CN206278196U - A kind of walking dolly for transporting health rescue box - Google Patents
A kind of walking dolly for transporting health rescue box Download PDFInfo
- Publication number
- CN206278196U CN206278196U CN201620377546.3U CN201620377546U CN206278196U CN 206278196 U CN206278196 U CN 206278196U CN 201620377546 U CN201620377546 U CN 201620377546U CN 206278196 U CN206278196 U CN 206278196U
- Authority
- CN
- China
- Prior art keywords
- foot plate
- wheel
- walking dolly
- substrate
- active foot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of walking dolly for transporting health rescue box, it is characterised in that the walking dolly includes：It is placed with the substrate of health rescue box, substrate both sides are provided with the wheel of wheel hub motor, substrate lower section is installed by one universal wheel, equipped with an Active foot plate on substrate, directional lever is installed on Active foot plate, one is fixed in the middle part of Active foot plate along the axially extending axle of wheel, the two ends of axle are arranged on substrate by bearing block；Velocity sensor, angular transducer, control circuit and battery are further equipped with the walking dolly, wherein, velocity sensor on wheel, is connected, for monitoring two rotating speeds of wheel with control circuit；Angular transducer, on Active foot plate, is connected, the pitching for monitoring Active foot plate with control circuit；Control circuit, is processed for the signal to velocity sensor, angular transducer and directional lever, and control signal is sent to wheel hub motor；Battery is powered for walking dolly.
Description
Technical field
The utility model is related to medical equipment field, especially a kind of walking dolly for transporting health rescue box.
Background technology
Health rescue box body shape is different, and small-sized rescue box is relatively conventional, and space is merely able to be placed with some simple in case
Emergent medicine, due to its small volume, staff guides and supports band；The slightly larger rescue box of build, space is larger in case can put various
Emergent medicine and some simple first-aid apparatuses, such as small-sized oxygen cylinder and respirator, with the medicine and urgency laid in rescue box
The increase of equipment is rescued, the build and weight of rescue box are consequently increased, scene is now rushed towards then by the portable carrying of medical personnel again
It is inconvenient, and consumes one's strength, medical personnel put into diagnosis and treatment work at once after showing up, consumes a large amount of physical before
Obstruction can be formed in first aid procedures to medical personnel.
Utility model content
For problems of the prior art, the purpose of this utility model is to provide a kind of for transporting health rescue
The walking dolly of case, the walking dolly is subject to the inspiration of self-balancing electric motor car with two wheels and develops, using inverted pendulum principle to control
Walking dolly is moved, it is adaptable to the more smooth occasion in road surface, such as airport, factory building, campus.
To achieve these goals, the technical solution of the utility model is as follows：
A kind of walking dolly for transporting health rescue box, the walking dolly includes：It is placed with the base of health rescue box
Plate, the substrate both sides are provided with the wheel of wheel hub motor, and a universal wheel is installed in substrate lower section, equipped with one on substrate
Active foot plate, is provided with directional lever on the Active foot plate, one is fixed in the middle part of Active foot plate and is axially prolonged along the wheel
The axle stretched, the two ends of the axle are arranged on substrate by bearing block；Velocity sensor, angle are further equipped with the walking dolly
Sensor, control circuit and battery, wherein,
The velocity sensor, on the wheel, is connected, for two wheels of monitoring with the control circuit
Rotating speed；
The angular transducer, on the Active foot plate, is connected, for monitoring Active foot plate with control circuit
Pitching；
The control circuit, is processed for the signal to velocity sensor, angular transducer and the directional lever,
Control signal is sent to the wheel hub motor；
The battery is powered for walking dolly.
Further, the axle is the upper limitation damping mechanism for installing restricted its rotational angle.
Further, one support arm is installed in the front end of the Active foot plate, the height of the support arm is easy to driver's handle
Help, the directional lever is arranged on the support arm.
Further, guardrail is provided with the substrate, the health rescue box is placed in the guardrail, and guardrail side carries
Door.
Walking dolly for transporting health rescue box of the present utility model, does not incline when car body does not move yet Active foot plate
When, angular transducer obtains the dip angle signal (now almost nil) of Active foot plate and sends into control circuit, control circuit according to
The signal (now also almost nil) of this signal and comprehensive left and right vehicle-wheel speed sensor calculate two wheels needed for motor force
Square controlled quentity controlled variable, in being sent to wheel hub motor after the treatment such as power amplification, keeps car body original place balance.
When needing car body to advance, driver station forward lean on Active foot plate makes Active foot plate incline slightly forward,
Angular transducer obtains dip angle signal feeding control circuit, and control circuit is according to this signal and comprehensive left and right vehicle wheel speed sensing
The angular signal of device calculate two-wheeled needed for motor torque control amount, by power amplification etc. treatment after be sent to wheel hub motor
In, control wheel is rotated forward, and inclination angle is bigger, is accelerated faster.
When needing to slow down, brake or retreat, driver's station body hypsokinesis on Active foot plate, control circuit equally can be with
Required countertorque is calculated according to sensor signal, so as to control wheel to rotate backward, inclination angle is bigger, reversely accelerate it is faster.
When needing to turn, driver provides a signal by directional lever, and control circuit is according to calculating left and right wheel
Different torque sizes, turned to using the differential of two wheels.
Advantage of the present utility model has：
1）In two wheels for left and right is distributed, make the radius of turn of vehicle for small, can be in small spatial dimension flexible motion；
2）Wheel hub motor is integrated with wheel, reduces mechanical structure, saves space；
3）Driver carries out successively movement to car body and is controlled by Active foot plate, and car body is advanced by directional lever
Direction is controlled, easy to operate；
4）Heavier and larger health rescue box can be carried.
