CN216424610U - Six-wheel electric trolley - Google Patents

Abstract

The six-wheel electric trolley is a carrying tool which is formed by combining an electric wheelchair mechanism, a crawler crawling mechanism, a lifting mechanism, an angle adjusting mechanism, a hanging belt, a guiding mechanism and the like by using the using principle of a conventional deck chair. The small car uses 3 speed-changing motors and a special control circuit, coordinates the mutual cooperation of the actions of the mechanisms, meets the traveling requirements of people carrying or goods carrying upstairs and downstairs, and achieves the using effect similar to an elevator. In order to ensure the safe operation of the trolley when climbing stairs, the trolley is also provided with a voice-operated switch, a horizontal switch, a safety belt and the like which are matched with the six-wheel electric trolley for use.

Description

Six-wheel electric trolley

Technical Field

The utility model relates to a six-wheel electric trolley with multifunctional purposes, which has the using function of an electric wheelchair and the using function of an electric stair climbing and can also be used as a carrying trolley for carrying small-sized daily living goods for a stair house resident, thereby solving the problem of living troubles for people with inconvenient actions.

Background

The intelligent stair climbing vehicle capable of going upstairs and downstairs disclosed in CN2019102397742 is characterized in that a stair climbing component is arranged at the bottom of a wheelchair vehicle, and continuous movement upstairs is realized through an angle adjusting cylinder, a spiral wheel in the component and the like. The star wheel type stair climbing machine has certain requirements on the size of stair steps due to the fixed star wheel track, and the phenomenon of dislocation and slippage easily occurs in climbing. The various stair climbers available on the market typically require an adult to assist in their operation to accomplish the stair climbing task. The stair climbing machine with the crawler mechanisms arranged at the bottom of the wheelchair is high in manufacturing cost and difficult to popularize, or is low in reliability when running on steep stairs, and even has a rollover accident. The rail type stair climbing device disclosed on the net is better realized as a manned tool for finishing the requirement of going upstairs and downstairs, but the rail type stair climbing device can only be used for climbing stairs and has no other use function. At present, an electric trolley (hereinafter called a trolley) which can carry people and can help carry small household articles is provided for residents in staircases. The utility model provides a six-wheel electric trolley which can carry people and goods and can reserve the use function of an electric wheelchair for residents in a stairway room by combining a plurality of common transmission mechanisms and controlling the action of the mechanisms by a program.

Disclosure of Invention

Aiming at the defects, the utility model utilizes the special application effect of the deck chair and the six-wheel structure trolley can form two planes at the bottom to form a unique 'seesaw' result, uses 3 variable speed motors to be matched with necessary mechanisms, and provides a small-sized electric carrying trolley which can independently operate and walk and can independently climb stairs for people. The mechanism comprises: a six-wheel electric wheelchair mechanism, a sling chair mechanism, a crawler crawling mechanism, a lifting mechanism, an angle adjusting mechanism, a guiding mechanism, an operation control system, other mechanisms and the like; the aim of designing the trolley is achieved by the action coordination among the mechanisms. The transmission mechanism and the layout thereof in the technical scheme are shown in figures 1 and 2.

1. Six-wheeled electric wheelchair mechanism (fig. 3):

the electric wheelchair mechanism in the technical scheme is of a six-wheel structure, as shown in figure 3; four sets of universal wheels (20) are arranged in front of and behind the rotating wheel (22) to form an electric wheelchair with a six-wheel structure; the rotating wheel is a driving wheel of the trolley, the universal wheels are driven wheels of the trolley, and the mounting heights of the front and rear universal wheels are about 10mm higher than that of the rotating wheel, so that a front plane and a rear plane can be formed by taking the rotating wheel as a boundary, and an effect similar to a seesaw is achieved. The special design can prevent the driving wheel from being overhead by the front driven wheel and the rear driven wheel, and can obtain the result that the six-wheel electric wheelchair has the smallest fixed-point turning radius, so that the six-wheel electric wheelchair can freely turn and walk on a narrow platform between buildings.

Two sides of the trolley are respectively provided with a variable speed motor (5) with a clutch (23) which respectively drives the rotating wheels ZL and ZL 'at two sides to rotate, and the crawler belts L1, L2, L3, L1', L2 'and L3'.

Part of the power output by the variable speed motor is directly transmitted to the rotating wheel (22) through a chain wheel and a chain to form a basic unit of the electric wheelchair; the other part is transmitted to a transition mechanism (42) through a chain wheel and then transmitted to middle crawler belts L2 and L2' which are divided into three sections, and then transmitted to front and rear crawler belts (L1 and L3) and (L1' and L3') through the middle crawler belt to synchronously rotate, so that a basic unit of the stair climbing device is formed.

A manual clutch is arranged on an output shaft of the variable speed motor (5), and the clutch controls the functional conversion of the trolley between the electric wheelchair and the stair climbing device: when the clutch is closed, the caterpillar band and the wheel chair rotating wheel rotate synchronously, and the trolley enters the using state of the stair climbing device; when the clutch is opened, the caterpillar band loses power and stops rotating, and the trolley is switched to the using state of the electric wheelchair.

