CN209361132U - Take turns walking combined toter - Google Patents

Abstract

The utility model provides a kind of walking combined toter of wheel, including pedestal, it is connected to the objective table of pedestal top side, the wheel group being used to support and drive pedestal mobile positioned at pedestal periphery, set on the attitude-adjusting system for being used to that objective table to be made to keep equilibrium state of the interval of objective table and pedestal, and it is connected to the walking mechanism of wheel group side to clear the jumps for match wheel group.The utility model uses attitude-adjusting system and walking mechanism and wheel group cooperates, enable and takes turns walking combined toter up/down steps or across obstacle easily, simultaneously, objective table remains equilibrium state under the action of attitude-adjusting system, and due to taking turns walking combined toter only wheel group and ground face contact when level land moves, it rubs between wheel group and ground small, it turns to flexible, to solve the problems, such as that toter is unable to satisfy obstacle climbing ability strong, ride comfort, walking flexibly require, improves and take turns the obstacle climbing ability that walking combined delivery fills.

Description

Take turns walking combined toter

Technical field

The utility model belongs to toter technical field, is to be related to a kind of walking combined delivery dress of wheel more specifically It sets.

Background technique

Toter refers to for transport device manned or in loading, especially can be convenient home-bound patient, old People and the people of lower limb incompleteness walking, still, traditional toter is all only suitable for walking on level land or slope, does not have and climbs building Obstacle crossing function.However, being frequently encountered step, stair or ditch in living environment, greatly limit toter uses model It encloses.

Currently, to solve the above-mentioned problems, occurring some delivery dresses with functions such as stair climbing, steps in the market It sets, planet gear type or crawler type motion structure is usually used in they, still, the generally existing obstacle detouring energy of planet gear type motion structure Power is uncertain, the fluctuating of obstacle detouring process causes stability poor greatly, although crawler type motion structure is steady compared with planet gear type motion structure, But there are level land using when suffered resistance is big, scanning frequency is low, chassis it is low cause obstacle climbing ability it is poor, turn to it is inflexible the defects of.Cause This, above two structure is all unable to satisfy strong obstacle climbing ability, ride comfort, the flexible requirement of walking.

Utility model content

The purpose of this utility model is to provide a kind of walking combined toters of wheel, to solve delivery in the prior art Device is unable to satisfy strong obstacle climbing ability, ride comfort, the technical issues of flexibly requiring of walking.

To achieve the goals above, the technical solution adopted in the utility model is: providing a kind of walking combined delivery of wheel Device, including pedestal are connected to the objective table of the pedestal top side, and being used to support and driving positioned at the pedestal periphery The mobile wheel group of the pedestal, which is characterized in that the walking combined toter of wheel further include be set to the objective table and The attitude-adjusting system for being used to that the objective table to be made to keep equilibrium state of the interval of the pedestal, and it is connected to the wheel The walking mechanism for cooperating the wheel group to clear the jumps of group side.

Further, the attitude-adjusting system includes the bracket being fixedly arranged on the pedestal, and is rotationally connected with institute State the support component on bracket.

Further, the wheel group includes 2 first wheels and an at least Second wheel, and the 2 first wheel rotations connect It is connected to the opposite sides of the pedestal and is sequentially connected respectively with the walking mechanism, one end of the support component and the branch Frame rotation connection, and the other end of the support component and the Second wheel are rotatablely connected.

Further, the support component includes first actuator being rotationally connected on the bracket, connection In first actuator the second actuator and it is scalable be connected in second actuator and one end stretch out described second First telescopic rod of actuator, the extension end of first telescopic rod and the Second wheel and walking mechanism rotation connect It connects.

Further, the attitude-adjusting system further includes the lifting assembly in the bracket, the lifting assembly It is flexibly connected with first actuator.

Further, the support component includes the second actuator, the 5th actuator, connector, the first telescopic rod and the Two telescopic rods, one end of second actuator and the bracket are hinged, and one end of the 5th actuator and the bracket are cut with scissors It connects, first telescopic rod is scalable to be connected in second actuator and its extension end is from the another of second actuator End is stretched out, and second telescopic rod is scalable to be connected in the 5th actuator and its extension end is from the 5th actuator The other end stretches out, and the extension end of the extension end and second telescopic rod of the side of the connector and first telescopic rod is cut with scissors It connects, the other side of the connector and the Second wheel and the walking mechanism are rotatablely connected.

