CN206886481U - Carrier loader based on balustrade - Google Patents
Carrier loader based on balustrade Download PDFInfo
- Publication number
- CN206886481U CN206886481U CN201720588948.2U CN201720588948U CN206886481U CN 206886481 U CN206886481 U CN 206886481U CN 201720588948 U CN201720588948 U CN 201720588948U CN 206886481 U CN206886481 U CN 206886481U
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- China
- Prior art keywords
- fixed plate
- motor
- stair
- balustrade
- rotating shaft
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Abstract
It the utility model is related to daily life technical field, it is more specifically based on the carrier loader of balustrade, stair are provided with guide groove close to the side of pedestrian, the opposite side of stair is provided with rack, fixed plate is arranged on the inside of delivery car body, motor is embedded in the inside of fixed plate, decelerator is connected to the bottom of motor, and the output shaft of motor is connected with the input shaft of decelerator, driving gear is installed on the output shaft of decelerator, driven gear is arranged in rotating shaft, gear is meshed with driving gear, the top of rotating shaft is flexibly connected with fixed plate, rotating shaft bottom is provided with drive gear, sliding tooth wheel and rack is meshed.The upper end of fixing axle is fixedly connected with fixed plate, and the lower end of fixing axle is provided with directive wheel, and directive wheel is installed on the inside of guide groove.Delivery car body is arranged on the top of stair.Light weight, processing and manufacturing cost is low, easy to use, stablizes, and greatly reduces the consumption of manpower, saves the time, increases safety coefficient.
Description
Technical field
Daily life technical field is the utility model is related to, more specifically to a kind of based on balustrade
Carrier loader.
Background technology
The residential building minority in current city is the elevator apartment of tens layers, and the discrepancy of high-rise resident family is very convenient, even if taking
Band weight is also no trouble at all.But national regulation does not allow to set up elevator in the apartment below 8 floors, then in non-elevator
In apartment, high-storey resident family buy vegetables go home or carrying small-sized goods upstairs when it is very laborious, particularly some it is old-fashioned live
Residence building is inconvenient to put into large-scale stair carrying robot, and live it is in this be substantially the elderly, they usually buy vegetables and gone home
It is very hard when going upstairs, the muscle power of bearer is greatly consumed, therefore, people design a variety of stair climbing machines
People, mainly there are following three kinds：
1st, caterpillar type robot, the purpose reached upstairs is directly rotated using crawler belt.Track structure transmission efficiency compares
Height, center of gravity fluctuation very little, motion are very steady during walking.This installation weight is big, motion underaction；At stair edge when climbing building
Huge pressure is caused, there is certain damage to stair；Suffered resistance is larger when level land uses, slow in action, and it is inconvenient to turn；
Volume is big, is stored inconveniently；Cost is high；Objective table tilts, and reduces bearing capacity and stability.
2nd, wheeled robot, directly rotated using wheel or class wheel and reach climbing purpose.The work of wheel group formula stair-climbing device
Dynamic scope is wide, and motion is flexible.Such device depends on wheel size and number to environmental suitability, brings the increasing of volume and quality
Add；Center of gravity big rise and fall during operation, operation are unstable；Volume is big, is stored inconveniently；Cost is high；Objective table tilts, and reduces and holds
Loading capability and stability.
3rd, legged mobile robot, the mankind or the motion of other animal walkings are imitated.Objective table is horizontal, barycentre steadiness, bearing capacity
High early stage legged mobile robot, environmental suitability is poor, and automaticity is low；Lack and objective table balance is controlled；Mechanism controls are answered
Miscellaneous, volume is big, is stored inconveniently；Cost is high.Know that volume is big, quality is big, no by domestic and international similar subject study horizontal analysis
Be easy to storage, cost are high, environmental suitability is poor, it is slow in action be common issue existing for present stair transportation robot.Due to
Achievement in research it is immature, predominantly stay on research or model, rarely have and be converted into actual product and put goods on the market, be not carried out producing
Industry.
A variety of deficiencies based on more than, therefore, it is necessary to design a kind of carrier loader based on balustrade.
The content of the invention
The utility model mainly solving the technical problems that：A kind of carrier loader based on balustrade is provided, light weight,
It is low to fabricate cost, it is easy to use, stablize, greatly reduce the consumption of manpower, save the time, improve efficiency, increase peace
Overall coefficient.
