CN209008643U - Electric cart for going-up stairs with compensation function - Google Patents
Electric cart for going-up stairs with compensation function Download PDFInfo
- Publication number
- CN209008643U CN209008643U CN201821661496.7U CN201821661496U CN209008643U CN 209008643 U CN209008643 U CN 209008643U CN 201821661496 U CN201821661496 U CN 201821661496U CN 209008643 U CN209008643 U CN 209008643U
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- Prior art keywords
- shaft
- wheel
- wheel carrier
- electromagnetic clutch
- travel switch
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Abstract
A kind of electric cart for going-up stairs with compensation function, it includes the front rotary shaft (1) being driven by motor, the both ends of front rotary shaft are connected with star-shaped front wheel carrier (6), integrally formed planetary gear (5) and front vehicle wheel (7) are installed at the top of front wheel carrier spoke, planetary gear is engaged by idle wheel with sun gear (9), and sun gear is fixedly connected with shaft；Drive sprocket (10) are fixedly connected on the inside of front wheel carrier, electromagnetic clutch is equipped between drive sprocket and shaft, the rear wheel frame in shaft (15) and front wheel carrier rotate synchronously afterwards, electromagnetic clutch is controlled by a controller, electromagnetic clutch is controlled by a controller, controller includes single-chip microcontroller, the rotary angle transmitter of shaft rotational angle after detection, differentiate the travel switch of stair size, single-chip microcontroller is according to angular signal and travel switch signal, control the closure or separation of electromagnetic clutch, wheel carrier is set to roll or translate, realize the automatic compensation to stair, it is easy to use, stair not easy to wear.
Description
Technical field
The present invention relates to a kind of Stair climbing devices, for cargo is transported building.
Background technique
The structure of electric cart for going-up stairs generally comprises shaft, and shaft is driven by motor, and installs wheel carrier, wheel carrier on the top of shaft
It is made of multiple spokes, shape is star, and wheel carrier rolls on stair when shaft rotates, and realizes the movement for climbing building.Stair
Size has certain range, such as a certain stair, and for size in the lower limit of range, wheel carrier rotates defined angle every time
Degree, adjacent spoke can be shelved on adjacent step plane, but for another stair, size range the upper limit, such as
The depth dimensions of step are that 300mm(is 40mm bigger than lower limit) as defined in wheel carrier rotation repeatedly after angle, adjacent spoke pole has can
It can be shelved in the plane of same step, wheel carrier rotates the blocking that will receive step vertical plane again, cannot complete to climb building movement；
To solve this problem, need to adjust the length of spoke before use according to the specific size of stair, this makes troubles to using.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of electric cart for going-up stairs with compensation function, the stairs-mover energy
The automatic stair for adapting to various sizes, do not need that the spoke of wheel carrier is adjusted, and are easy to use.
The technical scheme is that the electric cart for going-up stairs with compensation function comprising the front on chassis 21, chassis is living
Dynamic to be connected with front rotary shaft 1, front rotary shaft is driven by motor, and the both ends of front rotary shaft are connected with star-shaped front wheel carrier 6, front wheel carrier by
Three spokes form, and are equipped with planetary gear 5 and front vehicle wheel 7 at the top of each spoke, and planetary gear is fixedly connected with front vehicle wheel, row
The diameter of star gear is less than the diameter of front vehicle wheel, and the diameter of front vehicle wheel is less than the height of step, is equipped with Jie in the middle part of each spoke
Wheel 8, the centre of front wheel carrier are equipped with sun gear 9, and planetary gear is engaged by idle wheel with sun gear, planetary gear, Jie
Wheel and sun gear are located at the outside of front wheel carrier, and sun gear is fixedly connected with shaft；It is characterized in that in the inside of front wheel carrier
Be fixedly connected with drive sprocket 10, between drive sprocket and shaft be equipped with electromagnetic clutch, the drive end 3 of electromagnetic clutch with turn
Axis is fixedly connected, and the driven end 6 of electromagnetic clutch is fixedly connected with drive sprocket, the shaft after the rear portion on chassis is connected with
19, the both ends of rear shaft are fixedly connected with rear wheel frame 15, and the structure of rear wheel frame is identical as front wheel carrier, the fixed peace in the outside of rear wheel frame
Equipped with driven sprocket 14, drive sprocket is connect by chain 12 with driven sprocket, and drive sprocket is equal with the diameter of driven sprocket,
Rear wheel 16 is installed, when every 120 degree of the rotation of front wheel carrier, shifting of the front vehicle wheel on step plane on rear wheel frame at the top of each spoke
Dynamic distance is about the 2/5 of step depth (lower limit value of staircase design specification)；
The contact movement when the side on chassis is equipped with travel switch 13, and the compression bar and step of travel switch contact；
Electromagnetic clutch is controlled by a controller, and controller includes the corner biography of shaft rotational angle after single-chip microcontroller, detection
Sensor, travel switch, the angular signal of rotary angle transmitter connect an input terminal of single-chip microcontroller, the action signal order piece of travel switch
Another input terminal of machine, when angular signal is equal with setting value, single-chip microcontroller is according to one control of the action signal of travel switch output
Signal makes electromagnetic clutch separate or be closed.
The present invention climbs building process, and in the closure state, front wheel carrier and sun gear rotate electromagnetic clutch with shaft,
Planetary gear band motor car wheel rolls forward, the motion profile of front wheel carrier is the synthesis rolled with movement, when the size and wheel of stair
When frame is adapted, angle as defined in the every rotation of shaft, adjacent front vehicle wheel can be shelved on adjacent step, as shaft is each
Rotation, front vehicle wheel can a upper step, rear wheel frame movement it is synchronous with front wheel carrier.
When the size of stair and wheel carrier are not suitable with (height or/and depth of step are bigger than normal), as defined in the every rotation of shaft
When angle, each drop point of the front vehicle wheel on step can be gradually mobile to step edge, and the accumulation repeatedly moved back can make adjacent
The drop point of front vehicle wheel on same step, be obstructed by the rotation of wheel carrier.
Compensation principle is, after every 120 degree of the rotation of shaft, as travel switch and step it is contactless (height of expression step or/
It is bigger than normal with depth), controller then enables electromagnetic clutch separate, and at this moment front vehicle wheel rotates and front wheel carrier does not rotate, and front wheel carrier only has
Preceding shifting movement, compensates drop point；It compensates and finishes when travel switch is contacted with step, controller enables electromagnetic clutch close
It closes, front vehicle wheel and front wheel carrier all rotate, and continue the movement for climbing building.
When downstairs, shaft reversion, after every 120 degree of the rotation of shaft, if travel switch is contacted with step, controller is then enabled
Electromagnetic clutch separation, front wheel carrier only move back the movement (along direction of going downstairs), compensate to drop point；When travel switch and step
Compensation finishes when contactless, and controller enables electromagnetic clutch be closed, and front vehicle wheel and front wheel carrier all rotate, and continues movement downstairs.
It is a feature of the present invention that wheel drop point can be compensated automatically, various stair are suitable for, without adjusting the length of spoke,
It is easy to use；Rear wheel frame movement is synchronous with front wheel carrier, and in upper go downstairs, chassis tilt angle is unchanged, and chassis is without jolting；Front truck
The drop point of wheel and rear wheel is all rolling friction to step at step plane position, and step is not easily damaged.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 be Fig. 1 A-A to expansion view.
Fig. 3 is the functional-block diagram of controller.
Attached drawing mark respectively indicates: 1- front rotary shaft, 2- axle sleeve, the drive end of 3- electromagnetic clutch, 4- electromagnetic clutch
Driven end, 5- planetary gear, 6- front wheel carrier, 7- front vehicle wheel, 8- idle wheel, 9- sun gear, 10- drive sprocket, the chassis 11- side
Edge strip, 12- chain, 13- travel switch, 14- driven sprocket, 15- rear wheel frame, 16- rear wheel, 17- rotary angle transmitter, 18- sense
It should coil, shaft, the chassis 21-, the compartment 22-, 23- stair after 19-.
Specific embodiment
Now in conjunction with Detailed description of the invention a specific embodiment of the invention.
Electric cart for going-up stairs with compensation function comprising the front on chassis 21, chassis is connected by axle sleeve 2 and front rotary shaft 1
It connects, front rotary shaft is driven by motor 20, and motor is mounted on chassis, and the both ends of front rotary shaft are connected with star-shaped front wheel carrier 6, preceding
Wheel carrier is made of 3 spokes, and planetary gear 5 and front vehicle wheel 7, planetary gear and the fixed company of front vehicle wheel are equipped at the top of each spoke
It connects, planetary gear diameter is less than the diameter of front vehicle wheel, and the diameter of front vehicle wheel is less than the height of step 23, the middle part peace of each spoke
Equipped with idle wheel 8, the centre of front wheel carrier is equipped with sun gear 9, and planetary gear is engaged by idle wheel with sun gear, planet tooth
Wheel, idle wheel and sun gear are located at the outside of front wheel carrier, and sun gear is fixedly connected with shaft；It is fixed in the inside of front wheel carrier
It is connected with drive sprocket 10, electromagnetic clutch is equipped between drive sprocket and shaft, the drive end 3 and shaft of electromagnetic clutch are solid
Fixed connection, the driven end 4 of electromagnetic clutch are fixedly connected with drive sprocket.
The shaft 19 after the rear portion on chassis is connected with, the both ends of rear shaft are fixedly connected with rear wheel frame 15, rear wheel frame
Structure it is identical as front wheel carrier, the outside side of rear wheel frame is fixedly installed with driven sprocket 14, drive sprocket by chain 12 with from
Movable sprocket connection, drive sprocket is equal with the number of teeth of driven sprocket, and the top movable of each spoke is equipped with rear wheel on rear wheel frame
16。
The compartment 22 of loading is installed above chassis.
The drive end of electromagnetic clutch and driven end are closed when electromagnetic clutch obtains electric, and sun gear and front wheel carrier are with shaft
It rotates together, the drive end of electromagnetic clutch is separated with driven end when electromagnetic clutch power loss, and only sun gear is rotated with shaft；
Front wheel carrier and rear wheel frame rotate synchronously.
The side strip 11 on chassis is equipped with travel switch 13 by rear, upstairs when, shaft rotate forward and adjacent rear wheel
Idler wheel and step when being just shelved on adjacent step (i.e. rear wheel frame rotational angle up to 120 degree when), on the compression bar of travel switch
Between have 20 millimeters to 30 millimeters gaps in the horizontal direction；When downstairs, shaft reversion and adjacent rear wheel be just shelved on it is adjacent
Step when, the idler wheel on the compression bar of travel switch is contacted with step；When the runner and step at the mandril end of travel switch contact,
The normally opened contact of travel switch is closed.
Electromagnetic clutch is controlled by a controller, and controller includes single-chip microcontroller, detection front rotary shaft or rear shaft rotational angle
Rotary angle transmitter 17, travel switch, rotary angle transmitter is mounted on chassis, and rotary angle transmitter is Hall type or photoelectric type, with
The matched inductive disks 18 of Hall type, edge is evenly equipped with magnet steel, and inductive disks 18 matched with photoelectric type, edge is equal
It is furnished with gap；Inductive disks are mounted in front rotary shaft or rear shaft；Front rotary shaft or rear shaft rotate one week, if rotary angle transmitter exports
Dry pulse signal.
The pulse signal of rotary angle transmitter output connects an input terminal of single-chip microcontroller, the movement letter of the normally opened contact of travel switch
Another input terminal of single-chip microcontroller number is connect, the output end of single-chip microcontroller is connect by electronic switch with electromagnetic clutch；Electromagnetic clutch
Thread guide devices be conducting ring, brush structure.
It is equipped in single-chip microcontroller and climbs building control program and downstairs control program, the operating procedure for controlling program upstairs is:
A, electromagnetic clutch is enabled to be closed；
B, pulse signal (number of pulse signal and the corner of shaft are corresponding) is counted, when umber of pulse and setting
When value (setting value is corresponding with the predetermined angular that front wheel carrier rotates every time) is equal, the normally opened contact such as travel switch is not closed,
Then electromagnetic clutch is enabled to separate；If the normally opened contact of travel switch is closed, then pulse signal is counted again, turn step A.
The operating procedure for downstairs controlling program is:
C, electromagnetic clutch is enabled to be closed；
D, pulse signal is counted, when umber of pulse is equal with setting value, if the normally opened contact of travel switch is closed,
Then electromagnetic clutch is enabled to separate；If the normally opened contact of travel switch is opened, then pulse signal is counted again, turn step C.
Upstairs control program and downstairs control program can manual switch, the positive and negative rotation of motor can manual switch, upstairs when electricity
Machine rotate forward, downstairs when motor reversal, motor is slowspeed machine.
The compensation principle of controller is:
After angle as defined in front wheel carrier or the every rotation of rear wheel frame (defined angle is 120 degree), such as travel switch and step
It is contactless (indicate step height or/and depth it is bigger than normal), controller then enables electromagnetic clutch separate, at this moment front vehicle wheel rotation and
Front wheel carrier does not rotate, and the only preceding shifting movement of front wheel carrier compensates drop point；It has been compensated when travel switch is contacted with step
Finish, controller enables electromagnetic clutch be closed, and front vehicle wheel and front wheel carrier all rotate, and continues the movement for climbing building.