A manual clutch is also provided on the axle of the cart wheel (22) and controls the transfer of the cart between the electric wheelchair and the push wheelchair. When the clutch is closed, the electric trolley is in an electric use state, and when the clutch is opened, the trolley is switched into a hand-push wheelchair use state.

2. Sling (recliner) mechanism (fig. 3):

the sling (recliner) mechanism is shown in fig. 3: a hanging strip (12) with the width of 350mm is arranged at the position of 420mm of a wheelchair frame (18), and the depth of an arc formed by the hanging strip is about 120 mm-150 mm; the sling (12) is matched with the backrest (1) to realize the using effect of the conventional reclining chair.

The design gradient of the stairs in the conventional building is about 30 degrees, and after the trolley climbs the stairs, the body of the trolley has an inclination angle of about 30 degrees, which is one of the design difficulties of the stair climbing trolley. The designed harness is characterized in that the center of gravity of a rider during climbing stairs can be limited in the arc by utilizing the arc formed at the bottom of the harness, and the sitting posture of the rider during climbing stairs can be kept unchanged by utilizing the characteristic that the center of gravity can move back and forth in the arc. When people use the trolley to carry goods to the upstairs, the trolley can also be used as a container.

The height of the bottom of the arc formed by the hanging strip is about 300-250 mm from the ground, the distance between the outer sides of the two rotating wheels is 530mm, the height is matched with the width dimension, the possibility that the trolley turns on one's side when carrying people and climbing stairs can be basically eliminated, and the purpose of going upstairs and downstairs can be independently completed without the assistance of other people when the trolley is used by people with inconvenient actions.

3. Angle adjusting mechanism (fig. 4)

The angle adjusting mechanism of the electric trolley is shown in figure 4: which is composed of a backrest (1), a backrest rod (2), a frame (18), a crow bar (4), a push rod (14) and a machine plate (19) in figure 4.

When climbing stairs, a push rod (14) arranged on the machine plate moves up and down along with the lifting of the lifting mechanism; the crow bar (4) hinged with the push rod (14) rotates by taking a rotating shaft C fixed on the frame (18) as a circle center, and when the other end of the crow bar rotates along with the crow bar, the back lever (2) hinged with the crow bar is driven to rotate in the opposite direction by taking a rotating shaft a fixed on the frame as a circle center.

When the trolley is switched from the wheelchair use state to the stair climbing device use state, the crawler belt is taken out from the storage room and descends by 120-150 mm; when the push rod (14) fixed on the machine plate descends, the crow bar is driven to rotate clockwise by taking the rotating shaft c as the center of a circle, and then the back lever is dragged to rotate anticlockwise by taking the point a as the center of a circle. The counterclockwise rotation angle of the upper back-rest rod is designed to be 30 degrees (the angle is equivalent to the gradient of the stairs), so that after the trolley climbs the stairs, the included angle between the back-rest rod and the horizontal line is kept to be the same as that of the wheelchair in the use state, and the sitting posture of the rider before and after climbing the stairs is kept unchanged.

The design is completed by taking the reference that the slope of the stair is 30 degrees, and when the actual slope of the stair does not accord with the slope, the design can be adjusted by moving the installation position of the push rod (14) on the machine plate.

4. Crawler crawling mechanism (fig. 5)

The crawler crawling mechanism of the electric trolley is shown in figure 5: the six crawler belts are arranged on the left side and the right side of the electric trolley, and 3 crawler belts are arranged at each time; wherein two crawler belts (L1, L1') arranged on the axis A at the front end can rotate for 45 degrees by taking the axis A as the center; when climbing stairs, the trolley keeps an elevation angle of 45 degrees and faces the direction going upstairs, creates conditions for the trolley to smoothly climb stairs, is arranged on two sides of the A shaft in a cantilever beam mode, and is connected with the caterpillar bands (L2, L2') in a same body.

The two crawler belts (L3, L3') arranged at the rear end and the two crawler belts (L2, L2') arranged at the middle part are connected with each other on the H shaft in a same body, are arranged at two sides of the H shaft in a cantilever beam mode and can rotate for 90 degrees by taking the H shaft as the center; when climbing stairs, the four crawler belts L2, L2', L3 and L3' are positioned on the same horizontal plane and are commonly used for climbing stairs of the electric trolley; the two tracks L3 and L3 'are also a supplement and extension of the length of the middle track, and the crawler can adapt to the crawling of different step ladder widths by replacing the tracks L3 and L3' with different lengths.

Two tracks (L2, L2') arranged in the middle part are installed on the machine plate (19) by using bearing seats; the two crawler belts transmit the power transmitted by the transition mechanism (42) to the crawler belts at the front end and the rear end to synchronously rotate on one hand, and are responsible for main climbing tasks on the other hand.

After the stair climbing task is completed, the front and rear four crawler belts form a bin returning state shown by a dotted line in fig. 4. The track is divided into three sections of structures to be matched with the electric wheelchair, so that the ability of the electric trolley to climb over stairs can be increased, the adjustment to a certain degree can be carried out according to different structures of the steps, and the longitudinal dimension of the trolley in the use state of the electric wheelchair can be reduced.

5. Lifting mechanism (fig. 6)

The lifting mechanism of the electric trolley is shown in figure 6: mainly comprises a special variable speed motor D2(24), a pair of exposed worm wheels (7), a pair of worm screws (6), a pair of bevel gears (8) and four sets of screw mechanisms (17).