In order to solve the above technical problems, daily life technical field is the utility model is related to, more specifically
Carrier loader based on balustrade, including stair, rack, guide groove, delivery car body, rotating shaft, drive gear, fixed plate, from
Moving gear, motor, decelerator, driving gear, fixing axle and directive wheel.
Stair are provided with guide groove close to the side of pedestrian, and the opposite side of stair is provided with rack, and fixed plate is arranged on fortune
The inside of carrier vehicle body, motor are embedded in the inside of fixed plate, and decelerator is connected to the bottom of motor, and the output shaft of motor with
The input shaft of decelerator is connected, and driving gear is provided with the output shaft of decelerator, and driven gear is arranged in rotating shaft, gear
Be meshed with driving gear, the top of rotating shaft is flexibly connected with fixed plate, and rotating shaft bottom is provided with drive gear, drive gear with
Rack is meshed.The upper end of fixing axle is fixedly connected with fixed plate, and the lower end of fixing axle is provided with directive wheel, and directive wheel is installed on
The inside of guide groove.Delivery car body is arranged on the top of stair.Described rotating shaft and drive gear respectively have two, two rotating shafts pair
The front and rear sides for being distributed in driving gear claimed.
As the further optimization of the technical program, the utility model is based on the rotating shaft described in the carrier loader of balustrade
Top and fixed plate between be provided with bearing.
As the further optimization of the technical program, the utility model is based on the stair described in the carrier loader of balustrade
Corner be arc, the size of its arc radius is more than the distance between two rotating shafts.
As the further optimization of the technical program, the utility model is based on the motor described in the carrier loader of balustrade
For embedded motor.
As the further optimization of the technical program, the utility model is based on the delivery described in the carrier loader of balustrade
The top surface of car body is provided with rubber blanket.
As the further optimization of the technical program, the utility model is based on the delivery described in the carrier loader of balustrade
Vehicle body is additionally provided with control system and battery, is electrically connected between control system and motor and battery, described control
System processed includes HC-SE04 ultrasonic sensors I, pressure sensor, HC-SE04 ultrasonic sensors II, HX711AD digital-to-analogues
Modular converter and Arduino uno, HC-SE04 ultrasonic sensor I, pressure sensor and HC-SE04 ultrasonic sensors II
It is electrically connected between HX711AD D/A converter modules, electrically connects between HX711AD D/A converter modules and Arduino uno
Connect.Described HC-SE04 ultrasonic sensors I, pressure sensor, HC-SE04 ultrasonic sensors II, HX711AD digital-to-analogues turn
Mold changing block, Arduino uno and battery are installed in fixed plate.
Carrier loader of the utility model based on balustrade has the beneficial effect that：
Carrier loader of the utility model based on balustrade, light weight, processing and manufacturing cost is low, easy to use, stable
It is good, the consumption of manpower is greatly reduced, saves the time, improves efficiency, increases safety coefficient.
Brief description of the drawings
The utility model is described in more detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the cross section structure diagram of carrier loader of the utility model based on balustrade.
Fig. 2 is the dimensional structure diagram of carrier loader of the utility model based on balustrade.
Fig. 3 be the utility model based on the carrier loader of balustrade other direction dimensional structure diagram.
Fig. 4 is sectional views of the Fig. 1 along A-A.
Fig. 5 is sectional views of the Fig. 1 along B-B.
Fig. 6 is the control flow chart of carrier loader of the utility model based on balustrade.
Fig. 7 is the circuit diagram of carrier loader of the utility model based on balustrade.
In figure：Stair 1, rack 2, guide groove 3, delivery car body 4, rotating shaft 5, drive gear 6, fixed plate 7, driven gear 8,
Motor 9, decelerator 10, driving gear 11, fixing axle 12, directive wheel 13, battery 14.
Embodiment
Illustrate present embodiment with reference to Fig. 1-7, the utility model is related to daily life technical field, more
Say it is the carrier loader based on balustrade body, including：Stair 1, rack 2, guide groove 3, delivery car body 4, rotating shaft 5, driving
Gear 6, fixed plate 7, driven gear 8, motor 9, decelerator 10, driving gear 11, fixing axle 12 and directive wheel 13.