Brief description of the drawings
Fig. 1 is the structural representation of walking dolly of the present utility model；
Fig. 2 is the top view of walking dolly of the present utility model；
Fig. 3 is the connection diagram of control circuit of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is elaborated.
The walking dolly that the utility model shown in Fig. 1, Fig. 2 and Fig. 3 is used to transport health rescue box includes：Substrate 1, base
The left and right sides of plate 1 is provided with the wheel 5 of wheel hub motor, and a universal wheel 6 is installed in the lower section of substrate 1, and substrate 1 is by two wheels
5 and supported at three point of universal wheel 6 keep balance.The placement region of health rescue box 2 is provided with substrate 1, in the region four
Guardrail 3 is installed, the side of guardrail 3 is hinged with door 7 week.
An Active foot plate 9 is connected with substrate 1, an axle 8 is fixed at the middle part of Active foot plate 9, and axle 8 is along the axial direction of wheel 5
Extend, the two ends of axle 8 are arranged on the bottom of substrate 1 by bearing block, and the damping mechanism for limiting its rotational angle is provided with axle 8,
Magnetic powder brake is preferably in the present embodiment, to limit the maximum luffing angle of Active foot plate 9.Pacify in the front end of Active foot plate 9
A support arm 4 is filled, the height of support arm 4 is easy to driver helping, is set on support arm 4 by directional lever 10.
Velocity sensor 12, angular transducer 13, control circuit 11 and battery 14 are further equipped with walking dolly, speed is passed
Sensor 12, angular transducer 13, directional lever 10 and battery 14 are connected with control circuit 11 respectively, wherein, for monitoring two
The velocity sensor 12 of the rotating speed of wheel 5 is arranged on wheel 5；Angular transducer 13 for monitoring the pitching of Active foot plate 9, peace
On Active foot plate 9；Treatment control is carried out for the signal to velocity sensor 12, angular transducer 13 and directional lever 10
Circuit 11, control signal is sent to wheel hub motor 15, and control circuit 11 is by wired or wireless load mode to wheel hub motor
15 sending signals；Battery 14 is powered for whole walking dolly.
When using, when car body is not moved also Active foot plate 9 is not inclined when, angular transducer 12 obtains inclining for Active foot plate 9
Angle signal (now almost nil) simultaneously sends into control circuit 11, and control circuit 11 is according to this signal and the comprehensive speed of left and right wheel 5
The signal (now also almost nil) of sensor 13 calculate two wheels 5 needed for motor torque control amount, by power amplification etc.
It is sent to after treatment in wheel hub motor 15, keeps car body original place balance.
When needing car body to advance, driver stands the forward lean on Active foot plate 9, makes Active foot plate 9 slightly towards leaning forward
Tiltedly, angular transducer 12 obtains dip angle signal feeding control circuit 11, and control circuit 11 is according to this signal and comprehensive left and right wheel
The signal of 5 velocity sensors 13 calculate two wheels 5 needed for motor torque control amount, by power amplification etc. treatment after be sent to
In wheel hub motor 15, control wheel is rotated forward, and inclination angle is bigger, is accelerated faster.
When needing to slow down, brake or retreat, driver's station body hypsokinesis on Active foot plate 9, control circuit 11 is same
Required countertorque can be calculated according to sensor signal, so as to control wheel 5 to rotate backward, inclination angle is bigger, reversely accelerate it is faster.
When needing to turn, driver provides a signal by directional lever 10, control circuit 11 according to calculate a left side,
The different torque sizes of right wheel 15, are turned to using the differential of two wheels 5.
Above-mentioned example is only intended to illustrate the utility model that implementation method of the present utility model is not limited to these examples,
What those skilled in the art were made meets the various specific embodiments of the utility model thought all in guarantor of the present utility model
Within the scope of shield.
Claims (3)
1. a kind of walking dolly for transporting health rescue box, it is characterised in that the walking dolly includes：Health is placed with to rescue
The substrate of case is helped, the substrate both sides are provided with the wheel of wheel hub motor, and substrate lower section is installed a universal wheel, matched somebody with somebody on substrate
An Active foot plate is had, directional lever is installed on the Active foot plate, one is fixed in the middle part of Active foot plate along the car
The axially extending axle of wheel, the two ends of the axle are arranged on substrate by bearing block, and the axle installs restricted its rotation for upper
The limitation damping mechanism of angle；Velocity sensor, angular transducer, control circuit and battery are further equipped with the walking dolly,
Wherein,
The velocity sensor, on the wheel, is connected, for turning for two wheels of monitoring with the control circuit
Speed；
The angular transducer, on the Active foot plate, is connected, for monitoring bowing for Active foot plate with control circuit
Face upward；
The control circuit, is processed for the signal to velocity sensor, angular transducer and the directional lever, to institute
State wheel hub motor and send control signal；
The battery is powered for walking dolly.
2. walking dolly as claimed in claim 1, it is characterised in that install a support arm in the front end of the Active foot plate,
The height of the support arm is easy to driver helping, and the directional lever is arranged on the support arm.
3. walking dolly as claimed in claim 1, it is characterised in that guardrail, the health rescue are provided with the substrate
Case is placed in the guardrail, and guardrail side carries door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620377546.3U CN206278196U (en) | 2016-04-29 | 2016-04-29 | A kind of walking dolly for transporting health rescue box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620377546.3U CN206278196U (en) | 2016-04-29 | 2016-04-29 | A kind of walking dolly for transporting health rescue box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206278196U true CN206278196U (en) | 2017-06-27 |
Family
ID=59084122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620377546.3U Expired - Fee Related CN206278196U (en) | 2016-04-29 | 2016-04-29 | A kind of walking dolly for transporting health rescue box |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206278196U (en) |
-
2016
- 2016-04-29 CN CN201620377546.3U patent/CN206278196U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170627 Termination date: 20180429 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |