CN211568147U - Intelligent trolley - Google Patents

Abstract

The utility model discloses an intelligent trolley, intelligent trolley include chassis, chassis below and are used for supporting four wheelsets and the spring elevating gear of whole automobile body. The spring lifting device comprises a screw rod, an upper fixing block, a spring, a sliding rail, a motor, a gear and an electromagnet. The utility model discloses an intelligent vehicle through the cooperation between motor, lead screw, spring and the electro-magnet, has realized the lift operation to intelligent vehicle for intelligent vehicle can cross the obstacle better, provides a new confession intelligent vehicle device that hinders more, and this device just can assemble the shaping through cheap common general spare part moreover, if batch production, the cost can further reduce, easily maintains moreover.

Description

Intelligent trolley

Technical Field

The utility model relates to an intelligent vehicle field especially relates to an intelligent vehicle.

Background

Lifting structures are commonly found in vehicles in industrial commercial fields, mainly using hydraulic devices. For example, in order to perform a specific function, a crane, an excavator, a garbage truck, and other special vehicles are provided with hydraulic columns at four wheels to raise the height of the vehicles. However, neither volume nor weight is suitable for smart vehicles, requiring additional design.

General intelligent vehicle climbing design: in the existing trolley design on the market, in order to cross obstacles (such as climbing stairs, cross country and the like), the crawler belts are relatively universal solutions, and some trolleys are even additionally provided with 6-8 segmented crawler belts to complete functions. However, although the vehicle using the crawler may have a strong passing ability, the passing upper limit is still limited due to the size of the smart car itself. Considering the severe and extreme environment that a trolley with strong obstacle crossing capability may encounter, an additional device is needed to assist the trolley to complete a task with higher difficulty, but the single design of the lifting system of the intelligent trolley in the market is deficient, most of the complete lifting system is only available in large-scale tool vehicles, and the overlarge volume structure and the extremely high cost are also achieved.

SUMMERY OF THE UTILITY MODEL

For the single deficient and with high costs technical problem who solves the design of intelligent vehicle operating system, the utility model provides an intelligent vehicle.

The utility model discloses a following technical scheme realizes: an intelligent trolley comprises a chassis, wherein four groups of wheels are uniformly distributed on the bottom of the chassis along the direction from a trolley head to a trolley tail, which is used for driving the intelligent trolley, the four groups of wheels are respectively a first wheel group, a second wheel group, a third wheel group and a fourth wheel group, wherein the first wheel set and the fourth wheel set are driving wheels, the second wheel set and the third wheel set are driven wheels, a through hole is arranged on the chassis at the position opposite to the second wheel set and the fourth wheel set, lower fixed blocks are fixedly arranged in the two through holes, spring lifting devices are movably arranged in the two lower fixed blocks in a penetrating way, the two spring lifting devices comprise upper fixed blocks and screw rods, one end of the screw rod movably penetrates through the lower fixing block and extends to be rotatably connected with the corresponding axle of the wheel set, and the upper fixing block is sleeved at the other end of the screw rod;

the spring is positioned between the upper fixing block and the lower fixing block, movably sleeved on the outer side of the screw rod and not contacted with the screw rod, one end of the spring is fixedly connected with the lower fixing block, and the other end of the spring is contacted with the upper fixing block;

the sliding rail is arranged at the bottom of the chassis;

the motor is connected with the sliding rail in a sliding way, and a magnet is sleeved on the outer side of the motor;

the gear is connected to an output shaft of the motor in a transmission manner, and insections meshed with the screw rod are arranged on the outer side of the gear;

the electromagnet is arranged at the bottom of the chassis and generates magnetic force when being electrified, and the magnetic force interacts with the magnet on the driving motor so as to drive the driving motor to slide on the sliding rail.

As a further improvement of the scheme, a gasket is arranged at the bottom of the upper fixing block, and one end, far away from the upper fixing block, of the gasket is fixedly connected with the spring.

As a further improvement of the above scheme, the bottom fixedly connected with T type pole of lead screw, the latter half of T type pole is provided with the sleeve, the sleeve cup joints in the outside of axletree, and T type pole rotates to be connected in the sleeve.

As a further improvement of the scheme, lubricating oil is filled between the upper fixing block and the gasket and inside the sleeve.

As a further improvement of the above scheme, the bottom of the chassis is symmetrically provided with two deviation rectifying springs along the screw shaft, the bottom ends of the two deviation rectifying springs are both fixedly connected with the sleeve, and the top ends of the two deviation rectifying springs are both fixedly connected with the chassis.

As a further improvement of the above scheme, the upper fixing block is fixed on the screw rod through a nut.

As a further improvement of the above scheme, a sliding groove is arranged on the inner side of the sliding rail and is connected with an installation block in a sliding manner, and the bottom of the installation block extends out of the sliding rail and is fixedly connected with the motor.

As a further improvement of the scheme, the intelligent trolley is an earthquake life detection trolley, a blind guiding trolley or a cargo carrying trolley.

The utility model discloses an intelligent trolley's beneficial effect is:

(1) the cost is low: internal mechanical structure is simple, mainly carries out the transmission through the lead screw, and the spring resets, has realized the lift operation to intelligent vehicle for intelligent vehicle can cross the obstacle better, provides a new confession intelligent vehicle device that hinders more, and this device just can assemble the shaping through cheap common general spare part moreover, if batch production, and the cost can further reduce, easily maintains moreover.

(2) High stability: most of the electronic components are mechanical structures, so that the problem that the electronic components are prone to failure is solved. Because special type intelligent vehicle's operational environment is more abominable, for example humidity, strong acid, strong alkali etc. can produce fatal influence to the circuit, nevertheless to the utility model provides a structure is mostly mechanical structure, only has two input ports, consequently can not have fatal problem.

(3) Modular design: only have two input ports and the volume is less, and two input ports are motor and electro-magnet respectively, and whole lift part can accomplish the function according to these two signals, and the user can accomplish the additional installation to elevating gear very conveniently moreover.

Drawings

Fig. 1 is a schematic view of a mounting structure of a spring lifting device of an intelligent vehicle (taking a second wheel set as an example);

fig. 2 is a cross-sectional view of the present invention in fig. 1;

FIG. 3 is a schematic view of the connection between the motor and the slide rail of the present invention;

FIG. 4 is a schematic view of the T-bar connection of the present invention;

FIG. 5 is a schematic diagram of the control circuit of the electromagnet of the present invention;

fig. 6 is a schematic structural view of the intelligent trolley of the present invention;

fig. 7 is a first form view of the intelligent trolley when climbing stairs;

fig. 8 is a second form view of the intelligent trolley when climbing stairs;

fig. 9 is a third schematic diagram of the intelligent trolley during climbing stairs.

Fig. 10 is a state change diagram of four wheels of the intelligent trolley.

In the figure: the device comprises a chassis 1, a first wheel set 2, a second wheel set 3, a third wheel set 4, a fourth wheel set 5, a lower fixing block 6, an upper fixing block 7, a lead screw 8, a spring 9, a slide rail 10, a motor 11, a gear 12, an electromagnet 13, a gasket 14, a T-shaped rod 15, a sleeve 16, a deviation rectifying spring 17, a sliding chute 18 and a mounting block 19.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 6, the utility model discloses an intelligent trolley, including chassis 1 and for whole dolly provide support and four driven wheel groups. This intelligent vehicle still includes the spring elevating gear who is used for improving intelligent vehicle climbing ability, and spring elevating gear includes lead screw 8, goes up fixed block 7, spring 9, slide rail 10, motor 11, gear 12, electro-magnet 13.

Referring to fig. 1 and 2, a through hole is formed in a chassis 1, a lower fixing block 6 is fixedly installed in the through hole, one end of a lead screw 8 movably penetrates through the lower fixing block 6 and extends to be rotatably connected with an axle of a corresponding wheel set, an upper fixing block 7 is sleeved on the other end of the lead screw 8 in a threaded manner and is fixed through a nut, a spring 9 is movably sleeved on the outer side of the lead screw 8, the spring 9 is located between the upper fixing block 7 and the lower fixing block 6, the bottom end of the spring is fixedly connected with the lower fixing block 6, the top end of the spring is in contact with the upper fixing block 7, and when the spring 9 is in an initial state, the elasticity of the spring is equal to the gravity. Spring 9 does not contact with lead screw 8 each other, can not disturb spring 9 when lead screw 8 rotates like this, can not drive spring 9 rotatory when further guaranteeing lead screw 8 rotatory, causes the unnecessary deformation. A gasket 14 is arranged between the bottom end of the upper fixed block 7 and the top end of the spring 9, the top of the gasket 14 is in contact with the upper fixed block 7, the bottom of the gasket 14 is connected with the spring 9, and lubricating oil is further coated between the upper fixed block 7 and the gasket 14 to reduce friction resistance. The bottom of chassis 1 is provided with slide rail 10, sliding connection has motor 11 on slide rail 10, motor 11 control signal is given high level by external controller and is operating condition, the low level is the lock dead state, and the outside cover of motor 11 is equipped with magnet, fixedly connected with gear 12 on the output shaft of motor 11, the outside of gear 12 is equipped with the insection with lead screw 8 intermeshing, electromagnet 13 is still installed to the bottom of chassis 1, produce the magnetic field after the circular telegram, the direction of magnetic field is changed to the accessible direction that changes its electric current, thereby produce repulsion force or the appeal to magnet on motor 11, repulsion force is used for promoting motor 11 to press close to lead screw 8, make gear 12 and lead screw 8 intermeshing, the appeal is used for attracting motor 11, let motor 11 keep away from lead screw 8, make spring 9 drive whole device resume initial condition.

When the trolley works, the direction of current is controlled to enable the electromagnet 13 to generate repulsive force, the working motor 11 is pushed to be close to the screw rod 8, the screw rod 8 is meshed with the gear 12, the screw rod 8 is driven to rotate, the screw rod 8 moves downwards while rotating to lift the whole trolley, mechanical energy is converted into elastic potential energy of the spring 9, and the process is a lifting step. Then, reverse current is input to enable the electromagnet 13 to generate attraction force, the motor 11 is enabled to be far away from the screw rod 8, the screw rod 8 does not have power supplied by the motor 11, then the elastic potential energy of the spring 9 enables the whole device to recover the initial state, and the process is a resetting step. In the process, referring to fig. 4, in order to ensure that the lead screw 8 does not drive the wheel 3 to move in the rotation process, a T-shaped rod 15 is rotatably connected to the lead screw 8, the upper half of the T-shaped rod is connected to the lead screw 8, the lower half of the T-shaped rod is sleeved with a sleeve 16, the sleeve 16 is movably sleeved on the outer side of the axle of the corresponding wheel set, the T-shaped rod 15 can rotate in the sleeve 16, the sleeve 16 is filled with lubricating oil for reducing friction force, in order to further correct the rotation of the wheel, two deviation-correcting springs 17 with smaller stiffness coefficients are symmetrically arranged at the bottom of the chassis 1 and on two sides of the lead screw 8, as shown in fig. 3, one end of the deviation-correcting spring 17 is fixed on the chassis 1.

Referring to fig. 5, the specific principle of the control signal of the electromagnet 9 is as follows: the control signal of the electromagnet 9 is fed by an external controller, then a one-bit numerical comparator is connected, when high level electricity is input, A > B is output as high level electricity after passing through the numerical comparator, A ═ B is output as low level electricity, the two signals are connected to two ends of the electromagnet 9 to generate attraction force, the motor 11 is attracted to the electromagnet 13, and then the device is restored to the initial state through elastic potential energy accumulated by the spring 9. When the input is low level, the output of A < B is low level after passing through the numerical comparator, the output of A ═ B is high level, the two signals are connected at the two ends of the electromagnet 9, so that the electromagnet generates repulsive force, the motor 11 is pushed, the gear 12 is meshed with the screw rod 8, and the whole device is lifted.

Specifically, when climbing stairs, the two spring lifting devices can be started at the same time to simultaneously perform the lifting step, so that the first wheel set 2 and the third wheel set 4 are lifted up to the height of the stair step, as shown in fig. 7; driving the fourth wheel set 5 to enable the first wheel set 2 to enter the steps of the adjacent second-layer stairs, then starting the spring lifting device on the second wheel set 3 and executing the resetting step, wherein the second wheel set 3 is flush with the first wheel set 2 and the third wheel set 4, and then driving the fourth wheel set 5 to enable the first wheel set, the second wheel set and the third wheel set to be located above the steps of the adjacent second-layer stairs, as shown in fig. 8; and starting the spring lifting device on the fourth wheel set 5 and executing a resetting step, and finally enabling the four wheel sets to be all above the steps of the adjacent second-layer stairs through the driving action of the first wheel set 2, as shown in fig. 9. The stair climbing process is used for circulation, so that the stair climbing effect is achieved.

When passing through some bumpy roads, in order to improve the driving capacity of the intelligent trolley, the heights of the two spring lifting devices can be adjusted according to the size of the obstacle on the road, so that a certain height difference exists between the four wheels, as shown in fig. 10, and the intelligent trolley can conveniently cross the obstacle when being driven.

The intelligent vehicle in the embodiment can be applied to an earthquake life detection vehicle, and the spring lifting device is installed on the vehicle. In the ruins after earthquakes, rescue teams need life detection vehicles to determine whether life signs exist in the ruins. The internal space of the ruins is narrow and disordered, the structure is not sufficient by a simple crawler, the function of lifting and crossing obstacles in situ can be realized by additionally arranging the lifting device, the limit of the surrounding space is avoided, and reinforced concrete and other obstacles are filled in cooperation with the original four-wheel drive or crawler.

The intelligent trolley in the embodiment can be applied to a blind guiding trolley, and the spring lifting device is mounted on the intelligent trolley. At present, blind guiding robots or blind guiding devices which can go up steps are rarely available on the market. Most devices need the blind to carry by manpower very inconveniently when meeting steps. But install elevating gear additional on leading blind device and can accomplish the climbing function of stair to elevation structure self light in weight can not cause the burden for original blind robot that leads.

The intelligent vehicle in the embodiment can also be applied to a cargo carrying vehicle, and the vehicle is provided with the spring lifting device. The weight of a common cargo handling vehicle is between 1 and 2 kilograms, and the bearing capacity of a lifting motor with a smaller size can reach 6 to 7 kilograms, namely the common cargo handling vehicle can meet daily use requirements. For example, the old people can buy vegetables and go home, the goods carrying device can be used for being matched with the lifting device to achieve the function of transporting articles, and great convenience is brought to the people who are inconvenient to move.

The lifting device can be provided with different motors and springs according to the different types and requirements of the intelligent trolley. For example, for a cargo handling trolley, a large motor and a high-strength spring can be additionally arranged to adapt to a larger upper limit of load. And for the earthquake life detection vehicle, an extra load is not needed to be provided with a smaller motor to adapt to a narrow environment.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. An intelligent trolley comprises a chassis (1) and is characterized in that four groups of wheels are uniformly distributed on the bottom of the chassis (1) along the direction from a trolley head to a trolley tail, which is used for driving the intelligent trolley, the four groups of wheels are respectively a first wheel group (2), a second wheel group (3), a third wheel group (4) and a fourth wheel group (5), wherein the first wheel set (2) and the fourth wheel set (5) are driving wheels, the second wheel set (3) and the third wheel set (4) are driven wheels, all be provided with a through-hole, two on chassis (1) with second wheelset (3) and fourth wheelset (5) relative position fixed block (6) down, two equal activity of fixed block (6) is run through and is provided with spring elevating gear under the inside of through-hole, two spring elevating gear all includes:

an upper fixing block (7);

one end of the screw rod (8) movably penetrates through the lower fixing block (6) and extends to be rotatably connected with the corresponding axle of the wheel set, and the upper fixing block (7) is sleeved at the other end of the screw rod in a threaded manner;

the spring (9) is positioned between the upper fixing block (7) and the lower fixing block (6), movably sleeved on the outer side of the screw rod (8) and not contacted with the screw rod (8), one end of the spring (9) is fixedly connected with the lower fixing block (6), and the other end of the spring is contacted with the upper fixing block (7);

the sliding rail (10) is arranged at the bottom of the chassis (1);

the motor (11) is connected with the sliding rail (10) in a sliding way, and a magnet is sleeved outside the motor;

the gear (12) is connected to an output shaft of the motor (11) in a transmission manner, and insections meshed with the screw rod (8) are arranged on the outer side of the gear (12);

and the electromagnet (13) is arranged at the bottom of the chassis (1), and generates magnetic force when being electrified so as to interact with the magnet on the driving motor (11) so that the driving motor (11) slides on the slide rail (10).

2. The intelligent trolley according to claim 1, wherein: the bottom of the upper fixing block (7) is provided with a gasket (14), and one end, far away from the upper fixing block (7), of the gasket (14) is fixedly connected with the spring (9).

3. The intelligent trolley according to claim 1, wherein: the bottom fixedly connected with T type pole (15) of lead screw (8), the latter half cover of T type pole (15) is equipped with sleeve (16), sleeve (16) cup joint in the outside of the axletree of corresponding wheel group, and T type pole (15) rotate to be connected in sleeve (16).

4. The intelligent trolley according to claim 2 or 3, characterized in that: lubricating oil is filled between the upper fixing block (7) and the gasket (14) and inside the sleeve (16).

5. The intelligent trolley according to claim 1, wherein: the bottom of the chassis (1) is provided with two deviation rectifying springs (17) along the axial symmetry of the screw rod (8), the bottom ends of the two deviation rectifying springs (17) are fixedly connected with the sleeve (16), and the top parts of the two deviation rectifying springs are fixedly connected with the chassis (1).

6. The intelligent trolley according to claim 1, wherein: the upper fixing block (7) is fixed on the screw rod (8) through a nut.

7. The intelligent trolley according to claim 1, wherein: the inner side of the sliding rail (10) is provided with a sliding groove (18), the sliding groove (18) is connected with an installation block (19) in a sliding mode, and the bottom of the installation block (19) extends out of the sliding rail (10) and is fixedly connected with a motor (11).

8. The intelligent trolley according to claim 1, wherein: the intelligent trolley is an earthquake life detection vehicle, a blind guiding trolley or a cargo carrying trolley.

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