A chain wheel (31) arranged at one end of the worm wheel output shaft, after the direction change and the rotation angle change of a pair of 1:2 gears (32), the crawler belts L1 and L1' are controlled to rotate in the direction of 45 degrees through a shaft A; the chain wheel (35) arranged at the other end controls the caterpillar tracks L3 and L3' to rotate in the direction of 90 degrees through a shaft H; finally, a corresponding rotation effect that the front and the rear crawler belts rotate in the positive direction and the other rotate in the reverse direction is formed, and the delivery and return of the front and the rear crawler belts are controlled.

The worm output shaft is changed to the back through a pair of bevel gears (8) and then controls four sets of spiral transmission mechanisms consisting of nuts (15), a screw rod (17), a supporting plate (16) fixed on a wheelchair frame (18), a machine plate (19), a seat plate (13) and the like through a chain transmission system consisting of chain wheels (9) and (25), and the lifting height of the crawler crawling mechanism is controlled through the forward and reverse rotation of the screw rod.

6. A guide type control mechanism:

the guide mechanism provided in the utility model can be a spare scheme with two forms, one is a slide guide type control mechanism, and the other is an optoelectronic switch type guide control mechanism. The choice can be made according to the specific situation in the stairway unit.

6- -1) slideway guiding control mechanism (fig. 7)

The slideway guide type mechanism of the electric trolley is shown in figure 7: mainly comprises a steel slideway (41) and a limiter; wherein the limiter consists of a steel U-shaped clamp (42), a left button switch (43), a right button switch (47), a sliding rod (44), a frame extension rod (45) and a pin (48); the steel slideway is fixed on the floor of the stair through a support frame; one end of the limiting stopper is sleeved on an extension rod of the frame, the other end of the limiting stopper is inserted into a positioning sleeve on the U-shaped card, and the size of a slotted hole formed in the positioning sleeve of the pin and the U-shaped card is used for limiting the distance between the left slideway and the right slideway of the U-shaped card; the left-right movement distance of the trolley is limited by the width of the size, and the driving route of the trolley is forced to be matched with a curve laid by the slide way.

When climbing a building: if the driving route of the electric trolley does not accord with the curve laid by the slide way, a forced acting force is generated between the steel slide way and the steel U-shaped card to force the U-shaped card to move along the slide way, so that the movement track of the electric trolley is forced to accord with the curve of the slide way. In order to slow down the acting force between the left variable speed motor and the right variable speed motor, two sets of button switches are arranged on the limiting stopper, and the contacts arranged on the outer sides of the positioning sleeves on the U-shaped clamps act on the two sets of button switches to control the opening and the closing of the left variable speed motor D1 and the right variable speed motor D1' and slow down the side effect of the traction force on the slide way. When climbing stairs, because the trolley is limited by the slide way, the trolley can run along the curve of the slide way until the hand of the floor to be reached is loosened as long as the rider does not loosen the hand pressing the button A1 or the button A2; the electric trolley can be stopped immediately after the hand is loosened.

After the stair climbing task is completed, the stopper is taken down, the bin returning button (A7) is clicked to withdraw the crawler belt, and the trolley is immediately switched to the use state of the electric wheelchair.

6-2) photoelectric guide control mechanism (FIG. 8):

the photoelectric guide control mechanism is shown in fig. 8: a white paint reflective tape (or a white color band is attached) special for a road zebra crossing is coated on the lateral lower part of the stair handrail, and the trend of the reflective tape (49) is similar to that of the stair handrail; the bandwidth is 30 mm; two sets of photoresistors (50, 50') are arranged at the bottom of the trolley, the distance is 80mm, and a bulb (48) is arranged between the two sets of photoelectric switches. Is connected in series to the lead of the photoelectric switch (51, 50'); before climbing the building, the electric trolley is moved to the center line of the light reflecting belt, and the preparation before climbing the building can be considered to be ready.

When climbing stairs, the coupling relation between two photoresistors arranged at the bottom of the trolley and the reflective belt is utilized, the opening and closing of the contactor C9 or C10 are controlled through the opening and closing of the relay (J2) in the photoelectric switch (51, 50'), so that the rotation of the two motors D1 or D1' is controlled, the running track of the trolley is matched with the curve trend of the coated reflective belt, and the trolley runs according to the curve trend of the reflective belt. Therefore, when climbing stairs, the trolley can move along the curve of the reflective belt only by pressing the button A1 or A2 without loosing hands; the electric trolley can be stopped immediately after the hand is loosened.

After the stair climbing task is completed, the bin returning button A5 is clicked, the crawler belt is retracted, and the trolley is immediately switched to the use state of the electric wheelchair.

7. Other mechanism configurations:

1) foldable armrest, backrest structure (fig. 3): in the structure combination, the backrest (1, 2) and the handrail (3) of the trolley are connected by a foldable hinge; the backrest adopts the connection of a removable hinge b; the handrails on the two sides of the trolley are designed into an independent part and form a whole with the frame through a hinge (11); when the trolley is stored or used for carrying objects, the hinge pin can be pulled out, so that the backrest structure turns forwards and is flatly placed on the lifting belt on the inner side of the trolley frame; the handrails on the two sides of the trolley are folded inwards through the built-in hinges, so that a special plane is formed at the upper part of the rack for storing or carrying objects.

2) Voice-operated switch mechanism (fig. 9): the stair is a specific public place, when the trolley climbs up and down, a person who faces and meets the trolley and walks reversely can appear, in order to ensure the safety of other people, a set of voice control switch is additionally arranged on a control line of the electric trolley, when the trolley climbs a building and meets the person who walks reversely, the voice control switch can use sounds sent by coughing, calling, knocking and the like to cut off a power supply circuit of a motor and stop the running of the trolley. The voice-activated switch proposed here uses a set of vibration sensors and corresponding transistors, relays, and some semiconductor elements. The normally open contact (J1) in the circuit of the contactor C8 (figure 9) is the contact of the relay output in the sound control switch (figure 9). When the oscillator senses a signal sent by external vibration, the signal is compared and then sent, the contactor C8 is attracted through the current output outwards by the relay (J), so that the normally closed contact of the contactor is opened, a power circuit of the motor is cut off, and the running of the trolley is stopped.

3) Safety belt: in order to ensure the safety of a user, a set of safety belt is additionally arranged on the electric trolley to bind and protect the rider and prevent accidents.

8. Circuit control system (fig. 10)

The control circuit of the trolley is shown in figure 10: the automatic reset type switch consists of 9 contactors (C), 4 sets of remote control switches (YK), 2 sets of horizontal switches (the difference between the installation angles of SK1 and SK2 is 15 degrees), 1 set of voice control switch (shK), 2 sets of limit switches (XWK), 7 self-reset type button switches (A) and 2 sets of selective switches (XK). The set of control circuit can enable the design to have two using functions of an electric wheelchair and an electric stair climbing device, and the two using functions can be applied to two using occasions of carrying people and goods.

When the trolley is used as an electric wheelchair for carrying people, a passenger can press the A1-A4 self-resetting buttons to complete the running program and the requirement of the electric wheelchair; the remote controllers YK 1-YK 4 can be used for remotely controlling the horizontal running of the trolley to meet the manned running requirement of the circuit wheelchair.

When the trolley with the design is used for carrying objects, structures such as a backrest, handrails and the like of the trolley can be folded or detached, and the carrying objects can be transported by a remote controller by directly utilizing the arc carrying objects.

When the trolley is used as an electric stair climbing device, the trolley also has two use occasions of carrying people and goods; stair climbers are divided into two categories, guided setup constraints and unguided setup constraints. When carrying a person: the electric stair climbing device without the restriction of guide setting can be realized by pressing self-reset buttons A1-A6 by a passenger; when the guidance setting restriction exists, the passengers can press the A1-A2 self-reset buttons to press one key to finish the task of climbing stairs, and the remote control switches YK 1-YK 2 can be used for finishing the task of climbing stairs.

When carrying the thing and climbing the building: under the limit of the guide device restraining mechanism, a remote control switch can be used for carrying upstairs and downstairs, and if necessary, a backrest and a handrail on the trolley can be detached as required, or a certain protective layer is laid on the inner arc of the sling. The trolley can be loaded with cargo having a weight <100kg, a width <500mm, a length <1200mm (this parameter is the corridor effective width 1000 mm).

Drawings

Description of the drawings the accompanying description.

FIG. 1 is a general view of a six-wheeled electric cart

FIG. 2 plan view of six-wheeled electric cart parts

FIG. 3 is a structure view of an electric wheelchair with six wheels

FIG. 4 is a view showing an angle adjustment structure of a six-wheeled electric cart

FIG. 5 is a structure view of a track of a six-wheeled electric vehicle

FIG. 6 is a six-wheeled electric cart lift configuration

FIG. 7 a diagram of a six-wheeled electric cart chute guide mechanism

FIG. 8 is a diagram of a photoelectric guide structure of a six-wheeled electric cart

FIG. 9 is a circuit diagram of a voice-activated switch

FIG. 10 is a control circuit diagram of a six-wheeled electric cart

Description of the drawings II, bit number detail in the drawings

In the figure: 1. the wheelchair comprises a backrest, 2 parts of a backrest rod, 3 parts of an armrest, 4 parts of a crow bar, 5 parts of a variable speed motor, 6 parts of a worm, 7 parts of a worm wheel, 8 parts of a bevel gear, 9 parts of a chain wheel, 10 parts of a connecting plate, 11 parts of a hinge, 12 parts of a sling, 13 parts of a seat plate, 14 parts of a push rod, 15 parts of a nut, 16 parts of a supporting block, 17 parts of a lead screw, 18 parts of a wheelchair frame, 19 parts of a machine plate, 20 parts of a universal wheel, 21 parts of a connecting plate, 22 parts of a rotating wheel, 23 parts of a manual clutch, 24 parts of a special variable speed motor, 25 to 31 chain wheels, 32 parts of a gear pair, 33 parts of a shaft, 34 parts of a bearing seat, 35 parts of a chain wheel, 37 bearing seats, 38 parts of a chain wheel and 39 parts of a pedal, 40, a transition mechanism, 41, a slide way, 42, a U-shaped card, 43, j and a button switch, 44, a sliding rod, 45, a frame extension rod, 46, a pin, 47, j and a button switch, 48, a bulb, 49, a reflective tape, 50, a photoresistor and 51, a transistor switch.

Third description of the drawings, circuit control and semiconductor device of the present invention will be further described with reference to fig. 8-10 and the embodiments

A1- -Forward button, A2- -Back button, A3- -left turn button, A4- -right turn button, A5- -out button, A6- -Back button, A7- -horizontal switch Return button, HZ- -combination switch, C1- -Forward contactor, C2- -Back contactor, C3- -left turn contactor, C4- -Right turn contactor, C5- -horizontal switch contactor, C6- -out contactor, C7- -Back contactor, C8- -left guide mechanism contactor, C9- -Right guide mechanism contactor, J- -left guide mechanism Relay normally open contact, J' - -Right guide mechanism Relay normally open contact, SK- -horizontal switch, 0 XWK-zero degree limiter, 90 XWK-90 degree limiter, D1-left side motor, D1 '-right side motor, D2-lifting motor, ICA-vibration sensor, VT-crystal triode, VD-diode, VS-unidirectional thyristor, R-resistor, C' -capacitor and YK-remote control switch relay normally open contact.

Detailed Description

1. Detailed description of the electric wheelchair mechanism

In the electric wheelchair mechanism shown in fig. 3, two variable speed motors (5), two rotating wheels (22), rotating wheels (22) respectively installed on two sides of a frame (18), two transition mechanisms (40), four sets of universal wheels (20), a hanging belt (12), two handrails (3) installed on two sides of the frame and an angle adjusting mechanism composed of (1), (2) and (4). The armrests are arranged on the frame through hinges, the hanging belts are arranged on front and rear crosspieces of the frame, and the variable speed motor transmits power to the rotating wheels through the chain wheel (23) and the chain to form a main constituent unit of the electric wheelchair. The transition mechanism is driven by a chain wheel and transmits the power transmitted by the variable speed motor to the crawler mechanism; a support block (16) fixed on the frame connects the crawler mechanism and the electric wheelchair unit through a nut (15) and a lead screw (17) on the crawler mechanism to form a basic combined unit of the six-wheeled electric trolley. Two moving planes formed by the front universal wheel and the rear universal wheel by utilizing the two rotating wheels positioned at the gravity center position can ensure that the electric trolley can finish the actions of direction adjustment, walking and the like on a stair platform by the smallest fixed point turning radius, and ensure that the electric trolley smoothly goes upstairs and downstairs.

2. Detailed embodiment of sling (recliner) mechanism (fig. 3):

in the position of about 420mm of height of the upper end of a rack (18) in fig. 3, a hanging strip (12) with the width of 350mm is made of chemical fiber cloth, the hanging strip is fixedly arranged on a cross bar at the front end, the hanging strip arranged on the cross bar at the rear end adopts an adjustable structure, the length of the hanging strip can be adjusted according to needs, and the depth of an arc formed at the lower part of the hanging strip is adjusted (the depth of the arc in the design is 120 mm). The backrest in fig. 3 is designed to be a structure capable of automatically rotating around the positioning rod on the backrest rod, and the sling is matched with the backrest capable of rotating, so that the freedom degree of sitting posture adjustment of a person sitting in the sling is increased. Through the organic structure combination of the hanging strip, the backrest rod 3 and the like, the electric trolley of the utility model is ensured that after climbing stairs with an inclination angle of 30 degrees, the sitting posture of the electric trolley is not changed compared with the sitting posture in a horizontal state, and the risk of forward inclination when climbing stairs is eliminated.

The arc bottom of the arc formed by the sling has a distance of about 300mm from the ground, the distance between two rotating wheels in the wheelchair is 530mm, and the ratio of the height to the width can basically eliminate the possibility of side turning when the trolley carries people and climbs the building without the assistance of other people; when the trolley is in the using state of the electric wheelchair, the sling is supported by a seat plate (13) on the lifting mechanism to form a part of the cushion.

3. Detailed description of the Angle adjusting mechanism

In fig. 4, the backrest (1) is mounted at one end of a backrest rod (2) by a hinge, the middle part of the backrest rod is provided with a rotating shaft a which is fixed at the upper end of a wheelchair frame 18, and the other end b point of the backrest rod is connected with the b end of a lever by a hinge; the middle part of the lever is provided with a rotating shaft c, the rotating shaft is fixed on a cross bar with the height of about 300mm in the middle part of the wheelchair frame, the point d at the other end of the lever is hinged with the end d of a push rod (14) by a hinge, and the push rod is fixed on a machine plate (19); the push rod rotates around the point c along with the lifting of the machine board, so that the back support rod is dragged to change the included angle between the back support rod and the horizontal line by taking the point a as the center of a circle, the included angle between the back support rod and the horizontal line is kept unchanged before and after climbing a building, and the sitting posture of a user is further kept unchanged.

4. Detailed description of the track mechanism

The crawler structure of the six-wheeled electric trolley shown in fig. 4 is provided with 6 crawlers, which are divided into 3 sections, each section is provided with 3 tracks, and the 3 tracks are distributed on the left side and the right side of the trolley. The two front tracks (L1, L1') not only have an elevation angle of 45 degrees, but also can rotate at 45 degrees, are arranged at two ends of the shaft (33) in a cantilever mode and are connected with the two middle tracks L2 and L2' in a same body; bearing blocks (32), (34) mounted coaxially (33) mount the two sections of track above the deck (19). The two crawler belts in the middle section are in charge of transmitting power transmitted by the clutch on one hand, and on the other hand, the synchronous operation of the front crawler belt and the rear crawler belt is ensured, so that the stair climbing requirement of the crawler belts is met. The two tracks (L3, L3') of the rear section are complementary to the length of the track of the middle section, can rotate for 90 degrees, are connected with the other end of the track of the middle section in a same body mode, are arranged at two ends of a shaft (36) in a cantilever mode, and the shaft (36) is arranged above the machine plate (19) through two bearing seats (37). After the front section crawler belt changes the rotating direction through a pair of gears arranged on the shaft (33), the front section crawler belt and a chain arranged on the shaft (36) form a corresponding rotary effect of rotating in a positive direction and rotating in a reverse direction.

5. Detailed description of the utility model

The lifting mechanism shown in fig. 5 mainly comprises a special variable speed motor D2(24), a pair of exposed worm wheels (7), a worm (6), a pair of bevel gears, (8) four sets of screw mechanisms (17) and a machine plate (19). A chain wheel (31) arranged at one end of a worm wheel output shaft, after the direction change and the rotation angle change of a pair of 1:2 gears (32), a crawler belt L1 and a crawler belt L1' are controlled to rotate at an angle of 45 degrees through a connecting plate (10) on a shaft A; the chain wheel (35) arranged at the other end controls the 90-degree angle rotation of the crawler belts L3 and L3' through the connecting plate 21 on the shaft H. The output shaft of the worm is changed backwards through a pair of bevel gears (8) and then controls four sets of spiral transmission mechanisms consisting of parts such as nuts (15), screw rods (17), supporting plates (16) fixed on a wheelchair frame (18), nuts (15) on a machine plate (19) and the like through a chain transmission system consisting of chain wheels (9) and (25), and the set requirement that the lifting height of the crawler transmission mechanism can be 120mm is met. In order to meet the action requirement of the mechanism, a 40-tooth worm wheel and a single-head worm are selected on the structural combination, and the speed ratio of a chain wheel (9) to four chain wheels (25) is 1: 1.5-2 to match with the chain wheel; after the worm rotates for 10 turns, the worm wheel completes 90-degree rotation; thus, the chain wheel (38) on the H shaft meets the set requirement of 90-degree rotation of two L3 and L3' crawler belts arranged on the H shaft; after the change of direction and rotation angle of the straight gear (32) in the ratio of 1:2, the set requirement of 45-degree rotation of two L1 and L1' crawler belts arranged on the shaft A is met. The chain wheel (9) selects a chain wheel with 22-25 teeth, the chain wheel (25) selects a chain wheel with 15 teeth, and the screw rod (17) selects T30 multiplied by 8 rectangular threads to match with the chain wheel, so that the front and rear crawler belts can simultaneously take out and return to the warehouse.

6. Detailed description of the slideway guide control mechanism

The slideway guiding control mechanism is shown in figure 7: mainly comprises a slideway (41) and a limiter; the limiter consists of a U-shaped card (42), a left button switch (43), a right button switch (47), a sliding rod (44), a frame extension rod (45) and a pin (48).

The slideway is laid along the trend of the stair handrail, the bending degree of the slideway is similar to the trend curve of the handrail, and the slideway is directly fixed on the ground of the stair; the distance between the slide way and the grab rail is about 40mm, and the distance between the slide way and the ground is controlled to be 125-150 mm;

one end of a sliding rod (44) is inserted into an inner hole of a straight pipe of the U-shaped card, and a pin fixed on the sliding is used for limiting the left-right movement distance of the U-shaped card, so that the purpose of limiting the driving direction of the electric trolley is achieved. If the track of the electric trolley during operation does not accord with the installation curve of the slide way, the slide way can generate forced pulling force on the electric trolley through the U-shaped card, so that the electric trolley is forced to run along the curve of the slide way.

The button switch arranged on the limiter can act on the U-shaped card through a pressing head arranged on the straight pipe section of the U-shaped card, the on-off of the contactors C9 and C10 in the circuit of fig. 9 is influenced, the on-off of the left variable speed motor D1 and the right variable speed motor D1' are adjusted, and the action of the drag force on the slide way is relieved. The running track of the electric trolley is adjusted in a matching way to move according to the curve of the slideway. According to the design, when the electric trolley is used for going upstairs and downstairs, the electric trolley is not influenced by the running condition of the platform between the stairs and is only limited by the curve of the slideway, so that the operation procedure is greatly simplified.

When climbing stairs, the trolley can run along the curve of the slideway all the time as long as the hand pressing the button A1 or the button A2 is not loosened; if the hand is loosened, the electric trolley can be stopped immediately.

After the stair climbing task is completed, the U-shaped limiting device needs to be taken down from the extension rod of the frame, the combined switch is shifted to the point 1, and the operation and use state of the electric wheelchair of the electric trolley can be recovered after the bin returning button (A5) is shifted to the point to withdraw the crawler.

7. Detailed description of the utility model

The photoelectric guide mechanism shown in fig. 8: mainly comprises a bulb (48), a reflective tape (49), a photoresistor (50) and a photoelectric switch (51). The reflective tape is coated at 335mm of the inner side of the stair handrail, the bandwidth is 32mm, the trend of the reflective tape is the same as that of the stair handrail, and the reflective tape is made of white paint special for zebra crossing. The two photoresistors are arranged below the machine plate (18), the distance is controlled within 80mm, and the bulb is arranged on the central line of the two photoresistors. When climbing stairs, the photoelectric coupling relation is utilized, the contact in the relay (J2 or J2') in the photoelectric switch is opened and closed, the opening and closing of the contact of the contactor C9 or C10 are controlled, one of the two motors (D1 or D2) is controlled to stop running, the electric trolley automatically rotates at a fixed point, the running track is adjusted, and the trolley runs according to the curve of the reflective belt. The set target of automatic driving is achieved. Similarly, the guiding control mechanism is operated by pressing an upstairs button or downstairs button, and the electric trolley runs along the curve of the reflective belt until the floor to be reached is loose.

Because the steering of the electric trolley is designed by rotating according to a fixed point, the radius R of a steering curve painted at the corner of the stair platform by the reflective belt is 265mm (half of the distance between two wheels of the trolley).

After the stair climbing task is completed, the operation and use state of the electric wheelchair of the electric trolley can be recovered only by shifting the combined switch to the point 1 and clicking the bin returning button (A5) to withdraw the crawler.

Specific implementation mode of control circuit of 8 electric trolley

The control circuit shown in fig. 10 is a comprehensive control circuit, and can be divided into two types, namely an electric wheelchair and a stair climbing device according to the use occasion, and can be divided into two types, namely a manned type and a cargo type if the control circuit is distinguished according to the use application.

When the trolley is used as an electric wheelchair, the knob switch XK2 needs to be shifted to the point 1 position in a circuit, and the influence of a horizontal switch and a sound control switch on the use state of the wheelchair is eliminated. The rider can press the buttons A1, A2, A3 and A4 to control the forward and backward movement, left and right turning and the use of the electric wheelchair. Because the electric trolley is usually shuttled among people, the buttons in the circuit all adopt self-recovery type buttons, and the button is characterized in that the circuit is conducted when the button is pressed and the circuit is disconnected when the button is loosened.

The remote control switch installed in the circuit can carry out remote control on the trolley when carrying people, and simultaneously, the trolley is more convenient to use to carry the objects, so that convenience is provided for family carrying of partial objects.

When the trolley is used as a stair climber, the trolley is divided into two types, one is a stair climber without the restraint of a guide type control mechanism and a stair climber with the restraint of a guide type control mechanism:

stair climbing device without guide type control mechanism constraint:

before going upstairs, firstly, the knob switches XK1 and XK2 are dialed to the position of point 1, the circuits controlled by the contactors C1-C9 are switched on, and the horizontal switch and the sound control switch are started; the buttons A1-A4 are inching, and the electric trolley is adjusted to the entrance of the stairs; the A6 bin discharging button is clicked, a forward circuit of a motor D2 is connected, the crawler mechanisms are taken out of the storage bin, the crawler mechanisms stop at positions 5-10 mm away from the ground, and the crawler belts L1 and L1' with 45-degree elevation angles face the direction of going upstairs and going upstairs; the crawler belts L3 and L3 'rotate 90 degrees and are arranged in a straight line with the crawler belts L2 and L2'; the normally closed contact limited by 0 degree XWK is opened, the forward circuit of a motor (D2) controlled by a cut-off contactor C6 stops rotating, and the state is kept unchanged. The A1 (forward button) is pressed, the circuit of the contactor C1 is connected, and the two motors (D1 and D1') are connected to the forward circuit to drag the trolley to climb upwards.

When the trolley climbs the first step of the stair, the body of the trolley is changed into an inclined state from a horizontal state, the normally closed contact of the horizontal switch SK1 is opened, the power circuit of the motor is cut off, and the trolley stops moving; at this time, the normally open contact of the SK2 horizontal switch closes the circuit of the contactor C5, the normally open contact of the jog A5 button C5 closes, and the circuit cut by the horizontal switch is closed. At this time, the button A1 is pressed again, and the two motors (D1 and D1') are switched on to drive the trolley to climb upwards.

When the trolley climbs to the platform between the buildings, the trolley body is turned into a horizontal state from an inclined state, the normally open contact of the horizontal switch SK2 is opened, the circuit controlled by the C5 is cut off and released, the normally open contact of the C5 and the normally closed contact of the SK1 synchronously cut off the motor circuit connected in parallel, and the trolley stays on the platform between the buildings. The floor is not reached, so the operating program of buttons A1-A4 needs to be pressed continuously, the trolley is adjusted to the entrance of the stairs on the platform, and the operating program is repeated continuously until the floor is reached.

When the trolley climbs to a floor to be reached, the knob switches XK1 and XK2 are dialed to the point 2, and the influence of the horizontal switch and the sound control switch on the circuit is cut off. The A7 (warehouse) button is turned on to connect the reverse circuit of the motor D2 to withdraw the caterpillar track, and the electric trolley is immediately switched to the operation and use state of the electric wheelchair.

Going downstairs:

before going downstairs, the knob switches XK1 and XK2 are dialed to a point 1, and a circuit controlled by the horizontal switch SK and the sound control switch shK is switched on; the A6 warehouse-out button is clicked, a forward circuit of a motor D2 is connected, and the position, 5-10 mm away from the ground, of the discharged crawler belt stops; the operation program of pressing buttons A1-A4 adjusts the trolley to the exit of the stairs, and makes L3 and L3' face the direction of going downstairs, so that the preparation work for going downstairs is considered to be ready. When the A2 button is pressed to push down the stairs, the hand is not loosened, the contactor C2 is connected with the reverse circuits of the D1 and D1' motors, and the electric trolley can run towards the stairs. When the trolley enters the stairs, the normally closed contact of the horizontal switch SK1 is opened after the trolley body inclines, and the power circuit of the motor is cut off to stop the trolley on the gradient of the stairs; at this time, because the normally open contact of the horizontal switch SK2 is in a closed state, the A5 button is clicked, and the normally open contact of C5 is closed to switch on the circuit that SK cuts off. The button A2 is continuously pressed to make the hand not loose, the reverse circuits of the motors D1 and D1' are switched on again, and the trolley continues to run downwards.

After the trolley descends to the platform between the floors, the trolley is turned into a horizontal state from an inclined state, a horizontal switch in a circuit returns to a normal state, a normally open contact of SK2 is firstly opened to cut off a circuit of C5, and the normally open contact of C5 is opened to cut off circuits of motors D1 and D1' to stop running; the normally closed contact of SK1 then closes, completing the circuit opened by C5; the trolley is in a stop state at this moment and waits for the next action command. The floor is not reached, so the operating program of buttons A1-A4 needs to be pressed continuously, the trolley is adjusted to the exit of the stairs on the platform, and the operating program is repeated continuously until the floor is reached.

Stair climbing device restrained by guide control mechanism

When the trolley restrained by the guide type control mechanism is used for climbing stairs: firstly, the trolley is adjusted to the position above a guide mechanism (such as a reflective belt and a slide way), knob switches XK1 and XK2 are dialed to a point 1, and circuits of a horizontal switch and a sound control switch are restored; and (3) the A6 bin-out button is clicked, a forward circuit of a motor D2 is connected, the crawler mechanism is taken out from the storage bin, the crawler mechanism stops at a position 5-10 mm away from the ground, and the crawler belts (L1 and L1') with an elevation angle of 45 degrees face the upward direction, so that the preparation work for climbing stairs is considered to be finished.

When people climb the stairs by using the trolley, the trolley can move upwards or downwards along the guide mechanism as long as the button A1 or the button A2 is pressed and the hands are not loosened, and when the running track of the trolley deviates from the range divided by the guide control mechanism, the left guide element or the right guide element reflected by the C8 or the C9 can automatically adjust the rotation and the stop of the rotating wheels at the two sides to correct the track until the required floor is reached. The finger pressing either A1 or A2 is released and the cart stops waiting for the next motion command.

When the trolley is used for carrying cargos, the capacity of the trolley is limited, and people and cargos cannot climb a building with the trolley, so that the hinge (b) in the figure 3 is taken down, and the backrest rod and the backrest are folded and retracted rightwards; the handrail (3) is folded inwards by virtue of the hinge (11); thus, a plane is formed above the trolley, and the goods to be carried can be conveniently placed; after the goods are bound, the buttons on the remote control switches YK1 and YK2 are used for controlling the up-and-down movement of the trolley, and the carrying requirements of goods on going up or down are met.

When the trolley is used for carrying goods upstairs or downstairs on unit stairs of a building, the length of the bound goods is not greater than the effective length of the trolley, so that facilities on two sides of the stairs are not affected; when the volume of the carried goods is not large, the goods can be directly loaded in the arc formed by the hanging strip (12) without the folding treatment, such as flour and vegetables.

Claims (2)

1. A six-wheeled electric trolley consists of an electric wheelchair mechanism, a crawler crawling mechanism, a lifting mechanism, an angle adjusting mechanism, a guide mechanism and a hanging belt; the wheelchair is characterized in that the front end and the rear end of rotating wheels on two sides of the wheelchair mechanism are respectively provided with two sets of universal wheels to form a six-wheel electric trolley; the variable speed motors with manual clutches arranged on the two sides of the wheelchair control the function conversion of the six-wheel electric trolley between the electric wheelchair and the electric stair climbing device; the arc formed by the sling arranged on the wheelchair frame can limit the gravity center of a passenger in the arc, thereby providing guarantee for the safety of climbing stairs; the backrest and the armrests are designed in a foldable mode, so that the electric trolley can carry people and can also carry objects to meet the requirement of climbing stairs.

2. The six-wheeled electric vehicle as claimed in claim 1, wherein the caterpillar in the selected caterpillar crawling mechanism is divided into three sections, which are respectively installed on two sides of the vehicle: one section of the electric trolley has a 45-degree elevation angle, can rotate for 45 degrees and is positioned at the front end of the electric trolley; one section can rotate for 90 degrees and is positioned at the rear end of the electric trolley; and the stair climbing crawler belt transmission mechanism is formed by connecting the front section of crawler belt with the rear section of crawler belt.

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