Further, the wheel group includes the third round of two integral multiple, and the integral multiple is greater than one times, described two The third round of integral multiple is symmetrically rotationally connected with the opposite sides of the pedestal, and the third round and the walking mechanism Transmission connection, the support component includes first actuator being rotationally connected on the bracket, first driving Part is connect with the objective table.

Further, the walking mechanism includes driving unit, and the company being rotationally connected on the driving unit Bar unit, the driving unit include third actuator, and the linkage unit includes that end has for contacting ground or step The connection rod set of the foot in face, the connection rod set and the third actuator are pivotally connected.

Further, the driving unit further includes the tumbler for driving the third actuator to turn to, and described turn It is connect to part with the third actuator, the third actuator can be rotatablely connected by the tumbler and the pedestal.

Further, the connection rod set includes the first connecting rod positioned at third actuator side and non-interference overlapping And second connecting rod, the linkage unit further include connecting shaft group, the connecting shaft group include for connect the first connecting rod and First connecting shaft of the third actuator, and for connecting the second connecting rod and the first connecting rod or third driving The central axis of second connecting shaft of part, first connecting shaft and second connecting shaft is overlapped or parallel or at certain angle Degree.

The beneficial effect of the walking combined toter of wheel provided by the utility model is: use attitude-adjusting system and Walking mechanism and wheel group cooperate, and enable and take turns walking combined toter up/down steps or across obstacle easily, meanwhile, it carries Object platform can remain equilibrium state under the cooperation of wheel group and attitude-adjusting system, and due to taking turns walking combined toter Level land move when only wheel group and ground face contact, rub between wheel group and ground small, turn to flexibly, to efficiently solve Toter is unable to satisfy strong obstacle climbing ability, ride comfort, the technical issues of flexibly requiring of walking, and it is walking combined to improve wheel The obstacle climbing ability for delivering dress, improves the usage experience effect of user.

Detailed description of the invention

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the stereoscopic schematic diagram for the walking combined toter of wheel that the utility model embodiment one provides；

Fig. 2 is the stereoscopic schematic diagram for the walking combined toter of wheel that the utility model embodiment two provides；

Fig. 3 is the stereoscopic schematic diagram for the walking combined toter of wheel that the utility model embodiment three provides；

Fig. 4 is the stereoscopic schematic diagram for the walking combined toter of wheel that the utility model embodiment four provides；

Fig. 5 is the three-dimensional signal for taking turns walking mechanism in walking combined toter that the utility model embodiment one provides Figure；

Fig. 6 a is the first step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment one provides；

Fig. 6 b is the second step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment one provides；

Fig. 6 c is the third step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment one provides；

Fig. 6 d is the 4th step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment one provides；

Fig. 7 is the enlarged diagram of part A in Fig. 4；

Fig. 8 is the exploded pictorial for taking turns support component in walking combined toter that the utility model embodiment five provides Figure；

Fig. 9 is the exploded pictorial for taking turns support component in walking combined toter that the utility model embodiment six provides Figure；

Figure 10 is the schematic diagram for taking turns support component in walking combined toter that the utility model embodiment seven provides；

Figure 11 is the exploded pictorial for taking turns walking mechanism in walking combined toter that the utility model embodiment eight provides Figure；

Figure 12 is the exploded pictorial for taking turns walking mechanism in walking combined toter that the utility model embodiment nine provides Figure；

Figure 13 a is the first step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment eight provides；

Figure 13 b is the second step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment eight provides；

Figure 13 c is the third step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment eight provides；

Figure 13 d is the 4th step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment eight provides；

Figure 14 is the exploded pictorial for taking turns walking mechanism in walking combined toter that the utility model embodiment ten provides Figure；

Figure 15 a is the first step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment ten provides；

Figure 15 b is the second step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment ten provides；

Figure 15 c is the third step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment ten provides；

Figure 15 d is the 4th step of the principle of walking mechanism and wheel group cooperating that the utility model embodiment ten provides；

Figure 16 is that the decomposition for taking turns walking mechanism in walking combined toter that the utility model embodiment 12 provides is shown It is intended to.

Wherein, each appended drawing reference in figure:

1-pedestal, 2-objective tables, 3-wheel groups, 4-attitude-adjusting systems, 5-walking mechanisms, 30-wheel shafts, 31-the One wheel, 32-Second wheels, 33-third rounds, 41-brackets, 42-support components, 43-lifting assemblies, 51-drivings Unit, 52-linkage units, 410-through-holes, the 421-the first actuator, the 422-the second actuator, the 423-the first telescopic rod, 424-the five actuator, the 425-the second telescopic rod, 426-connectors, 431-gag lever posts, 432-sliding blocks, 511-thirds are driven Moving part, 512-tumblers, 513-fourth drive members, 521-connection rod sets, 522-connecting shaft groups, 5210,5210 '-foots, 5211-first connecting rods, 5212-second connecting rods, the 5221-the first connecting shaft, the 5222-the second connecting shaft.

Specific embodiment

In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein It applies example to be only used to explain the utility model, is not used to limit the utility model.

It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element On one element or indirectly on another element.When an element is known as " being connected to " another element, it can To be directly to another element or be indirectly connected on another element.

It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention, More than, unless otherwise specifically defined.

Now the walking combined toter of wheel provided by the utility model is illustrated:

Embodiment one:

Referring to Fig. 1, the walking combined toter of the wheel include pedestal 1, objective table 2, wheel group 3, attitude-adjusting system 4 with And walking mechanism 5, wherein objective table 2 is connected to the top side of pedestal 1；Wheel group 3 is located at the periphery of pedestal 1, is used to support and drives Keep pedestal 1 mobile；The interval between objective table 2 and pedestal 1 is arranged in attitude-adjusting system 4, for protecting objective table 2 always Hold equilibrium state；Walking mechanism 5 is connected to the side of wheel group 3, clears the jumps for match wheel group 3；Herein, wheel group 3 includes Two the first wheels 31 and at least one Second wheel 32, wherein two the first wheels 31 are separately positioned on opposite the two of pedestal 1 Side is separately positioned on the left and right sides of pedestal 1, be conducive to pedestal 1 and keep balance, and two the first wheels 31 pass through respectively Walking mechanism 5 and pedestal 1 are rotatablely connected；Meanwhile Second wheel 32 and attitude-adjusting system 4 are rotatablely connected, and Second wheel 32 be located at two the first wheels 31 adjacent side, in this way, two the first wheels 31 and a Second wheel 32 respectively with ground Contact point form a triangular structure, be conducive to improve the stability for taking turns walking combined toter.Certainly, according to specific Situation and demand, in the other embodiments of the utility model, Second wheel 32 can be two or more, they can set respectively It sets in the front side or rear side of pedestal 1, does not limit uniquely herein.

Preferably, referring to Fig. 1, in the utility model embodiment, attitude-adjusting system 4 includes bracket 41 and support group Part 42, wherein one end of bracket 41 is fixedly connected with pedestal 1, and the other end of bracket 41 is fixedly connected with objective table 2；Support group Part 42 is rotatably connected on one end of close objective table 2 of bracket 41；Support component 42 includes a support rod and the first actuator 421, one end of the support rod is connect with the first actuator 421, and the other end of the support rod and the rotation of Second wheel 32 connect It connects.Herein, the first actuator 421 can be motor, hydraulic motor or air motor, and with take turns inside walking combined toter Control system connection, the drive shaft of the first actuator 421 is fixedly connected with bracket 41, for driving support rod relative to bracket 41 swing；Herein, equilibrium state is preferably horizontality, when the first wheel 31 and walking mechanism 5 cooperate top bar or climbing to hinder When hindering object, the first actuator 421 drives support rod to drive and is connected to the Second wheel 32 of support rod lower end towards the side close to pedestal 1 To movement, so that the angle between support rod and bracket 41 reduces, to make the center of gravity of objective table 2 be lifted upwards, so that loading The top surface keeping parallelism of the top surface of platform 2 and step or barrier；When the first wheel 31 and the cooperation of walking mechanism 5 are got out of a predicament or an embarrassing situation or crossed When barrier, the first actuator 421 drives support rod to drive and is connected to the Second wheel 32 of support rod lower end towards far from pedestal 1 Direction is mobile, so that the angle between support rod and bracket 41 expands, to make the center of gravity of objective table 2 decline, so that objective table 2 Top surface and step or barrier bottom surface keeping parallelism；In this way, ensure that objective table 2 remains at horizontality, improve The stability of wheel walking combined the toter comfort taken and loading.

Preferably, referring to Fig. 5, in the utility model embodiment, walking mechanism 5 includes driving unit 51 and connecting rod list Member 52, wherein driving unit 51 includes third actuator 511 and tumbler 512, and linkage unit 52 includes connection rod set 521 and connects Spindle group 522；Herein, third actuator 511 can be motor, hydraulic motor or air motor, and with take turns walking combined delivery Control system connection inside device；Tumbler 512 can be motor, hydraulic motor or air motor, and walking combined with taking turns Control system connection inside toter；Connection rod set 521 includes end with the foot for contacting ground or step surface 5210 connecting rod；Connecting shaft group 522 includes a connecting shaft；Specifically, the side of the drive shaft of tumbler 512 and pedestal 1 Edge is fixedly connected, and the bottom surface of tumbler 512 is fixedly connected with the top surface of third actuator 511, one end of the connecting shaft and the company One end opposite with foot 5210 of bar is fixedly connected, and the other end and third actuator 511 of the connecting shaft are rotatablely connected, and Above-mentioned first wheel 31 connect, herein, the first wheel 31 and connecting rod with third actuator 511 or the link rotatable by wheel shaft 30 Group 521 is driven in third actuator 511.It is to be understood that when the first wheel 31 is connect with link rotatable, in order to improve The central axis of the synchronism of the two movement and the stability of the first wheel 31 rotation, wheel shaft 30 and the connecting shaft is in same straight line On.When work, walking combined toter is taken turns by control system and controls the drive third actuator 511 of tumbler 512, third is driven Moving part 511 drives the first wheel 31 and connection rod set 521 to be turned to again, to improve the spirit for taking turns walking combined toter movement Activity.

Fig. 6 a to Fig. 6 d is please referred to, in the utility model embodiment, is to take turns walking combined toter up/down steps Example illustrates the principle of the first wheel 31 and 521 cooperating of connection rod set: the first step, in the initial state, outside the first wheel 31 Circumferential surface and ground face contact, then third actuator 511 drives connection rod set 521 to rotate by connecting shaft group 522, until foot 5210 Periphery face contact first order step horizontal plane, and acting in opposition is in the connecting pin of connection rod set 521 and connecting shaft group 522； Second step, according to lever principle, the connecting pin of connection rod set 521 and connecting shaft group 522 is rotated by opposition around foot 5210, Connection rod set 521 is overturn forward, and the first wheel 31 is also driven and overturns forward, until the first wheel 31 contacts first order platform The horizontal plane of rank；Third step, third actuator 511, which continues through connecting shaft group 522, drives connection rod set 521 to rotate, until foot The horizontal plane of 5210 periphery face contact second level step, the then repeatedly movement of the first step；4th step repeats the dynamic of second step Make.In this way, repeating to can be completed the movement of top bar.In addition, the principle got out of a predicament or an embarrassing situation due to taking turns walking combined toter It is similar with top bar, therefore which is not described herein again.

The walking combined toter of wheel provided by the utility model, compared with prior art, beneficial effect is: using Attitude-adjusting system 4 and walking mechanism 5 and wheel group 3 cooperate, enable take turns walking combined toter easily up/down steps or Across obstacle, meanwhile, objective table 2 can remain equilibrium state under the cooperation of wheel group 3 and attitude-adjusting system 4, and Due to taking turns walking combined toter only wheel group 3 and ground face contact when level land moves, rub between wheel group 3 and ground small, It turns to flexibly, to efficiently solve, toter is unable to satisfy obstacle climbing ability strong, ride comfort, walking flexibly require Technical problem improves the obstacle climbing ability for taking turns walking combined delivery dress, improves the usage experience effect of user.

Embodiment two:

Referring to Fig. 2, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment one Together, the difference is that: above-mentioned wheel group 3 include two integral multiple third round 33, wherein the integral multiple be greater than one times, The third round 33 of two integral multiple is symmetricly set on the opposite sides of pedestal 1, and third round 33 by walking mechanism 5 with Pedestal 1 is rotatablely connected, meanwhile, support component 42 only includes the first actuator 421, wherein one end of bracket 41 and pedestal 1 are fixed Connection, the other end of bracket 41 are connect with the drive shaft turns of the first actuator 421, and the first actuator 421 and objective table 2 Connection.Herein, the first actuator 421 can drive objective table 2 to swing relative to pedestal 1 under control of the control system, to protect Card objective table 2 remains at horizontality, improves the stabilization for taking turns the comfort that walking combined toter is taken and loading Property, meanwhile, third round 33 can up/down steps or across obstacle easily under the cooperation of walking mechanism 5.

Embodiment three:

Referring to Fig. 3, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment one Together, the difference is that: above-mentioned support component 42 include the first actuator 421, the second actuator 422 and the first telescopic rod 423, Wherein, the second actuator 422 can be motor, cylinder or hydraulic cylinder, connect with the control system taken turns inside walking combined toter It connects, and one end of the second actuator 422 is connect with one end of the first actuator 421；First telescopic rod 423 is scalable to be connected to In second actuator 422, and one end of the first telescopic rod 423 is stretched out from the other end of the second actuator 422, herein, the The extension end of one telescopic rod 423 and Second wheel 32 are rotatablely connected.In this way, enhancing the regulating power of attitude-adjusting system 4, i.e., Make to take turns walking combined toter and encounter higher wider step or barrier, can also be adjusted by the flexible of support component 42 The position of objective table 2 ensure that objective table 2 remains at horizontality, improve what the walking combined toter of wheel was taken The stability of comfort and loading.

Example IV:

Fig. 4 and Fig. 7 are please referred to, the walking combined toter base of wheel disclosed in the utility model embodiment and embodiment three This is identical, the difference is that: above-mentioned attitude-adjusting system 4 further includes lifting assembly 43, and herein, lifting assembly 43 includes limit Bar 431 and sliding block 432, wherein gag lever post 431 is embedded in the through-hole 410 of bracket 41, and sliding block 432 is set in gag lever post 431 Periphery, and one end of sliding block 432 is connect with the drive shaft turns of the first actuator 421.When work, sliding block 432 is in control It can be slided up and down along gag lever post 431 under the control of system, and the opposite bracket 41 of the first actuator 421 is driven to make lifting action, such as This, enhances the regulating power of attitude-adjusting system 4, ensure that objective table 2 remains at horizontality, and it is multiple to improve wheel foot The stability of comfort and loading that box-like toter is taken.

Embodiment five:

Fig. 3 and Fig. 8 are please referred to, the walking combined toter base of wheel disclosed in the utility model embodiment and embodiment three This is identical, the difference is that: the extension end of above-mentioned first telescopic rod 423 and Second wheel 32 and connection rod set 521 are rotatablely connected, Herein, Second wheel 32 and connection rod set 521 are connected to the opposite sides or the second wheel of the extension end of the first telescopic rod 423 Son 32 is located at ipsilateral and is rotatablely connected by the extension end of connection rod set 521 and the first telescopic rod 423 with connection rod set 521.Specifically Ground, connection rod set 521 are rotatablely connected by connecting shaft group 522 and third actuator 511, third actuator 511 and the first telescopic rod 423 extension end connection, in this way, under the cooperation of third actuator 511, connecting shaft group 522 and connection rod set 521, Second wheel 32 also have obstacle climbing ability, to improve the obstacle climbing ability for taking turns walking combined toter entirety.It is to be understood that second The principle of 521 cooperating of wheel 32 and connection rod set is identical as the principle of 521 cooperating of connection rod set with the first wheel 31.

Embodiment six:

Referring to Fig. 9, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment five Together, the difference is that: above-mentioned third actuator 511, connecting shaft group 522 and connection rod set 521 pass through tumbler 512 and 4 wheel driven The rotation connection of the extension end of moving part 513 and the first telescopic rod 423, specifically, the drive shaft of fourth drive member 513 is flexible with first The extension end of bar 423 is rotatablely connected, and the drive shaft of tumbler 512 and the bottom end of fourth drive member 513 are rotatablely connected, third driving The top surface of part 511 is fixedly connected with the bottom surface of tumbler 512, and connection rod set 521 passes through connecting shaft group 522 and third actuator 511 Rotation connection, and Second wheel 32 and third actuator 511 are rotatablely connected, connection rod set 521 and Second wheel 32 be driven in Third actuator 511.When work, walking combined toter is taken turns by control system and controls the drive third driving of tumbler 512 Part 511, third actuator 511 drive Second wheel 32 and connection rod set 521 to be turned to again, to improve the walking combined fortune of wheel Carry the flexibility for setting movement.