When downstairs, shaft reversion after angle as defined in the every rotation of shaft, if travel switch is contacted with step, is controlled
Device then enables electromagnetic clutch separate, and the only rear shifting movement of front wheel carrier compensates drop point；When travel switch is contactless with step
When compensation finish, controller enables electromagnetic clutch be closed, and front vehicle wheel and front wheel carrier all rotate, and continues movement downstairs.
By selecting diameter, the gear ratio of planetary gear and sun gear and the length of spoke of front vehicle wheel, before can making
When wheel carrier or rear wheel frame often turn to 120 degree, moving distance of the front vehicle wheel on step plane is about step depth (staircase design
The lower limit value of specification) 2/5, in this way when wheel carrier do not rotate only front vehicle wheel rotation when, front vehicle wheel has enough on step plane
Mobile surplus, mobile about 30 millimeters or so of surplus, in the movement margin range, refers to various stair 23(and meets design specification
Residence stairs and public place stair) can compensate.
When level land moves, by clutch separation.
Claims (1)
1. a kind of electric cart for going-up stairs with compensation function comprising chassis (21), the front on chassis are connected with front rotary shaft
(1), front rotary shaft is driven by motor, and the both ends of front rotary shaft are connected with star-shaped front wheel carrier (6), and front wheel carrier is by three spoke groups
At being equipped with planetary gear (5) and front vehicle wheel (7) at the top of each spoke, planetary gear is fixedly connected with front vehicle wheel, planetary gear
Diameter be less than the diameter of front vehicle wheel, the diameter of front vehicle wheel is less than the height of step, is equipped with idle wheel (8) in the middle part of each spoke,
The centre of front wheel carrier is equipped with sun gear (9), and planetary gear is engaged by idle wheel with sun gear, planetary gear, idle wheel
And sun gear is located at the outside of front wheel carrier, sun gear is fixedly connected with shaft；It is characterized in that solid in the inside of front wheel carrier
Surely drive sprocket (10) are connected with, electromagnetic clutch, the drive end (3) of electromagnetic clutch are equipped between drive sprocket and shaft
It is fixedly connected with shaft, the driven end (4) of electromagnetic clutch is fixedly connected with drive sprocket, is connected at the rear portion on chassis
Shaft (19) afterwards, the both ends of rear shaft are fixedly connected with rear wheel frame (15), and the structure of rear wheel frame is identical as front wheel carrier, rear wheel frame
Outside is fixedly installed with driven sprocket (14), and drive sprocket is connect by chain (12) with driven sprocket, drive sprocket with it is driven
The number of teeth of sprocket wheel is equal, and the top movable of each spoke is equipped with rear wheel (16) on rear wheel frame, rotates 120 degree when front wheel carrier is every,
Moving distance of the front vehicle wheel on step plane is about the 2/5 of step depth；
Travel switch (13) are installed in the side on chassis, when shaft rotating forward and adjacent rear wheel has just been shelved on adjacent step
When, there are 20 millimeters to 30 millimeters gaps in the horizontal direction between the idler wheel and step on the compression bar of travel switch；When shaft inverts
And adjacent rear wheel, when being just shelved on adjacent step, the idler wheel on the compression bar of travel switch is contacted with step；
Electromagnetic clutch is controlled by a controller, controller include the rotary angle transmitter of shaft rotational angle after single-chip microcontroller, detection,
Travel switch, the angular signal of rotary angle transmitter connect an input terminal of single-chip microcontroller, and the action signal of travel switch connects single-chip microcontroller
Another input terminal, when angular signal is equal with setting value, single-chip microcontroller is believed according to one control of the action signal of travel switch output
Number, so that electromagnetic clutch is separated or is closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821661496.7U CN209008643U (en) | 2018-10-15 | 2018-10-15 | Electric cart for going-up stairs with compensation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821661496.7U CN209008643U (en) | 2018-10-15 | 2018-10-15 | Electric cart for going-up stairs with compensation function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209008643U true CN209008643U (en) | 2019-06-21 |
Family
ID=66838435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821661496.7U Expired - Fee Related CN209008643U (en) | 2018-10-15 | 2018-10-15 | Electric cart for going-up stairs with compensation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209008643U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204419A (en) * | 2018-10-15 | 2019-01-15 | 潘秀兰 | Electric cart for going-up stairs with compensation function |
-
2018
- 2018-10-15 CN CN201821661496.7U patent/CN209008643U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204419A (en) * | 2018-10-15 | 2019-01-15 | 潘秀兰 | Electric cart for going-up stairs with compensation function |
| CN109204419B (en) * | 2018-10-15 | 2024-03-12 | 潘秀兰 | Electric stair climbing vehicle with compensation function |
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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: 20190621 Termination date: 20191015 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |