CN211433730U

CN211433730U - Power device suspension type push bed

Info

Publication number: CN211433730U
Application number: CN201922188885.3U
Authority: CN
Inventors: 吕鸿钧; 林尚雷; 黄乐军; 吕鸿雁; 黄勇军
Original assignee: Foshan Yuanyuan Automation Equipment Technology Co ltd
Current assignee: Foshan Yuanyuan Automation Equipment Technology Co ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-09-08
Anticipated expiration: 2029-12-06

Abstract

The utility model relates to a power device suspension type manipulator, which comprises a bedstead and a power device, wherein the power device is arranged on the bedstead, the power device comprises two sets of walking driving mechanisms and a wheel carrier, the walking driving mechanisms comprise driving wheels and walking driving motors, the driving wheels are in transmission connection with the walking driving motors, and the driving wheels of the two sets of walking driving mechanisms are respectively distributed on the left and the right; the wheel carrier is movably arranged at the bottom of the bedstead up and down, and an elastic part is arranged between the wheel carrier and the bedstead. When the contact positions of the casters at the front end and the rear end of the power device suspension type manipulator and the ground have an angle difference, the distance between the middle part of the frame and the ground is changed, and the elastic part enables the wheel carrier to have a downward movement trend, so that the driving wheel is ensured to be in good contact with the ground, and power is transmitted better.

Description

Power device suspension type push bed

Technical Field

The utility model relates to a delivery vehicle, in particular to a power device suspension type manipulator.

Background

The current delivery tools comprise a trolley, a medical transfer bed, a wheelchair and the like, and the medical transfer bed is taken as an example and mainly comprises a lower bedstead, an upper bedstead and universal casters, wherein the universal casters are arranged at the bottom of the lower bedstead, and the upper bedstead is arranged above the lower bedstead. The upper bed frame is mainly used for placing a mattress and lying for a patient, and the lower bed frame can be used for placing medical instruments and equipment. Therefore, when carrying people, the medical transfer bed needs to be pushed to be strenuous, and the walking direction is not controlled well by one person. In addition, because a patient who is inconvenient to move often needs to be subjected to more examinations during hospitalization, and different examination items are located in different areas, two nursing workers (or one nursing worker and a patient family member together) are generally required to be arranged in the existing hospital to transfer the patient to different examination areas through the medical transfer bed for examination, so that more manpower is consumed, and hospitalization cost is increased.

In addition, for example, the power-assisted baggage cart in an airport has two power wheels, and although the two power wheels are driven by an electric pool and have a power-assisted function, the two power wheels are in a linkage state and can only rotate synchronously, so that a user still needs to provide a large auxiliary turning force during turning to realize the turning of the power-assisted baggage cart. In addition, the power wheel and other caster wheels of the power-assisted luggage barrow are at the same horizontal height, and when the power wheel passes through an uneven road surface, the power wheel is easy to leave the ground or has poor contact with the ground, so that the power assistance or the power wheel cannot be realized to slip. Similarly, the power wheels of current electric wheelchairs suffer from similar disadvantages as described above.

Disclosure of Invention

An object of the utility model is to provide a power device suspension type manipulator that rational in infrastructure, electronic helping hand, with ground contact are reliable.

The purpose of the utility model is realized like this:

the utility model provides a power device suspension type pusher, includes bedstead and power device, and power device sets up on the bedstead, its characterized in that: the power device comprises two sets of walking driving mechanisms and a wheel carrier, the walking driving mechanisms comprise driving wheels and walking driving motors, the driving wheels are in transmission connection with the walking driving motors, and the driving wheels of the two sets of walking driving mechanisms are respectively distributed on the left and right; the wheel carrier is movably arranged at the bottom of the bedstead up and down (namely the wheel carrier is hung at the bottom of the bedstead), and an elastic part is arranged between the wheel carrier and the bedstead.

The purpose of the utility model can also adopt the following technical measures to solve:

more specifically, the elastic element is a compression spring, an air cylinder, a bladder air cylinder or an oil cylinder. When the elastic piece is an air cylinder, a leather bag air cylinder or an oil cylinder, the elastic piece can be matched with a corresponding air circuit system or an oil circuit system, so that the suspension height adjustment of the wheel carrier relative to the bedstead when the wheel carrier is lifted off the ground is realized.

As a further scheme, a steering wheel is arranged on the bedstead, the steering wheel is rotatably arranged on the bedstead, a steering driving mechanism for controlling the rotation of the wheel frame is arranged on the bedstead, and the elastic part is arranged between the steering wheel and the wheel frame.

As a further scheme, a linear guide device is further connected between the wheel carrier and the steering wheel, the linear guide device comprises a longitudinal guide rod and a longitudinal guide sleeve, the upper end of the longitudinal guide rod is fixedly connected with the steering wheel, the lower end of the longitudinal guide rod penetrates through the longitudinal guide sleeve, and the longitudinal guide sleeve is arranged on the wheel carrier and is vertically matched with the longitudinal guide rod in a sliding manner.

As a further scheme, an adjusting bolt is further arranged between the wheel frame and the steering wheel, the adjusting bolt penetrates through the wheel frame from bottom to top and is in threaded connection with the wheel frame, and the upper end of the adjusting bolt is fixedly abutted against or in running fit with the steering wheel.

As a further scheme, the elastic piece is a compression spring, and the compression spring is sleeved outside the adjusting bolt.

As a further scheme, a portal frame is arranged on the bedstead, a vertical shaft is arranged on the inner top surface of the portal frame, and the steering wheel is connected with the vertical shaft through a bearing.

As a further scheme, the steering driving mechanism comprises a steering driving motor, a gear pair and a gear rack, wherein the gear rack is arranged on the bed frame, and the steering driving motor is in transmission connection with the gear pair and is arranged on the gear rack; and the power device is provided with a steering driving tooth groove around the rotating axis of the power device, and the steering driving tooth groove is in transmission connection with the gear pair.

As a further scheme, a reduction box is further arranged on the gear carrier, the gear pair comprises a pinion and a bull gear, the steering driving motor is in transmission connection with the pinion through the reduction box, the pinion is meshed with the bull gear, and the bull gear is meshed with a steering driving tooth groove of the gear carrier.

As a further scheme, four caster wheels are distributed on the bottom of the bed frame in a rectangular shape, the bed frame is in a rectangular shape, the four caster wheels are respectively arranged at four corner positions of the bottom of the bed frame, and the power device is positioned in the middle of the bottom of the bed frame; the bed frame is also provided with a main control circuit and a battery, the main control circuit is electrically connected with the battery, and the walking driving motors and the steering driving motors of the two sets of walking driving mechanisms are respectively electrically connected with the main control circuit. The frame is supported by four truckles, and power device is located the middle part, and when there is the angular difference in the position of current back both ends truckle and ground contact, the distance between frame middle part and the ground changes, and at this moment, the elastic component makes the wheel carrier have the trend of downstream, ensures that drive wheel and ground well contact.

As a further scheme, the bed frame is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or the remote controller is used for sending a control signal to the main control circuit and is electrically connected with the main control circuit.

The utility model has the advantages as follows:

(1) the power device suspension type push bed is provided with the elastic piece between the wheel frame and the bed frame, the elastic piece enables the wheel frame to have the trend of moving downwards, and the driving wheel is better contacted with the ground;

(2) when the contact positions of the casters at the front end and the rear end of the power device suspension type manipulator and the ground have an angle difference, the distance between the middle part of the frame and the ground is changed, and the elastic part enables the wheel carrier to have a downward movement trend, so that the driving wheel is ensured to be in good contact with the ground, and power is transmitted better.

(3) The power device suspension type manipulator can change the distance between the wheel carrier and the steering wheel through the adjusting bolt, thereby adjusting the elastic force of the elastic part.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is another angle structure diagram of fig. 1.

Fig. 3 is the rear structure schematic diagram of the 90-degree steering of the middle power device of the utility model.

Fig. 4 is a schematic structural view of the steering driving mechanism of the present invention.

Fig. 5 is another angle structure diagram of fig. 4.

Fig. 6 is the schematic view of the overlooking structure of the middle power device, the steering wheel and the portal frame after being connected.

FIG. 7 is a schematic sectional view A-A of FIG. 6.

FIG. 8 is a schematic sectional view of the structure of FIG. 6B-B.

Fig. 9 is a schematic view of the connection structure between the middle power device and the steering wheel of the present invention.

Fig. 10 is another angle structure diagram of fig. 9.

Fig. 11 is a schematic structural view of another embodiment of the middle power device of the present invention.

Fig. 12 is a schematic structural view of another embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

Referring to fig. 1, 2 and 6-10, a power device suspended type push bed comprises a bed frame 100 and a power device 200, wherein the power device 200 is arranged on the bed frame 100, the power device 200 comprises two sets of walking driving mechanisms, each walking driving mechanism comprises driving wheels 1 and walking driving motors 2, the driving wheels 1 of the two sets of walking driving mechanisms are positioned at the bottom of the bed frame 100 and distributed on the left and right, and the driving wheels 1 are in transmission connection with the walking driving motors 2.

The axes of the driving wheels 1 of the two sets of walking driving mechanisms are positioned on the same straight line. The walking driving motor 2 is a servo motor.

The power device 200 further comprises a wheel frame 3, the wheel frame 3 is movably disposed at the bottom of the bed frame 100, and an elastic member is disposed between the wheel frame 3 and the bed frame 100. The two sets of walking driving mechanisms are respectively arranged at the bottom of the wheel carrier 3.

The elastic element is a compression spring 7, an air cylinder, a leather bag air cylinder 7' (shown in figure 11) or an oil cylinder. The elastic member in this embodiment is a compression spring 7.

The bedstead 100 is provided with a steering wheel 4, the steering wheel 4 is rotatably arranged on the bedstead 100, the bedstead 100 is provided with a steering driving mechanism 300 for controlling the rotation of the wheel carrier 3, and the elastic element is arranged between the steering wheel 4 and the wheel carrier 3.

Two sets of linear guide devices are arranged between the steering wheel 4 and the wheel carrier 3, are uniformly distributed around the rotating center of the steering wheel 4 and are positioned at the left side and the right side of the synchronizing shaft 29; the linear guide device comprises a longitudinal guide rod 5 and a longitudinal guide sleeve 6, the upper end of the longitudinal guide rod 5 is fixedly connected with the steering wheel 4, the lower end of the longitudinal guide rod 5 penetrates through the longitudinal guide sleeve 6, and the longitudinal guide sleeve 6 is arranged on the wheel carrier 3 and is in vertical sliding fit with the longitudinal guide rod 5. The upper end of the longitudinal guide rod 5 is fixedly connected with the steering wheel 4 through a guide rod locking cover 12.

Two adjusting bolts 8 are arranged beside the linear guide device, the adjusting bolts 8 penetrate through the wheel frame 3 from bottom to top and are in threaded connection with the wheel frame 3, and the upper ends of the adjusting bolts 8 are fixedly abutted or in rotating fit with the steering wheel 4; the elastic part is a compression spring 7, the adjusting bolt 8 is further sleeved with the compression spring 7, and the compression spring 7 is in compression joint between the steering wheel 4 and the wheel carrier 3.

The bedstead 100 is provided with a portal frame 9, the inner top surface of the portal frame 9 is provided with a vertical shaft 13, and the steering wheel 4 is connected with the vertical shaft 13 through a bearing 15. The steering wheel 4 is provided with a central hole, a fixed sleeve 14 is arranged on the central hole, the bearing 15 comprises an outer ring and an inner ring which are mutually matched in a rotating way, the outer ring is connected with the fixed sleeve 14, and the inner ring is connected with the periphery of the vertical shaft 13.