Embodiment seven:

Referring to Fig. 10, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment six Together, the difference is that: above-mentioned support component 42 include the second actuator 422, the 5th actuator 424, the first telescopic rod 423, Second telescopic rod 425 and connector 426, wherein the 5th actuator 424 can be motor, cylinder or hydraulic cylinder, with take turns it is walking combined Control system connection inside toter, the second telescopic rod 425 is scalable to be connected in the 5th actuator 424, connector 426 For connecting extension end and the tumbler 512 of the extension end of the first telescopic rod 423, the second telescopic rod 425；Specifically, it second drives One end of moving part 422 and bracket 41 are hinged, the extension end of the first telescopic rod 423 from the other end of the second actuator 422 stretch out with Connector 426 is hinged, and one end of the 5th actuator 424 and bracket 41 are hinged, and the extension end of the second telescopic rod 425 is from the 5th The other end of actuator 424 stretches out hinged with connector 426；In this way, according to the motion principle of quadrangle, in the second actuator 422 and the common driving effect of the 5th actuator 424 under, both ensure that support component 42 can opposite base 1 swing up and down guarantor The horizontality of objective table 2 is held, and eliminates the first actuator 421 and fourth drive member 513, so that it is multiple to advantageously reduce wheel foot The production cost of box-like toter.

Embodiment eight:

Please refer to Figure 11, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment five Together, the difference is that: above-mentioned connection rod set 521 includes first connecting rod 5211 and second connecting rod 5212, and above-mentioned connecting shaft group 522 is wrapped Include the first connecting shaft 5221 and the second connecting shaft 5222, wherein first connecting rod 5211 and second connecting rod 5212 are located at above-mentioned third The same side of actuator 511, and it is non-interference, do not overlap；One end of first connecting shaft 5221 with 511 turns of third actuator Dynamic connection, the other end of the first connecting shaft 5221 are fixedly connected with one end opposite with its foot 5210 of first connecting rod 5211, One end of second connecting shaft 5222 and third actuator 511 are rotatablely connected, and the other end and second of the second connecting shaft 5222 One end opposite with its foot 5210 ' of connecting rod 5212 is fixedly connected, herein, the first connecting shaft 5221 and the second connecting shaft 5222 Central axis be parallel to each other.

Specifically, Figure 13 a to Figure 13 d is please referred to, in the utility model embodiment, to take turns on walking combined toter For getting out of a predicament or an embarrassing situation, illustrate the principle of the first wheel 31 or Second wheel 32 and 521 cooperating of connection rod set: the first step, first connects The outer peripheral surface and ground face contact of the foot 5210 of bar 5211, the first wheel 31 or Second wheel 32 and third actuator 511 are pushed up It rises, then third actuator 511 drives second connecting rod 5212 to rotate by the second connecting shaft 5222, and makes second connecting rod 5212 Foot 5210 relative to first connecting rod 5211 is overturn forward, until the periphery face contact of the foot 5210 ' of second connecting rod 5212 The horizontal plane of first order step；Second step, third actuator 511 continue through the second connecting shaft 5222 and drive second connecting rod 5212 Rotation, meanwhile, third actuator 511 drives first connecting rod 5211 to continue to rotate by the first connecting shaft 5221, until first connects The outer peripheral surface of the foot 5210 of bar 5211 leaves ground；Third step, third actuator 511 continue through the drive of the second connecting shaft 5222 Second connecting rod 5212 is rotated, meanwhile, third actuator 511 drives first connecting rod 5211 to continue to turn by the first connecting shaft 5221 It is dynamic, and overturn first connecting rod 5211 forward relative to the foot 5210 ' of second connecting rod 5212, until first connecting rod 5211 The horizontal plane of the periphery face contact first order step of foot 5210；4th step repeats second level step in the movement of the first step Horizontal plane.In this way, repeating to be alternately carried out the movement that top bar can be completed.In addition, due to taking turns under walking combined toter The principle of step is similar with top bar, therefore which is not described herein again.

Embodiment nine:

Please refer to Figure 12, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment eight Together, the difference is that: the central axis of above-mentioned first connecting shaft 5221 and the second connecting shaft 5222 overlaps in same On straight line.

Embodiment ten:

Please refer to Figure 14, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment five Together, the difference is that: above-mentioned connection rod set 521 includes first connecting rod 5211 and second connecting rod 5212, and above-mentioned connecting shaft group 522 is wrapped Include the first connecting shaft 5221 and the second connecting shaft 5222, wherein first connecting rod 5211 and second connecting rod 5212 are located at above-mentioned third The same side of actuator 511, and it is non-interference, do not overlap；One end of first connecting shaft 5221 with 511 turns of third actuator Dynamic connection, the other end of the first connecting shaft 5221 are fixedly connected with one end of first connecting rod 5211, and the one of the second connecting shaft 5222 End is rotatablely connected with the other end of first connecting rod 5211, and the other end of the second connecting shaft 5222 and second connecting rod 5212 with The opposite one end of foot 5210 is fixedly connected, and herein, the central axis of the first connecting shaft 5221 and the second connecting shaft 5222 is mutual In parallel.

Specifically, Figure 15 a to Figure 15 d is please referred to, in the utility model embodiment, to take turns on walking combined toter For getting out of a predicament or an embarrassing situation, illustrate the principle of the first wheel 31 or Second wheel 32 and 521 cooperating of connection rod set: the first step, initial Under state, the outer peripheral surface and ground face contact of the first wheel 31 or Second wheel 32, then third actuator 511 passes through the first connection Axis 5221 drives first connecting rod 5211 to rotate, meanwhile, first connecting rod 5211 drives second connecting rod by the second connecting shaft 5222 5212 overturn forward, until the horizontal plane of the periphery face contact first order step of foot 5210, and 5210 acting in opposition of foot In first connecting rod 5211 and third actuator 511；Second step, according to lever principle, first connecting rod 5211 and second connecting rod 5212 It is rotated by opposition around foot 5210, and the first wheel 31 or Second wheel 32 is driven to overturn forward；Third step, first The horizontal face contact of wheel 31 or the outer peripheral surface of Second wheel 32 and first order step, then third actuator 511 passes through first Connecting shaft 5221 drives first connecting rod 5211 to rotate, meanwhile, first connecting rod 5211 drives the second company by the second connecting shaft 5222 Bar 5212 leaves the horizontal plane of first order step；4th step repeats the horizontal plane of second level step in the movement of the first step.Such as This, repetition is alternately carried out the movement that top bar can be completed.In addition, the principle got out of a predicament or an embarrassing situation due to taking turns walking combined toter It is similar with top bar, therefore which is not described herein again.

Embodiment 11:

The utility model embodiment and the walking combined toter of wheel disclosed in embodiment ten are essentially identical, difference Be: above-mentioned first connecting shaft 5221 and the second connecting shaft 5222 are mutually angled, so that second connecting rod 5212 moves shape At track in cone.

Embodiment 12:

Please refer to Figure 16, the utility model embodiment and the walking combined basic phase of toter of wheel disclosed in embodiment one Together, the difference is that: one end of above-mentioned first connecting shaft 5221 and third actuator 511 are rotatablely connected, the first connecting shaft 5221 other end is fixedly connected with the middle part of first connecting rod 5211, and the both ends of first connecting rod 5211 are respectively provided with for connecing The foot 5210 and 5210 ' of tread surface or step surface, herein, the distance of 5210 to the first connecting shaft 5221 of foot and another foot 5210 ' to first connecting shafts 5221 are equidistant.

Embodiment 13:

Independently mobile toter is essentially identical with polypody disclosed in embodiment 21 for the embodiment of the present application, difference It is in and is greater than another foot 5210 ' to the first connecting shaft 5221 in: the distance of above-mentioned 5210 to the first connecting shaft 5221 of foot Distance.

Embodiment 14:

Fig. 2, Fig. 5, Figure 11, Figure 12 and Figure 14 are please referred to, takes turns foot disclosed in the utility model embodiment and embodiment two Combined type toter is essentially identical, the difference is that: pass through difference in the ipsilateral two adjacent third rounds 33 of pedestal 1 The walking mechanism 5 and pedestal 1 of construction are rotatablely connected.Such as: positioned at a pair taken turns on front side of walking combined toter direction of advance Third round 33 is using the walking mechanism 5 in embodiment nine, positioned at a pair taken turns on rear side of walking combined toter direction of advance Third round 33 is using the walking mechanism 5 in embodiment seven；Or one on front side of the walking combined toter direction of advance of wheel Walking mechanism 5 in embodiment one is used to third round 33, one on rear side of the walking combined toter direction of advance of wheel To third round 33 using the walking mechanism 5 etc. in embodiment nine.

The connection rod set 521 of the utility model can also be other structures, such as connection rod set other than for above-mentioned structure 521 may also include multiple connecting rods such as third connecting rod, fourth link.Multiple connecting rods are by the same driving unit 51 or respectively by multiple Driving unit 51 drives.The pivot center of multiple connecting rods is overlapped, or parallel.The quantity of connecting rod is different, the load that can be carried Difference can be selected according to the actual situation.And it is to be understood that in attitude-adjusting system 4 and driving unit 51 Each component can there are many combinations, various combination mode can be selected, no longer be repeated one by one according to the actual situation herein.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (8)

1. taking turns walking combined toter, including pedestal, control system, it is connected to the objective table of the pedestal top side, Yi Jiwei The wheel group being used to support and drive the pedestal mobile in the pedestal periphery, which is characterized in that the walking combined fortune of wheel Carry set further include be set to the objective table and the pedestal interval for making the objective table keep horizontality Attitude-adjusting system, and be connected to the walking mechanism for cooperating the wheel group to clear the jumps of the wheel group side, The wheel group, the attitude-adjusting system and the walking mechanism are controlled by the control system；The attitude-adjusting system packet The bracket being fixedly arranged on the pedestal is included, and the support component being rotationally connected on the bracket, the wheel group includes two the One wheel and at least a Second wheel, the Second wheel are located at the adjacent side of two first wheels, first wheel Be rotationally connected with the opposite sides of the pedestal and respectively with the walking mechanism be sequentially connected, one end of the support component with The holder pivots connection, and the other end of the support component and the Second wheel are rotatablely connected.

2. taking turns walking combined toter as described in claim 1, which is characterized in that the support component includes rotatably connecting The first actuator being connected on the bracket is connected to the second actuator of first actuator and scalable is connected to institute State the first telescopic rod that second actuator is stretched out in the second actuator and one end, the extension end of first telescopic rod and institute State Second wheel and walking mechanism rotation connection.

3. taking turns walking combined toter as claimed in claim 2, which is characterized in that the attitude-adjusting system further includes setting Lifting assembly in the bracket, the lifting assembly are flexibly connected with first actuator.

4. taking turns walking combined toter as described in claim 1, which is characterized in that the support component includes the second driving Part, the 5th actuator, connector, the first telescopic rod and the second telescopic rod, one end of second actuator and the bracket are cut with scissors It connects, one end of the 5th actuator and the bracket are hinged, and first telescopic rod is scalable to be connected to second driving In part and its extension end is stretched out from the other end of second actuator, and second telescopic rod is scalable to be connected to the described 5th In actuator and its extension end is stretched out from the other end of the 5th actuator, and the side of the connector is flexible with described first The extension end of bar and the extension end of second telescopic rod are hinged, the other side of the connector and the Second wheel and described Walking mechanism rotation connection.

5. taking turns walking combined toter, including pedestal, control system, it is connected to the objective table of the pedestal top side, Yi Jiwei The wheel group being used to support and drive the pedestal mobile in the pedestal periphery, which is characterized in that the walking combined fortune of wheel Carry set further include be set to the objective table and the pedestal interval for making the objective table keep horizontality Attitude-adjusting system, and be connected to the walking mechanism for cooperating the wheel group to clear the jumps of the wheel group side, The wheel group, the attitude-adjusting system and the walking mechanism are controlled by the control system；The attitude-adjusting system packet The bracket being fixedly arranged on the pedestal is included, and the support component being rotationally connected on the bracket, the wheel group includes two The third round of integral multiple, the integral multiple are greater than one times, and the third round of described two integral multiple is symmetrically rotationally connected with institute The opposite sides of pedestal is stated, and the third round and the walking mechanism are sequentially connected, the support component includes that can be rotated The first actuator being connected on the bracket, first actuator are connect with the objective table.

6. such as the walking combined toter of wheel described in any one of claim 1 to 5, which is characterized in that the walking mechanism packet Driving unit is included, and the linkage unit being rotationally connected on the driving unit, the driving unit includes third driving Part, the linkage unit include end with the connection rod set for contacting the foot on ground or step surface, the connection rod set and institute State the pivot joint of third actuator.

7. taking turns walking combined toter as claimed in claim 6, which is characterized in that the driving unit further includes for driving The tumbler for turning to the third actuator, the tumbler are connect with the third actuator, and the third actuator can It is rotatablely connected by the tumbler and the pedestal.

8. taking turns walking combined toter as claimed in claim 6, which is characterized in that the connection rod set includes being located at described the The first connecting rod and second connecting rod of three actuator sides and non-interference overlapping, the linkage unit further include connecting shaft group, institute Stating connecting shaft group includes the first connecting shaft for connecting the first connecting rod and the third actuator, and described for connecting Second connecting shaft of second connecting rod and the first connecting rod or the third actuator, first connecting shaft and described second connect The central axis of spindle is overlapped parallel or angled.