Stair 1 are provided with guide groove 3 close to the side of pedestrian, and the opposite side of stair 1 is provided with rack 2, and guide groove 3 is set
In stair 1 close to the side of pedestrian, rack 2 is arranged on outside, in order to avoid drive gear 6 and human body clothing when rack 2 is arranged on inner side
Thing, which is in contact to get involved in, causes accident.Fixed plate 7 is arranged on the inside of delivery car body 4, and motor 9 is embedded in the inside of fixed plate 7,
Motor 9 is embedded motor, and embedded motor is easily installed, and decelerator 10 is connected to the bottom of motor 9, and motor 9 is defeated
Shaft is connected with the input shaft of decelerator 10, and driving tooth is provided with an interference fit on the output shaft of decelerator 10
Wheel 11, driven gear 8 are arranged in rotating shaft 5 in an interference fit, and gear 8 is meshed with driving gear 11, the top of rotating shaft 5
End is flexibly connected with fixed plate 7, and the bottom of rotating shaft 5 is provided with drive gear 6, drive gear 6 and rack 2 in an interference fit
It is meshed.The upper end of fixing axle 12 is fixedly connected with fixed plate 7, and the lower end of fixing axle 12 is provided with directive wheel 13, directive wheel 13
It is installed on the inside of guide groove 3.Delivery car body 4 is arranged on the top of stair 1, delivers the bottom surface of car body 4 and the upper surface of stair 1
It is in contact, ensures that delivery car body 4 is smoothly in contact with stair 1 so that delivery car body 4 is smoothly run.
Described rotating shaft 5 and drive gear 6 respectively has two, and two rotating shafts 5 are symmetrically distributed in the front and rear of driving gear 11
Both sides, driven by two drive gears 6 so that the carrier loader based on balustrade is smoothly advanced.
Bearing is provided between the top of described rotating shaft 5 and fixed plate 7, the setting of bearing causes rotating shaft 5 smoothly to turn
It is dynamic.
The corner of described stair 1 is arc, and the size of its arc radius is more than the distance between two rotating shafts 5, protected
Card is smoothly advanced based on the carrier loader of balustrade on stair 1.
Described motor 9 is embedded motor.
The top surface of described delivery car body 4 is provided with rubber blanket, and delivery car body 4 uses light quality, and durability is high, intensity
High plastics are made, and light weight is easy to use.
Control system and battery 14, control system and motor 9 and electric power storage are additionally provided with inside described delivery car body 4
It is electrically connected between pond 14, battery 14 provides electric energy for the work of control system and motor 9, and described control system includes
HC-SE04 ultrasonic sensors I, pressure sensor, HC-SE04 ultrasonic sensors II, HX711AD D/A converter modules and
Arduino uno, HC-SE04 ultrasonic sensor I, pressure sensor and HC-SE04 ultrasonic sensors II and HX711AD numbers
It is electrically connected between mould modular converter, is electrically connected between HX711AD D/A converter modules and Arduino uno.Described
HC-SE04 ultrasonic sensors I, pressure sensor, HC-SE04 ultrasonic sensors II, HX711AD D/A converter modules,
Arduino uno and battery are installed in fixed plate 7, and HC-SE04 ultrasonic sensors I and HC-SE04 ultrasonic waves pass
Sensor II is separately positioned on the side and front of delivery car body 4.
This is fabricated based on the carrier loader of balustrade by above parts, relatively existing robot building cost
It is low.
Carrier loader is arranged on stair 1, drive gear 6 is meshed with the rack 2 of the inner side of stair 1, and directive wheel 13 is set
Put in the guide groove 3 in the outside of stair 1, drive gear 6 and directive wheel 13 are arranged on the both sides of stair 1, and deliver car body 4
Bottom surface is in contact with the upper surface of stair 1 so that delivery car body 4 smoothly will be installed on stair, and goods is placed on into delivery
On car body 4, the maximum pressure of pressure sensor presetting first is 15kg, once more than 15kg, dolly just stops starting；Side
Face position HC-SE04 ultrasonic sensors I are used for the presence for sensing user, when HC-SE04 ultrasonic sensors I have sensed
During user, motor 9, which will start, drives rotating shaft 5 and drive gear 6 to rotate, because drive gear 6 is meshed with gear 8, and then
The rotation of drive gear 6 drives carrier loader body 4 to move up, and allows dolly to follow user to move, and then delivers on car body 4
Article is by forwards transportation, once HC-SE04 ultrasonic sensors I do not sense user, that is, stops movement；Deliver car body 4
The scope class that the HC-SE04 ultrasonic sensors II of front position can sense 2m in front of dolly hinders operation without other objects,
There is barrier to stop mobile operation.The consumption of manpower is greatly reduced, saves the time, improves efficiency, increases safety coefficient.
