed, and the distance between every two three front wheels 3-1 is adjusted while the three front wheels 3-1 are kept in regular triangle arrangement.
The inner and outer locking mechanism comprises a first ratchet wheel 3-10 and two first pawls 3-11. The first ratchet wheels 3-10 are provided with two first ratchet ring gears which are coaxial and face oppositely. The two first ratchet ring gears are respectively matched with the two first pawls 3-11 and can respectively limit the relative rotation of the inner rotating disk 3-6 and the outer rotating disk 3-5 in one direction. The inner ends of the two first pawls 3-11 are hinged with the outer side face of the outer rotating disc 3-5, and the outer ends of the two first pawls correspond to the two first ratchet rings respectively. A spring or torsion spring providing a return force for the first pawl 3-11 is arranged between the two first pawls 3-11 and the outer turning disc 3-5. When the two first pawls 3-11 respectively abut against the two first ratchet rings, the inner rotating disc 3-6 and the outer rotating disc 3-5 cannot rotate relatively; when one of the first pawls 3-11 abuts against the corresponding first ratchet ring, the inner rotary disk 3-6 and the outer rotary disk 3-5 can rotate relatively in only one direction.
The outer disc locking mechanism comprises a second ratchet wheel 3-12 and two second pawls 3-13. The second ratchet wheels 3-12 are fixed on the frame 1. The second ratchet wheels 3-12 adopt end face ratchet wheels. The second ratchet wheels 3-12 are provided with two second ratchet ring gears which are coaxial and face oppositely. The two second ratchet ring gears are respectively matched with the two second pawls 3-13, and can respectively limit the forward rotation and the reverse rotation of the outer rotating disc 3-5 relative to the frame 1. Two pawl mounting holes are formed in the edge position of the inner side face of the outer rotating disc 3-5. The inner ends of the two second pawls 3-13 are respectively connected with the two pawl mounting holes on the inner side surface of the outer rotating disc 3-5 in a sliding manner, and the outer ends of the two second pawls correspond to the two second ratchet rings respectively. A spring is arranged between the two second pawls 3-13 and the outer turning disc 3-5 for providing a return force to the second pawls 3-13.
The locking drive assembly comprises two rotary electromagnets and two drive cords 3-14. The two rotary electromagnets are fixed on the outer turnplate 3-5, and the output shaft is respectively fixed with the inner ends of the two first pawls 3-11. The power-on directions of the two rotary electromagnets are opposite; when the rotary electromagnet is powered off, the corresponding first pawl 3-11 is propped against the first ratchet ring under the action of spring force; when the rotary electromagnet is electrified, the corresponding first pawl 3-11 is separated from the first ratchet ring gear.
One ends of the two transmission ropes 3-14 are respectively fixed with the rotating shafts at the inner ends of the two first pawls 3-11, and the other ends of the two transmission ropes respectively penetrate through the two pawl mounting holes and then are respectively fixed with the two second pawls 3-13. When the first pawls 3-11 rotate to be separated from the corresponding first ratchet ring gears (the corresponding rotary electromagnets are electrified), the corresponding second pawls 3-13 connected through the transmission ropes 3-14 abut against the corresponding second ratchet ring gears; when the first pawls 3-11 rotate to a state of abutting against the first ratchet ring gear (the corresponding rotary electromagnet is powered off), the corresponding second pawls 3-13 are separated from the corresponding second ratchet ring gear under the pulling of the transmission ropes 3-14.
The stair climbing adjusting and driving assembly comprises a gear set, an adjusting and driving motor 3-7, an inner rotating shaft 3-8 and two outer rotating cylinders 3-9. The two outer rotating cylinders 3-9 are coaxially arranged and respectively supported at the bottom of the head end of the frame 1; the outer ends of the two outer rotating cylinders 3-9 are respectively fixed with the outer rotating discs 3-5 in the two telescopic triangular wheel trains. Two ends of the inner rotating shaft 3-8 are coaxially supported on the two outer rotating cylinders 3-9 and are respectively fixed with the inner rotating discs 3-6 in the two telescopic triangular gear trains. The adjusting driving motor 3-7 is fixed in a gear box at the head end of the frame 1, and an output shaft is connected with the inner rotating shaft 3-8 through a gear set, so that the inner rotating shaft 3-8 is driven to rotate.
Under the condition that the inner locking mechanism locks the inner rotating disk 3-6 and the outer rotating disk 3-5 together, the adjusting driving motor 3-7 can drive the inner rotating disk 3-6 and the outer rotating disk 3-5 to synchronously rotate. When the inner and outer locking mechanisms release the locking state of one pawl, the adjusting drive motor 3-7 can drive the inner rotary disc 3-6 and the outer rotary disc 3-5 to rotate relatively, so that the wheel distance in the telescopic triangular wheel train is adjusted to adapt to different step heights.
When the vehicle travels on the flat ground, two front wheels of the two telescopic triangular gear trains touch the ground. The front traveling motor 3-2 and the rear traveling motor corresponding to the grounded rear wheel 2-1 are driven by positive rotation, and the logistics vehicle travels forwards and turns by differential rotation of the wheels on the two sides.
The stair climbing method of the stair climbing logistics vehicle with the tail end lifting capacity comprises the following specific steps:
step one, when a step is encountered, the two rotary electromagnets control the inner and outer locking mechanisms to unlock the outer turnplate 3-5 and the inner turnplate 3-6 from each other, and simultaneously the outer turnplate locking mechanism locks the outer turnplate 3-5 and the frame 1 together. An adjusting driving motor 3-7 in the stair climbing adjusting driving component drives an inner rotating shaft 3-8 to rotate, so that outer rotating disks 3-5 and inner rotating disks 3-6 in two telescopic triangular gear trains rotate relatively, and the wheel pitches of three front wheels in the telescopic triangular gear trains are adjusted, so that the wheel pitches of the three front wheels in the telescopic triangular gear trains are larger than h and smaller than h
Wherein h is the height of the single-stage step, and l is the width of the single-stage step. Then the two rotary electromagnets control the inner and outer locking mechanisms to lock the outer turnplate 3-5 and the inner turnplate 3-6 together, and simultaneously the outer turnplate locking mechanism releases the mutual locking of the outer turnplate 3-5 and the frame 1.
Step two, the logistics vehicle moves forwards to a state that two telescopic triangular wheel trains abut against the steps, an adjusting driving motor 3-7 in the stair climbing adjusting driving assembly rotates forwards to drive the two telescopic triangular wheel trains to integrally rotate upwards the steps, and each of the two telescopic triangular wheel trains is provided with a front wheel to climb up the next step; and the two telescopic triangular wheel trains continuously climb the steps in the rotation process.
When the gradient of the steps is too steep and power is insufficient to drive the logistics vehicle to run upwards, the foot lifting driving motor 4-2 rotates, so that the two support rods 5-3 in the rear wheel lifting assisting foot module 4 extend outwards in an inclined mode, the tail end of the vehicle frame 1 is supported, the inclination angle of the vehicle frame 1 is reduced, and the logistics vehicle is assisted to continue to run upwards. After the logistics vehicle continues to move upwards, the two support rods 5-3 retract along with the rotation of the foot lifting driving motor 4-2.
Example 2
This example differs from example 1 in that: no locking drive assembly is arranged; the inner and outer locking mechanisms and the outer disc locking mechanism are replaced by magnetic powder clutches. Namely, the inner rotating disk 3-6 is connected with the outer rotating disk 3-5 through a magnetic powder clutch; the outer turnplates 3-5 are connected with the frame 1 through a magnetic powder clutch; thereby realizing the synchronous rotation of the inner dial 3-6 and the outer dial 3-5 (for climbing stairs) and the independent rotation of the inner dial 3-6.
Example 3
In the embodiment, on the basis of the embodiment 1 or 2, a grating disc and a photoelectric sensor are additionally arranged in a telescopic triangular wheel train; the grating disc and the photoelectric sensor are respectively arranged on the outer turnplate 3-5 and the inner turnplate 3-6 and are used for detecting the relative rotating angle of the outer turnplate 3-5 and the inner turnplate 3-6 so as to judge the current wheel track of the front wheel.
Example 4
In the embodiment, on the basis of any one of the embodiments 1 to 3, the outer end of the stay bar 5-3 is provided with the auxiliary wheel through the one-way bearing. The auxiliary wheel can only roll along with the forward movement of the logistics vehicle, is used for conveniently supporting the tail end of the vehicle frame 1 to enable the rear vehicle frame 1 to move forward, and can prevent the logistics vehicle from sliding backwards.
Claims (8)
1. A stair climbing logistics trolley with tail end lifting capability comprises a trolley frame (1), a stair climbing power module (3) and a rear wheel auxiliary foot lifting module (4); the method is characterized in that: the rear wheel auxiliary foot lifting module (4) is arranged at the tail end of the frame (1); the stair climbing power module (3) is arranged at the head end of the frame; the stair climbing power module (3) comprises two triangular gear trains which are respectively arranged at two sides of the head end of the frame; three front wheels which are arranged in a regular triangle shape are arranged in the triangular wheel train;
the rear wheel foot lifting assisting module (4) comprises a fixed shaft (4-1), a foot lifting driving assembly and an outer support assembly (5); the fixed shaft (4-1) is fixed at the tail end of the frame (1); the external support assembly (5) comprises a crank box (5-1), a connecting rod (5-2), an external support gear set, a support rod (5-3) and a slide rail (5-4); the slide rail (5-4) is fixed at the tail end of the frame (1); a sliding groove is formed in the sliding rail (5-4); the inner part of the support rod (5-3) is matched with the sliding groove on the sliding rail (5-4), so that the support rod (5-3) can slide along the sliding groove and can rotate around the inner end of the support rod; the inner end of the crank case (5-1) and the fixed shaft (4-1) form a revolute pair, and the outer end of the crank case is hinged with the inner end of the connecting rod (5-2); the outer end of the connecting rod (5-2) is hinged with the middle part of the support rod (5-3); the external support gear set comprises a first external support gear (5-5), a second external support gear (5-6) and a third external support gear (5-7); the first outer supporting gear (5-5), the second outer supporting gear (5-6) and the third outer supporting gear (5-7) are rotatably arranged in the crank case (5-1) and are sequentially meshed for transmission; the first external support gear (5-5) is fixed with the fixed shaft (4-1); the third external support gear (5-7) is fixed with the inner end of the connecting rod (5-2); the crank case (5-1) is driven by the foot lifting driving component to rotate around the fixed shaft (4-1);
the stair climbing power module (3) further comprises a stair climbing adjusting driving assembly; the triangular wheel train is a telescopic triangular wheel train; the two telescopic triangular gear trains are respectively arranged on two sides of the head end of the bottom of the frame (1); the telescopic triangular wheel train comprises a front wheel (3-1), a sliding block (3-3), a damping rod (3-4), an outer rotating disc (3-5), an inner rotating disc (3-6), an inner and outer locking mechanism and an outer disc locking mechanism; the outer turnplate (3-5) and the inner turnplate (3-6) are coaxially arranged and form a rotating pair with a common axis horizontal with the frame (1); the inner and outer locking mechanism is used for locking the outer turnplate (3-5) and the inner turnplate (3-6) together, and the locking can be released; the outer disc locking mechanism is used for locking the outer disc (3-5) and the inner disc (3-6) together, and the locking can be released; inner rotating disks (3-6) in the two telescopic triangular gear trains are driven to rotate by the stair climbing adjusting and driving component; the three damping rods (3-4) are uniformly distributed along the circumferential direction of the outer turnplate (3-5), and the inner ends of the damping rods are hinged with the outer side edge of the outer turnplate (3-5); the three damping rods (3-4) are all connected with a sliding block (3-3) in a sliding way; three connecting rods are fixed on the outer side edge of the inner rotary disc (3-6); the three connecting rods are uniformly distributed along the circumferential direction of the inner rotary disc (3-6); the three connecting rods and the three sliding blocks (3-3) respectively form a revolute pair; each damping rod (3-4) is provided with a front wheel (3-1);
the inner and outer locking mechanism comprises a first ratchet wheel (3-10) and two first pawls (3-11); two first ratchet ring gears which are coaxial and opposite in direction are arranged on the first ratchet wheels (3-10); the two first pawls (3-11) are arranged on the outer side surface of the outer rotating disc (3-5), and the outer ends of the two first pawls correspond to the two first ratchet rings respectively; the outer disc locking mechanism comprises a second ratchet wheel (3-12) and two second pawls (3-13); the second ratchet wheel (3-12) is fixed on the frame (1); the second ratchet wheels (3-12) adopt end surface ratchet wheels; two second ratchet ring gears which are coaxial and opposite in direction are arranged on the second ratchet wheels (3-12); the two second pawls (3-13) are arranged on the inner side of the outer rotating disc (3-5), and the outer ends of the two second pawls correspond to the two first ratchet rings respectively;
the telescopic triangular gear train further comprises a locking driving assembly; the locking driving component comprises two rotary electromagnets and two transmission ropes (3-14); the two rotary electromagnets are fixed on the outer turnplate (3-5), and the output shaft is respectively fixed with the inner ends of the two first pawls (3-11); the power-on directions of the two rotary electromagnets are opposite; one ends of the two transmission ropes (3-14) are respectively fixed with the rotating shafts at the inner ends of the two first pawls (3-11), and the other ends of the two transmission ropes respectively penetrate through the two pawl mounting holes and then are respectively fixed with the two second pawls (3-13).
2. The logistics trolley with tail end lifting capability for climbing stairs of claim 1, wherein: the transmission ratio of the first outer support gear (5-5) to the third outer support gear (5-7) is 1: 2; when the outer end of the stay bar (5-3) moves to the inner limit position and the outer limit position, the crank case (5-1) and the connecting rod (5-2) are connected into a straight line, so that the distance from the outer end of the connecting rod (5-2) to the inner end of the crank case (5-1) is maximum.
3. The logistics trolley with tail end lifting capability for climbing stairs of claim 1, wherein: the number of the external support components (5) is two; the two outer supporting components (5) are respectively arranged at two sides of the tail end of the frame (1) and are positioned between the two rear wheels (2-1).
4. A stair climbing logistics cart with tail end lifting capability as claimed in claim 3 wherein: the foot lifting driving assembly comprises a foot lifting driving motor (4-2), a transmission shaft (4-3) and a foot lifting transmission gear set; the transmission shaft (4-3) is supported at the tail end of the frame (1); the axes of the transmission shaft (4-3) and the fixed shaft (4-1) are parallel to each other; the foot lifting transmission gear set comprises a foot lifting driving gear (4-4), a foot lifting intermediate gear (4-5) and a foot lifting driven gear (4-6); the foot lifting driving motor (4-2) is arranged at the tail end of the frame (1); the foot lifting driving gear (4-4) is fixed on an output shaft of the foot lifting driving motor (4-2); two lifting foot intermediate gears (4-5) are respectively fixed with two ends of the transmission shaft (4-3); the two foot lifting driven gears (4-6) are respectively fixed with the two crank boxes (5-1); the foot lifting driving gear (4-4) is meshed with one of the foot lifting intermediate gears (4-5); the two foot lifting intermediate gears (4-5) are respectively meshed with the two foot lifting driven gears (4-6).
5. The logistics trolley with tail end lifting capability for climbing stairs of claim 1, wherein: the outer end of the support rod (5-3) is provided with an auxiliary wheel through a one-way bearing; the auxiliary wheel can only roll along with the forward movement of the logistics vehicle; the inner end of the support rod (5-3) is provided with a pulley; the pulley is arranged in the sliding groove of the sliding rail (5-4).
6. The logistics trolley with tail end lifting capability for climbing stairs of claim 1, wherein: and the inner and outer locking mechanisms and the outer disc locking mechanism both adopt magnetic powder clutches.
7. The logistics trolley with tail end lifting capability for climbing stairs of claim 1, wherein: the telescopic triangular wheel train also comprises a grating disc and a photoelectric sensor; the grating disk and the photoelectric sensor are respectively arranged on the outer rotating disk (3-5) and the inner rotating disk (3-6), and the detection head of the photoelectric sensor corresponds to the position of a circle of grating lines on the grating disk.
8. The method for climbing stairs of a logistics vehicle with tail end lifting capability as claimed in claim 2, wherein: when a step is encountered, the logistics vehicle moves forwards to a state that the two telescopic triangular gear trains abut against the step, the stair climbing adjusting driving assembly drives the two telescopic triangular gear trains to integrally rotate, and the two telescopic triangular gear trains continuously climb up the step in the rotating process; if the power of the logistics vehicle is insufficient to drive the logistics vehicle to upwards run due to the fact that the gradient of the step is too steep, the foot lifting driving assembly drives the crank box (5-1) to rotate, the support rod (5-3) is driven to obliquely and outwards extend, the tail end of the vehicle frame (1) is supported, the inclination angle of the vehicle frame (1) is reduced, and the logistics vehicle is assisted to continuously upwards run.
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| CN115447655B (en) * | 2022-09-21 | 2023-11-14 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Shopping cart capable of climbing stairs and stair climbing method thereof |
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