CN113666224B - A multi-degree-of-freedom power-assisted transport all-in-one machine - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom power-assisted conveying machine, comprising a running track, a guide unit, a braking unit, a power-assisted handrail, a storage box and a control unit; two running tracks are arranged along the extending direction of the stairs, and the guide unit includes Two pairs of guide pulleys and a worm gear motor that drives the guide pulley, the two pairs of guide pulleys are clamped on the upper and lower sides of the two running tracks respectively, the guide pulley is driven by the worm worm gear motor, the guide pulley is supported by the support shaft in the guide pulley housing, the worm The worm gear motor is arranged in the motor carrying box, and a storage box is arranged on the side of the motor carrying box away from the running guide rail; the braking unit is used to brake the guide wheel of the guiding unit; It is connected between two guiding units; the multi-degree-of-freedom assisting and transporting all-in-one machine in the present invention has the advantages of simple overall structure and installation, small amount of engineering, complete functions, high safety, and is equipped with a storage box at the same time to help the elderly to complete daily up and down stairs. and transportation of goods.

Description

A multi-degree-of-freedom power-assisted transport all-in-one machine

technical field

The present invention relates to the technical field of stair assist equipment, in particular to a multi-degree-of-freedom assist-transporting integrated machine.

Background technique

At present, my country's society is aging. With economic development and social progress, the application of elevators in high-rise buildings is very common, but there are still many old buildings without elevators, which make the elderly living here and people who are inconvenient to walk up and down the stairs. difficulty. At present, there are many kinds of rail-type up and down mechanical devices on the market, among which there are mainly rail-type mechanical stair-climbing devices, platforms for carrying wheelchairs, etc. However, these types of up-stairs devices are generally difficult to turn, and the renovation project is complicated and takes up a lot of space. , High cost, suitable for independent high-rise buildings.

To sum up, to provide an all-in-one machine with multiple degrees of freedom that is easy to operate, does not require building renovations, and has a low cost for the elderly living in old buildings without elevators and people who are inconvenient to go up and downstairs, which is convenient for people to go up and downstairs. Problems that those skilled in the art need to solve urgently.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a multi-degree-of-freedom assisting and transporting all-in-one machine to solve the problems existing in the prior art. The elderly complete the daily up and downstairs and the transportation of items.

For achieving the above object, the present invention provides the following scheme:

The invention provides a multi-degree-of-freedom power-assisted transporting machine, comprising a running track, a guide unit, a braking unit, a power-assisted handrail, a storage box and a control unit;

The two running rails are arranged along the extending direction of the stairs, and the two running rails are distributed up and down. The guide unit includes two pairs of guide wheels and a worm gear motor for driving the guide wheels. The two pairs of the guide wheels are respectively clamped. Close to the upper and lower sides of the two running rails, each of the guide wheels is driven by the worm gear motor, and the guide wheels are supported by a support shaft in the guide wheel housing, and the guide wheel housing is away from the side of the running track. A motor carrying box is arranged, the worm gear motor is arranged in the motor carrying box, and the storage box is arranged on the side of the motor carrying box away from the running guide rail; the braking unit is used to guide the The guide wheel of the unit is braked;

The bottom of the motor carrying box located at the top is provided with a first motor carrying box bracket, the top of the motor carrying box located at the bottom is provided with a second motor carrying box bracket, and the bottom of the first motor carrying box bracket is provided with a rotating connector Connect the top lateral end face of the first pan/tilt tripod, the top of the second motor carrying box bracket is connected to the bottom lateral end face of the second pan/tilt tripod through a rotating connector, the first pan/tilt tripod and the second pan/tilt The vertical end face of one side of the platform tripod is connected to the power-assisted handrail;

The control unit is used to control the worm gear motor and the braking unit to work.

Preferably, the braking unit includes a ratchet, a pawl and a steering gear, the steering gear is mounted on the guide wheel housing, the rotation shaft of the steering gear is connected to the pawl, and the ratchet is arranged on the On the shaft end of the supporting shaft of the guide wheel, the ratchet pawl is arranged opposite to the ratchet wheel.

Preferably, the braking unit acts on the guide pulley at the top of the pair of guide wheels clamped on the upper one of the running rails, and the pair of guide pulleys clamped on the lower running track The braking unit in the middle acts on the guide wheel at the bottom.

Preferably, the top and bottom of the vertical end faces of one side of the first pan-tilt tripod and the second pan-tilt tripod are respectively connected to the inner end face of the electronic component carrying box through a rotating connector, and the power-assisting handrail is arranged on On the outer end surface of the electronic component carrying box, the control unit and the power supply battery are arranged in the electronic component carrying box.

Preferably, a micro switch is provided on the power armrest, and the micro switch includes a forward switch, a backward switch and a stop switch. The forward switch and the backward switch are electrically connected to the worm gear motor to control the worm gear. The forward rotation and reverse rotation of the worm gear motor, the stop switch is connected with the signal of the steering motor, and controls the movement of the steering motor to realize braking.

Preferably, the two running tracks are equidistantly arranged.

Preferably, the guide wheel is a polyurethane guide wheel.

Preferably, the power shaft of the worm gear motor is connected with the support shaft of the guide wheel through a coupling.

The present invention has achieved the following beneficial technical effects with respect to the prior art:

The multi-degree-of-freedom power-assisted transporting machine provided by the present invention installs a running track on the wall on one side of the stairs, clamps the running track with a guide wheel driven by a motor, and realizes power assistance through the walking of the guide wheel, the overall structure is simple to install, and the engineering It is small in volume, complete in function and high in safety. It is also equipped with a storage box to help the elderly to complete the daily up and down and transportation of goods.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structural representation of the multi-degree-of-freedom power-assisted transporting machine in the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of the multi-degree-of-freedom power-assisted transporting machine in the present invention;

3 is a schematic structural diagram of a guiding unit and a braking unit in the present invention;

In the figure: 1-running track, 2-guide unit, 21-guide wheel, 22-worm gear motor, 23-support shaft, 24-guide wheel housing, 25-motor carrying box, 3-braking unit, 31-ratchet wheel , 32-pawl, 33-steering gear, 4-power armrest, 5-storage box, 6-first motor carrying box bracket, 7-second motor carrying box bracket, 8-rotating connecting piece, 9-first Gimbal tripod bracket, 10-second tripod tripod bracket, 11-electronic components carrying box.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a multi-degree-of-freedom power-assisted transporting machine to solve the problems existing in the prior art.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The multi-degree-of-freedom power-assisted transporter in this embodiment, as shown in Figures 1-3, includes a running track 1, a guide unit 2, a braking unit 3, a power-assisted handrail 4, a storage box 5 and a control unit;

There are two running rails 1 along the extending direction of the stairs. The two running rails 1 are distributed up and down. The guide unit 2 includes two pairs of guide wheels 21 and a worm gear motor 22 for driving the guide wheels 21. The guide wheels 21 are polyurethane guide wheels. The guide wheels 21 are respectively clamped on the upper and lower sides of the two running rails 1, and the running rail 1 is clamped by the principle of friction wheel holding the rod. Enough boost to drive the old man upstairs.

Each guide wheel 21 is driven by a worm gear motor 22. The guide wheel 21 is supported in the guide wheel housing 24 by a support shaft 23. Both ends of the support shaft 23 and the guide wheel housing 24 are connected by bearings, and the guide wheel housing 24 is far from the running track. One side of 1 is provided with a motor carrying box 25, the worm gear motor 22 is arranged in the motor carrying box 25, the power shaft of the worm gear motor 22 is connected to the support shaft 23 of the guide wheel 21 through the coupling 26, and the motor carrying box 25 is away from the running guide rail. A storage box 5 is provided on one side of the ; the braking unit 3 is used to brake the guide wheel 21 of the guiding unit 2;

The bottom of the motor carrying box 25 located at the top is provided with a first motor carrying box bracket 6, the top of the motor carrying box 25 located at the bottom is provided with a second motor carrying box bracket 7, and the bottom of the first motor carrying box bracket 6 is connected by rotation. The member 8 is connected to the top lateral end face of the first pan-tilt tripod bracket 9, the top of the second motor carrying box bracket 7 is connected to the bottom lateral end face of the second pan-tilt tripod bracket 10 through the rotating connection member 8, and the first pan-tilt tripod bracket 9 and The vertical end face on one side of the second pan/tilt tripod bracket 10 is connected to the power assist handrail 4;

The control unit is used to control the worm gear motor 22 and the braking unit 3 to work.

In this specific embodiment, the braking unit 3 includes a ratchet 31, a pawl 32, and a steering gear 33. The steering gear 33 is installed on the guide wheel housing 24, and the rotating shaft of the steering gear 33 is connected to the pawl 32. The ratchet 31 is arranged on the guide wheel. On the shaft end of the support shaft 23 of the wheel 21, the pawl 32 is arranged opposite the ratchet wheel 31, and the steering gear 33 drives the pawl 32 to rotate, so that the pawl 32 meshes with the teeth of the ratchet wheel 31, so that the support shaft 23 of the guide wheel 21 stops rotating, And then realize the braking function. Specifically, the braking unit 3 acts on the top guide pulley 21 clamped in the pair of guide pulleys 21 of the upper running track 1, and the braking unit 3 acts on the pair of guide pulleys 21 clamped on the lower running track 1 The steering gear 33 is installed at the top of the guide wheel 21 at the bottom, that is, the topmost guide wheel 21 , and the steering gear 33 is installed at the bottom of the bottom guide wheel 21 .

The braking of the multi-degree-of-freedom power-assisted transporter in this embodiment is jointly provided by the braking unit 3, the anti-reverse self-locking function of the worm gear motor 22 and the friction force between the polyurethane guide wheel 21 and the running track 1, so that The device can be stabilized in the fixed position of the running track 1 in emergency or stop state.

In this specific embodiment, the top and bottom of the vertical end faces of the first pan-tilt tripod bracket 9 and the second pan-tilt tripod bracket 10 are respectively connected to the inner end face of the electronic component carrying box 11 through a rotating connector 8, The power assist armrest 4 is arranged on the outer end face of the electronic component carrying box 11, and the electronic component carrying box 11 is provided with a control unit and a power supply battery; The rotation axes of the rotating connecting piece 8 on the top lateral end face and the rotating connecting piece 8 on the vertical end face of the second pan-tilt tripod support 10) are perpendicular to each other, so as to provide enough degrees of freedom, so that the lower guide unit 2 runs the track 1 on the curved track. When the curved segment moves, it is more smooth. The inclination angle of the stairs is generally 30°-45°. When the multi-degree-of-freedom power-assisted transporter runs upward along the running track 1, the maximum inclination angle of the storage box 5 is generally less than 45°, so the items placed in the storage box 5 will not be fall out.

In this embodiment, the rotating connecting member 8 is specifically a rotating shaft, and the two ends of the rotating shaft are connected with the first motor carrying box bracket 6 , the second motor carrying box bracket 7 , the first pan-tilt tripod bracket 9 , and the second pan-tilt head. The tripod 10 and the electronic component holding box 11 are rotatably connected, that is, each of the above-mentioned components can be rotated around the axis of the rotating shaft.

In this specific embodiment, a micro switch (not shown in the figure) is provided on the power armrest 4, and the micro switch includes a forward switch, a backward switch and a stop switch, and the forward switch and the backward switch are electrically connected to the worm gear motor 22. , control the forward and reverse rotation of the worm gear motor 22, the stop switch is connected with the electrical signal of the steering gear 33, and controls the movement of the steering gear 33 to realize braking; the forward switch and the backward switch control the upstairs and downstairs, and the stop switch is used to control the The moving unit 3 realizes an emergency stop.

In this specific embodiment, the two running rails 1 are arranged equidistantly.

The present invention uses specific examples to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (8)

1. The utility model provides a multi freedom helping hand fortune thing all-in-one which characterized in that: the device comprises a running track, a guide unit, a brake unit, an assistance handrail, a storage box and a control unit;

the guide unit comprises two pairs of guide wheels and a worm and worm gear motor for driving the guide wheels, the two pairs of guide wheels are respectively clamped on the upper side and the lower side of the two running tracks, each guide wheel is driven by the worm and worm gear motor, the guide wheels are supported in a guide wheel shell by a supporting shaft, a motor bearing box is arranged on one side of the guide wheel shell, which is far away from the running tracks, the worm and worm gear motor is arranged in the motor bearing box, and the storage box is arranged on one side of the motor bearing box, which is far away from the running guide rails; the braking unit is used for braking the guide wheel of the guide unit;

the bottom of a motor bearing box positioned at the top is provided with a first motor bearing box support, the top of the motor bearing box positioned at the bottom is provided with a second motor bearing box support, the bottom of the first motor bearing box support is connected with the top transverse end face of a first tripod head triangular support through a rotary connecting piece, the top of the second motor bearing box support is connected with the bottom transverse end face of a second tripod head triangular support through a rotary connecting piece, the vertical end face of the first tripod head triangular support is connected with the inner side face of the electronic component bearing box through a rotary connecting piece, and the vertical end face of the second tripod head triangular support is connected with the inner side face of the electronic component bearing box through a rotary connecting piece; the power-assisted handrail is arranged on the end face of the outer side of the electronic component bearing box;

the control unit is used for controlling the work of the worm and worm gear motor and the brake unit.

2. The multi-degree-of-freedom power-assisted object transporting all-in-one machine according to claim 1, characterized in that: the brake unit comprises a ratchet wheel, a pawl and a steering engine, the steering engine is mounted on the guide wheel shell, the pawl is connected to a rotating shaft of the steering engine, the ratchet wheel is arranged at the shaft end of a supporting shaft of the guide wheel, and the pawl and the ratchet wheel are arranged oppositely.

3. The multi-degree-of-freedom power-assisted object carrying all-in-one machine as claimed in claim 2, wherein: the brake unit acts on the guide wheel at the top among the pair of guide wheels clamped on the upper running rail, and acts on the guide wheel at the bottom among the pair of guide wheels clamped on the lower running rail.

4. The multi-degree-of-freedom power-assisted object transporting all-in-one machine according to claim 3, characterized in that: and the control unit and the power supply battery are arranged in the electronic component bearing box.

5. The multi-degree-of-freedom power-assisted object transporting all-in-one machine according to claim 4, characterized in that: the power-assisted handrail is provided with a microswitch, the microswitch comprises a forward switch, a backward switch and a stop switch, the forward switch and the backward switch are in electric signal connection with the worm and worm gear motor to control the forward rotation and the backward rotation of the worm and worm gear motor, and the stop switch is in electric signal connection with the steering engine to control the motion of the steering engine to realize braking.

6. The multi-degree-of-freedom power-assisted object carrying all-in-one machine as claimed in claim 1, wherein: and the two running tracks are arranged at equal intervals.

7. The multi-degree-of-freedom power-assisted object transporting all-in-one machine according to claim 1, characterized in that: the guide wheel is a polyurethane guide wheel.

8. The multi-degree-of-freedom power-assisted object carrying all-in-one machine as claimed in claim 1, wherein: and a power shaft of the worm and worm gear motor is connected with a supporting shaft of the guide wheel through a coupling.

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