The walking driving mechanism further comprises a motor seat 21 and a shaft seat 17, the motor seat 21 and the shaft seat 17 are arranged at the bottom of the wheel carrier 3, the walking driving motor 2 is arranged on the motor seat 21, a rotating shaft 16 is arranged on the shaft seat 17 in a rotating mode, one end of the rotating shaft 16 is in transmission connection with the driving wheel 1, and the other end of the rotating shaft 16 is in transmission connection with the walking driving motor 2 through a first belt pulley transmission pair. The first belt pulley transmission pair comprises a first walking driving gear 20, a first synchronous belt pulley 18 and a first synchronous belt 19, the first walking driving gear 20 is arranged on a motor shaft of the walking driving motor 2, the first synchronous belt pulley 18 is arranged at the other end of the rotating shaft 16, and the first synchronous belt 19 is wound outside the first walking driving gear 20 and the first synchronous belt pulley 18.

The wheel frame 3 is plate-shaped, the motor bases 21 are arranged on the left and right bisectors of the wheel frame 3, and the two motor bases 21 are distributed in the front and back direction.

Four casters 11 are rectangularly distributed on the bottom of the bed frame 100. The bed frame 100 is rectangular, the four casters 11 are respectively disposed at four corners of the bottom of the bed frame 100, and the power device 200 is located at the middle of the bottom of the bed frame 100.

The bedstead 100 is provided with a main control circuit and a battery, not shown in the figure, the main control circuit is electrically connected with the battery, and the walking driving motors 2 of the two sets of walking driving mechanisms are respectively electrically connected with the main control circuit.

The bed frame 100 is provided with a handrail, the handrail is provided with a controller (not shown) for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or, the remote controller sends a control signal to the main control circuit, and the remote controller is electrically connected with the main control circuit and is not shown in the figure.

As a further scheme, as shown in fig. 3, 4, 5 and 12, the bed frame 100 includes a lower bed frame 10 and an upper bed frame 22, the upper bed frame 22 is disposed above the lower bed frame 10, the power device 200 is disposed on the lower bed frame 10, a steering driving mechanism 300 for controlling the power device 200 to rotate is disposed on the lower bed frame 10, the steering driving mechanism 300 includes a steering driving motor, the steering driving motor is electrically connected to the main control circuit, and the steering driving motor is in transmission connection with the steering wheel 4.

The steering driving mechanism 300 comprises a steering driving motor 24, a gear pair and a gear rack 26, wherein the gear rack 26 is arranged on the bedstead 100, and the steering driving motor 24 is in transmission connection with the gear pair and is arranged on the gear rack 26; the periphery of the steering wheel 4 is provided with a steering driving tooth groove which is in transmission connection with the gear pair.

The gear rack 26 is also provided with a reduction box 25, the gear pair comprises a pinion 27 and a gearwheel 28, the steering driving motor 24 is in transmission connection with the pinion 27 through the reduction box 25, the pinion 27 is meshed with the gearwheel 28, and the gearwheel 28 is meshed with a steering driving tooth groove of the gear rack 3.

The working principle is as follows: the working principle is as follows: with the power plant 200 in the state of fig. 1: when the two driving wheels 1 are synchronous in the same direction, the bedstead can walk linearly; when the two driving wheels 1 run in the same direction and at different speeds, the bedstead can be turned towards the outer side of the driving wheels 1 which walk slowly. When one driving wheel 1 is locked and the other driving wheel 1 rotates, the bedstead 100 turns around the locked driving wheel 1. When the two driving wheels 1 travel in a normal rotation and reverse rotation manner, the frame 100 rotates about the center between the two driving wheels 1.

With the power plant 200 in the state of fig. 3: the main control circuit only allows the two sets of walking driving mechanisms to jog, and the two driving wheels 1 move synchronously to realize the transverse movement of the bedstead 100, and the bed frame is particularly suitable for being parked along the side of the bedstead.

When the steering drive mechanism 300 controls the power unit 200 to steer, the two sets of travel drive mechanisms of the power unit 200 are stopped, and the power unit 200 is steered with respect to the frame 100 (the frame 100 is not moved with respect to the floor).

Claims

1. The utility model provides a power device suspension type manipulator, includes bedstead (100) and power device (200), and power device (200) set up on bedstead (100), its characterized in that: the power device (200) comprises two sets of walking driving mechanisms and a wheel carrier (3), the walking driving mechanisms comprise driving wheels (1) and walking driving motors (2), the driving wheels (1) are in transmission connection with the walking driving motors (2), and the driving wheels (1) of the two sets of walking driving mechanisms are respectively distributed on the left, the right and the left; the wheel carrier (3) is movably arranged at the bottom of the bedstead (100) up and down, and an elastic part is arranged between the wheel carrier (3) and the bedstead (100).

2. The powered suspended manipulator of claim 1, wherein: the elastic piece is a compression spring (7), an air cylinder, a leather bag air cylinder or an oil cylinder.

3. The powered suspended manipulator of claim 1, wherein: the bed frame (100) is provided with a steering wheel (4), the steering wheel (4) is rotatably arranged on the bed frame (100), the bed frame (100) is provided with a steering driving mechanism (300) for controlling the rotation of the wheel carrier (3), and the elastic piece is arranged between the steering wheel (4) and the wheel carrier (3).

4. The powered suspended manipulator of claim 3, wherein: still be connected with sharp guider between wheel carrier (3) and steering wheel (4), sharp guider includes vertical guide bar (5) and vertical uide bushing (6), the upper end and steering wheel (4) fixed connection of vertical guide bar (5), and vertical uide bushing (6) are passed to the lower extreme of vertical guide bar (5), and vertical uide bushing (6) set up on wheel carrier (3) and with vertical guide bar (5) perpendicular sliding fit.

5. The powered suspended manipulator of claim 3, wherein: an adjusting bolt (8) is further arranged between the wheel carrier (3) and the steering wheel (4), the adjusting bolt (8) penetrates through the wheel carrier (3) from bottom to top and is in threaded connection with the wheel carrier (3), and the upper end of the adjusting bolt (8) is fixedly abutted or in running fit with the steering wheel (4).

6. The powered suspended manipulator of claim 5, wherein: the elastic piece is a compression spring (7), and the compression spring (7) is sleeved outside the adjusting bolt (8).

7. The powered suspended manipulator of claim 4, wherein: the gantry frame (9) is arranged on the bedstead (100), a vertical shaft (13) is arranged on the inner top surface of the gantry frame (9), and the steering wheel (4) is connected with the vertical shaft (13) through a bearing (15).

8. The powered suspended manipulator of claim 3, wherein: the steering driving mechanism (300) comprises a steering driving motor (24), a gear pair and a gear rack (26), wherein the gear rack (26) is arranged on the bedstead (100), and the steering driving motor (24) is in transmission connection with the gear pair and is arranged on the gear rack (26); and a steering driving tooth groove is arranged on the power device (200) around the rotating axis of the power device, and the steering driving tooth groove is in transmission connection with the gear pair.

9. The powered suspended manipulator of claim 8, wherein: the gear rack (26) is further provided with a reduction box (25), the gear pair comprises a pinion (27) and a gearwheel (28), the steering driving motor (24) is in transmission connection with the pinion (27) through the reduction box (25), the pinion (27) is meshed with the gearwheel (28), and the gearwheel (28) is meshed with a steering driving tooth groove of the gear rack (3).

10. The powered suspended manipulator of claim 8, wherein: the four caster wheels (11) are distributed on the bottom of the bed frame (100) in a rectangular shape, the bed frame (100) is in a rectangular shape, the four caster wheels (11) are respectively arranged at four corner positions of the bottom of the bed frame (100), and the power device (200) is positioned in the middle of the bottom of the bed frame (100); the bed frame (100) is also provided with a main control circuit and a battery, the main control circuit is electrically connected with the battery, and the walking driving motors (2) and the steering driving motors (24) of the two sets of walking driving mechanisms are respectively electrically connected with the main control circuit;

the bed frame (100) is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or the remote controller is used for sending a control signal to the main control circuit and is electrically connected with the main control circuit.