TWI409603B - Anti - tilt device - Google Patents

Abstract

The present invention provides an anti-tilt apparatus, including: a base having a driving set; a platform arranged above the base, both sides of the platform provided with a rail; at least one supporting set; at least one rotary arm set; a rotation set; and a tilt sensor. The tilt sensor includes an optical encoder, a feedback circuit, and a pendulum. The main object of the present invention serves to maintain verticalness of the pendulum in relation to the geocentric. When moving up and down on a ladder, the pendulum of the present invention swings at any angles, the optical encoder accordingly constantly provides feedbacks to the feedback circuit and instantly drives the rotation set for operation, such that the platform may be prevented from tilting and constantly maintains a horizontal figuration in relation to the floor so as to prevent the scenarios of crushing or falling of cargos.

Description

Anti-tilt device

The invention relates to the anti-tilt device, in particular, when the ladder or the ladder is stepped, the stage can be prevented from tilting and maintains a horizontal level with the ground at any time to avoid problems such as cargo extrusion or cargo falling.

In recent years, although the government has made great efforts to improve the barrier-free space, there are still many places that are largely unchanged for people who need to move heavy objects or use wheelchairs. Walking stairs is a very inconvenient and troublesome thing for people who need to carry heavy loads or people in wheelchairs. For people who need to use heavy trucks to carry heavy loads across ladders or thresholds, it may be that two people lift the truck, place a ramp platform, or tilt the truck through the barrier, regardless of which method is used to overcome the obstacle. Problems such as extrusion of goods or falling of goods.

Some common stair lifts such as stair climbing robots, heavy-duty stair climbers, foot-walking stairways, assistive industry alliances, seat lifts, stepped lifts, iBOT mobile systems, wheels, etc. Foot-type ladder robot, modular crawler type ladder robot. The ladder robot can climb a single ladder and cannot place goods. It is a teaching model. The heavy-duty ladder-climbing stair car and the foot-walking stair car are used to hold the load and climb the ladder and cannot walk by themselves. The shared wheelchair lift, the seat lift mainframe and the stepped lift mainframe are all crawler type wheelchair-mounted ladder climbers, which are expensive. The iBOT mobile system is a new type of wheelchair with 4 wheels of the same size (two-wheeled on one side). It is equipped with a set of computer sensors and gyroscopes. It has a strong automatic balance function. The two-sided one-wheel can be maintained in a stacked state. Balanced, the two pairs of wheels are constantly flipped when climbing the ladder, and the price is very expensive.

However, it is impossible to control whether the cargo stage is always maintained at the same time as climbing or down, and the goods are squeezed together, causing problems such as damage to the goods or falling of the goods.

How to control the cargo platform to maintain the level of climbing or down to avoid the problem of cargo extrusion or cargo falling is a major issue to solve the problem.

The main creative object of the present invention is to use the pendulum to be perpendicular to the center of the earth forever. When the pendulum swings any angle, the optical encoder can feedback the feedback circuit at any time, and immediately drive the rotating group to move. The stage can be tilt-proof and level with the ground at all times to avoid problems such as cargo crushing or cargo falling.

In order to achieve the above object, the present invention provides an anti-tilt device, which comprises a driving group disposed under a base, a loading platform disposed above the base, and a sliding rail disposed on two sides of the loading platform; at least one supporting frame group is disposed on Between the base and the end of the stage, each of the support frame sets has a support frame, one end of the support frame is fixed to the base, and the other end of the support frame is pivoted on the loading platform; at least one arm group is disposed on the base Between the base and the other end of the stage, each of the arm sets has a spiral arm, and one end of the arm has a sliding column disposed in the sliding rail, and the other end of the rotating arm is pivotally disposed on a limiting seat. a rotating seat is disposed between the base and the carrier, the rotating group has a first driving motor, a set of first gears disposed on the first driving motor, and a second gear engaged by the first gear, a shaft for the second gear sleeve, the shaft is pivoted on the limiting seat; a tilt detector has an optical encoder, and a feedback of the optical encoder is accepted a circuit, a pendulum pivotally coupled to the optical encoder, the tilt detector is configured At the base, the feedback circuit may drive the first drive motor.

For a better understanding of the construction and application of the present invention, that is, the intended effect, several preferred embodiments are described in detail below with reference to the accompanying drawings. In-depth and specific understanding.

Referring to the first to third figures, the present invention is an anti-tilt device, which includes:

A base (10), a drive group is disposed under the base (10).

A loading platform (30) is disposed above the base (10), and a sliding rail (31) is disposed on each of the two sides of the loading platform (30).

At least one support set (40) disposed between the base (10) and one end of the stage (30), each support set (40) having a support frame (41) One end of the support frame (41) is fixed to the base (10), and the other end of the support frame (41) is pivotally mounted on the stage (30).

At least one arm group (50), the arm group (50) is disposed between the base (10) and the other end of the stage (30), and each of the arm groups (50) has a spiral arm (51) One end of the arm (51) has a sliding column (52) disposed in the sliding rail (31), and the other end of the rotating arm (51) is pivotally disposed on a limiting seat (53), the limiting seat (53) ) is fixed on the base (10).

a rotating group (60), the rotating group (60) is disposed between the base (10) and the loading table (30), the rotating group (60) has a first driving motor (61), a set a first gear (62) on the first drive motor (61), a second gear (63) that meshes with the first gear (62), and a shaft (64) that is disposed on the first gear (63). The shaft (64) is pivoted on the limiting seat (53).

a tilt detector (70) having an optical encoder (71), a feedback circuit (not shown) receiving the optical encoder (71), and a light The encoder (71) is pivotally connected to the pendulum (73). The tilt detector (70) is disposed under the base (10), and the feedback circuit can drive the first drive motor (61).

The above is an overview of the construction, position and interconnection of the various elements of the present invention; and then, the combination of the various elements of the present invention and its intended effect are stated as follows:

Please refer to the first to third figures, and with reference to the fourth to ninth figures, the above-mentioned components are used to form the present invention, and the following components are combined to form a ladder-carrying vehicle as a preferred embodiment. Description:

The driving group comprises a plurality of motors (21) and a number of star wheels (22), a number of speed reducing motors (23), a control circuit (not shown) and a number of driving shafts (24), the star wheel (22) Having at least one star-shaped arm (221), each of the star-shaped arms (221) has a roller (222) and a first driven gear (223) that can rotate the movable roller (222), the star-shaped branch The arm (221) is pivotally mounted on the drive shaft (24), and each of the drive shafts (24) is provided with a second driven gear (224), and each of the second driven gears (224) utilizes a chain or a toothed belt. (any) in conjunction with the reduction motor (23), a sleeve (225) is additionally sleeved on each of the drive shafts (24), and the sleeve (225) is sleeved with a third driven gear (226) and An intermediate gear (227), the second intermediate gear (228) is meshed around the first intermediate gear (227), and each of the second intermediate gears (228) utilizes a chain or a toothed belt and the first driven gear ( 223) interlocking, and the third driven gear (226) is interlocked with the motor (21) by a chain or a toothed belt belt (as shown in Figures 5 and 6). The rotation of the star wheel (22) can be driven by the motor (21) or the reduction motor (23), and the control circuit can control the rotation of the motor (21) and the reduction motor (23).

A reflective proximity sensor (80) is disposed at each of the front and rear positions of the base (10), and the reflective proximity sensor (80) is fed back to the control circuit.

When the invention is not in use (as shown in the fourth figure) the stage (30) is tilted rearwardly.

When the vehicle is to be driven, the rotation group (60) is activated, and the first driving motor (61) drives the first gear (62), the second gear (63) and the shaft (64) to rotate. The shaft (64) drives the arm (51) to rotate, and the arm (51) slides the slide rail (31) to a proper position by the sliding column (52), so that the stage (30) is rotated by the arm (30) 51) The top is angled so that the stage (30) is level with the ground. When the vehicle is driving, the motor (21) drives the chain or the toothed belt to rotate with the third driven gear (226), and drives the first intermediate gear (227) and the second intermediate gear (228). And interlocking with the first driven gear (223) by a chain or a toothed belt to rotate the roller (222) to allow the vehicle to travel at a normal speed.

When the reflective proximity sensor (80) senses encountering a staircase, that is, feedback to the control circuit to control the conversion motor (23) to drive the chain or the toothed belt to drive the second driven gear (224), and then use the The driving shaft (24) drives the star wheel (22) to rotate to make a ladder. The stage (30) starts to tilt, and the optical encoder (71) feeds back when the pendulum (73) swings. a feedback circuit for driving the rotation group (60) by the feedback circuit, the first drive motor (61) driving the first gear (62), the second gear (63) and the shaft (64) to rotate, the shaft The lever (64) drives the arm (51) to rotate, and the arm (51) slides the slide rail (31) to a proper position by the spool (52), so that the stage (30) is rotated by the arm (51). The top is angled so that the stage (30) is level with the ground.

When the platform (30) is to be lowered, the optical encoder (71) feeds back the feedback circuit, and the feedback circuit drives the rotation group (60). The first driving motor (61) drives the first gear (62), the second gear (63) and the shaft (64) to rotate, the shaft (64) drives the arm (51) to rotate, the arm ( 51) using the spool (52) to slide the slide rail (31) to a proper position so that the stage (30) is supported by the arm (51) at an angle such that the stage (30) is maintained with the ground. The level of the situation (as shown in Figure IX).

Therefore, when the star wheel (22) climbs the ladder or steps down, the optical encoder (71) feeds back the feedback circuit at any time when the pendulum (73) swings at any angle, and immediately drives the rotating group (60). The shaft (64) simultaneously drives the arm (51) to rotate, and the arm (51) is slid to the appropriate position by the sliding column (52) at any time to make the stage (30) The arm (51) is supported by an appropriate angle to maintain the level of the stage (30) and the center of the earth at any time.

When the vehicle is to be moved to the plane, in addition to the rotation group (60), the stage (30) is supported by the arm (51) at an appropriate angle to maintain the stage (30) and the center of the earth. In addition, when the reflective proximity sensor (80) senses a plane, that is, feedback to the control circuit controls the conversion of the motor (21) to drive the star wheel (22) to resume normal speed travel. (as shown in the seventh figure)

The advantages of the invention are:

When the ladder or the ladder is stepped up, the pendulum is always perpendicular to the center of the earth. When the pendulum swings at any angle, the optical encoder feedbacks the feedback circuit at any time, and immediately drives the rotating group to act, and the shaft simultaneously drives the arm. Rotating, the arm can slide the slide rail to the appropriate position at any time by using the slide column, so that the stage is supported by the swing arm at an appropriate angle, so that the stage and the ground are kept horizontal at all times, and the cargo stage can be controlled. Maintain a level of climb or down to avoid problems such as cargo crushing or cargo falling.

In addition, the present invention can utilize a gyroscope and a feedback circuit that accepts the gyroscope. The tilt detector is disposed under the base, and the feedback circuit can drive the first driving motor to achieve the same function and purpose.

In summary, the present invention is in line with the provisions of the Patent Law, and the application is filed according to law, and it is hoped that the patent will be granted as soon as possible.

(10)‧‧‧Base

(20) ‧‧‧Drive Group

(21)‧‧‧Motor

(22)‧‧‧Star Wheel

(221)‧‧‧Star arms

(222)‧‧‧Rollers

(223)‧‧‧First Passive Gear

(224) ‧‧‧second passive gear

(225)‧‧‧ bushings

(226)‧‧‧ Third Passive Gear

(227)‧‧‧First intermediate gear

(228)‧‧‧Second intermediate gear

(23)‧‧‧Deceleration motor

(24)‧‧‧Drive shaft

(30) ‧‧‧ stage

(31)‧‧‧Slide rails

(40) ‧‧‧Support frame set

(41)‧‧‧Support frame

(50) ‧‧‧Rotary arm group

(51)‧‧‧Swing arm

(52) ‧ ‧ sill

(53)‧‧‧Limited seat

(60) ‧‧‧Rotating group

(61)‧‧‧First drive motor

(62)‧‧‧First gear

(63) ‧‧‧second gear

(64)‧‧‧ shaft

(70)‧‧‧Tilt detector

(71)‧‧‧Optical encoder

(73)‧‧‧ pendulum

(80)‧‧‧Reflective proximity sensor

First Figure: A perspective exploded view of the present invention.

Second figure: A three-dimensional combination diagram of the present invention.

Third figure: is a schematic diagram of the tilt detector of the present invention.

Fourth Figure: is a schematic view of an embodiment of the present invention.

Fig. 5 is a schematic view showing a practical example (starting) of the present invention.

Fig. 6 is a schematic view showing a practical example (star wheel) of the present invention.

Fig. 7 is a schematic view showing a practical example (flat land) of the present invention.

Figure 8 is a schematic view of a practical example (up stairs) of the present invention.

Fig. 9 is a schematic view showing a practical example (down stairs) of the present invention.

(10). . . Base

(30). . . Loading platform

(31). . . Slide rail

(40). . . Support frame

(41). . . Support frame

(50). . . Spiral arm group

(51). . . Swing arm

(52). . . Sliding column

(53). . . Limit seat

(60). . . Rotating group

(61). . . First drive motor

(62). . . First gear

(63). . . Second gear

(64). . . Shaft

Claims (5)

An anti-tilt device includes: a base, a driving group is disposed under the base; a loading platform is disposed above the base, a sliding rail is disposed on two sides of the loading platform; at least one supporting frame group, the supporting The support set is disposed between the base and the end of the stage, each support set has a support frame, the support frame is fixed at one end to the base, and the other end of the support frame is pivoted on the stage; at least one arm The arm group is disposed between the base and the other end of the stage, each of the arm groups has a spiral arm, and one end of the arm has a sliding column disposed in the slide rail, and the other end of the arm is pivoted The rotation seat is disposed between the base and the stage, and the rotation group has a first drive motor and one set is disposed on the base. a first gear on the first driving motor, a second gear meshing with the first gear, and a shaft for the second gear sleeve, the shaft is pivoted on the limiting seat; a tilt detector The tilt detector has an optical encoder, a feedback circuit that accepts the optical encoder, and a The optical encoder connected to the pivot of the pendulum, the inclination detector is provided at the base, the feedback circuit may drive the first drive motor. The anti-tilt device of claim 1, wherein the driving group comprises a plurality of motors and a plurality of star wheels, a plurality of deceleration motors and a control circuit, wherein the rotation of the star wheel can be driven by the motor Or the speed reduction motor is driven, the control circuit can control the motor drive and the speed reduction motor to rotate. The anti-tilt device according to claim 1, wherein a reflective proximity sensor is disposed in each of the left and right positions of the base and the reflective proximity sensor is fed back to the control circuit. The anti-tilt device of claim 2, wherein the driving group is provided with a plurality of driving shafts, the star wheel having at least one star-shaped arm, each of the star-shaped arms having a roller and a tail a first driven gear that can rotate the roller, the star-shaped arm is pivotally mounted on the driving shaft, and each of the driving shafts is provided with a second driven gear, and each of the second driven gears uses a chain or a toothed belt The motor is coupled to each other, and a sleeve is sleeved on each of the driving shafts. The sleeve is sleeved with a third driven gear and a first intermediate gear, and a plurality of second intermediate gears are meshed around the first intermediate gear. The second intermediate gear is interlocked with the first driven gear by a chain or a toothed belt, and the third driven gear is interlocked with the reduction motor by a chain or a toothed belt. The anti-tilt device of claim 1, wherein the tilt detector has a gyroscope, a feedback circuit that receives the gyroscope, and the tilt detector is disposed under the base, and the feedback circuit can drive the The first drive motor.