Certainly, described above is not limitation of the utility model, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the those of ordinary skill in art field is made in essential scope of the present utility model, also belong to
In the scope of protection of the utility model.
Claims (6)
1. the carrier loader based on balustrade, including stair (1), rack (2), guide groove (3), delivery car body (4), rotating shaft
(5), drive gear (6), fixed plate (7), driven gear (8), motor (9), decelerator (10), driving gear (11), fixing axle
And directive wheel (13) (12), it is characterised in that：Stair (1) are provided with guide groove (3) close to the side of pedestrian, stair (1) it is another
Side is provided with rack (2), and fixed plate (7) is arranged on the inside of delivery car body (4), and motor (9) is embedded in the interior of fixed plate (7)
Portion, decelerator (10) is connected to the bottom of motor (9), and the output shaft of motor (9) is connected with the input shaft of decelerator (10)
Connect, driving gear (11) is installed on the output shaft of decelerator (10), driven gear (8) is arranged in rotating shaft (5), gear (8)
It is meshed with driving gear (11), the top of rotating shaft (5) is flexibly connected with fixed plate (7), and rotating shaft (5) bottom is provided with sliding tooth
Take turns (6), drive gear (6) is meshed with rack (2)；The upper end of fixing axle (12) is fixedly connected with fixed plate (7), fixing axle
(12) lower end is provided with directive wheel (13), and directive wheel (13) is installed on the inside of guide groove (3)；Delivery car body (4) is arranged on
The top of stair (1)；Described rotating shaft (5) and drive gear (6) respectively has two, and two rotating shafts (5) are symmetrical to be distributed in actively
The front and rear sides of gear (11).
2. the carrier loader according to claim 1 based on balustrade, it is characterised in that：The top of described rotating shaft (5)
Bearing is provided between end and fixed plate (7).
3. the carrier loader according to claim 1 based on balustrade, it is characterised in that：Turn described stair (1)
It is arc at angle, the size of its arc radius is more than the distance between two rotating shafts (5).
4. the carrier loader according to claim 1 based on balustrade, it is characterised in that：Described motor (9) is embedding
Enter formula motor.
5. the carrier loader according to claim 1 based on balustrade, it is characterised in that：Described delivery car body (4)
Top surface be provided with rubber blanket.
6. the carrier loader according to claim 1 based on balustrade, it is characterised in that：Described delivery car body (4)
Inside is additionally provided with control system and battery (14), is electrically connected between control system and motor (9) and battery (14), institute
The control system stated includes HC-SE04 ultrasonic sensors I, pressure sensor, HC-SE04 ultrasonic sensors II, HX711AD
D/A converter module and Arduino uno, HC-SE04 ultrasonic sensor I, pressure sensor and HC-SE04 supersonic sensings
It is electrically connected between device II and HX711AD D/A converter modules, it is electric between HX711AD D/A converter modules and Arduino uno
Property connection；Described HC-SE04 ultrasonic sensors I, pressure sensor, HC-SE04 ultrasonic sensors II, HX711AD numbers
Mould modular converter, Arduino uno and battery are installed in fixed plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720588948.2U CN206886481U (en) | 2017-05-25 | 2017-05-25 | Carrier loader based on balustrade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720588948.2U CN206886481U (en) | 2017-05-25 | 2017-05-25 | Carrier loader based on balustrade |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206886481U true CN206886481U (en) | 2018-01-16 |
Family
ID=61319382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720588948.2U Expired - Fee Related CN206886481U (en) | 2017-05-25 | 2017-05-25 | Carrier loader based on balustrade |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206886481U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291178A (en) * | 2022-01-06 | 2022-04-08 | 合肥综合性国家科学中心人工智能研究院(安徽省人工智能实验室) | Portable cargo upstairs-going robot system |
-
2017
- 2017-05-25 CN CN201720588948.2U patent/CN206886481U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291178A (en) * | 2022-01-06 | 2022-04-08 | 合肥综合性国家科学中心人工智能研究院(安徽省人工智能实验室) | Portable cargo upstairs-going robot system |
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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: 20180116 Termination date: 20180525 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |