WO2007068780A1 - Device for transporting persons or objects and method for controlling same - Google Patents
Device for transporting persons or objects and method for controlling same Download PDFInfo
- Publication number
- WO2007068780A1 WO2007068780A1 PCT/ES2006/070185 ES2006070185W WO2007068780A1 WO 2007068780 A1 WO2007068780 A1 WO 2007068780A1 ES 2006070185 W ES2006070185 W ES 2006070185W WO 2007068780 A1 WO2007068780 A1 WO 2007068780A1
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- crank
- platform
- transmission system
- rotation
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 62
- 238000005259 measurement Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 description 4
- 239000004576 sand Substances 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
- B62B5/028—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with excentrically mounted wheels
Definitions
- the invention pertains to mechanical engineering, it can be used particularly in robotics and in devices for the transport of people or things.
- the device for transporting people or things is composed of a body (1), a platform (2) intended for loading people or things and connected to the body (1) of the device.
- the device also comprises several axes (4) connected to the body (1) of the device and to the wheels (3), the wheels (3) have the possibility of rotating around the axles (4).
- the device also has a control system (8) and at least one motor connected to the control system (8).
- connection of at least one of the axes (4) with the body (1) of the device is made through a mobile element (5) that allows the relative translation of the axis (4) with respect to the body (1) and that is kinematically connected to the motor (6) of the mobile element.
- the motor (6) of the mobile element is fixed in the body (1) of the device.
- each of the wheels (3) contains a fixing element (9) connected to the control system (8) that prevents their rotation around their respective axes (4), at least in one direction.
- control system connects the fasteners (9) of all the wheels (3) in such a way that rotation thereof is avoided in the opposite direction, that is, rotation is avoided in the opposite direction to the direction that You want to move the device.
- the motor (6) of the mobile element moves the mobile element (5) in the same direction in which it is desired to move the device.
- the measurement of the angular position of the motor (6) of the mobile element is carried out with the help of a sensor.
- the control system (8) stops the motor (6) of the moving element at the moment when its angular position is equal to a value defined in advance.
- the motor (6) moves the moving element (5) in the opposite direction to the previous movement followed by the device.
- the measurement of the angular position of the motor (6) of the mobile element is carried out with the help of a sensor.
- the control system (8) ends the movement in the opposite direction when the motor (6) has traveled the same angle set beforehand in absolute value.
- the present invention refers to a control device and method for the transport of people or things, capable of improving the possibility of working on soft surfaces (such as sand), of going down and up steps, in addition to simplifying the current mechanisms Of transport.
- the device for transporting people and / or things is composed of a body (1), a platform (2) intended for the loading of people or things and connected to the body
- the device also includes several axes (4) connected to the body (1) of the device and to the wheels (3), the wheels (3) have the possibility of rotating around the axes (4).
- the device also has a control system (8) and at least one motor connected to the control system (8).
- each of the wheels (3) contains a fixing element (9) connected to the control system (8) that prevents their rotation around their respective axes (4), at least in one direction.
- the device for transporting people and / or things is efficient for movement on soft surfaces (such as sand), because the motors connected to the control system (8) do not apply torque force to the wheels (3) .
- the motors connected to the control system (8) apply force directly to the shafts (4). In this case, it is impossible for the wheels (3) to rotate at the same point, for the surface to deform and then for the wheels (3) to add up on the surface (for example, sand).
- the platform (2) for loading and / or transporting people or things is connected to the body (1) of the device. It has the possibility of translation over the body (1) of the device thanks to a motor (7).
- the engine (7) of the platform is fixed in the body (1) of the device and kinematically connected to the platform (2).
- the device for transporting people and / or things has a platform (2) for moving the center of gravity of the device.
- the kinematic connection between the mobile element (5) and the motor (6) of the mobile element is made with a pinion-rack transmission system, such that the pinion is fixed to the motor shaft (6) of the mobile element, and The zipper is fixed on the mobile element (5).
- the kinematic connection between the mobile element (5) and the motor (6) of the mobile element can also be made through a screw-nut transmission system, such that the screw (27) is fixed to the motor shaft ( 6) of the mobile element, and the nut is fixed in the mobile element (5).
- the kinematic connection between the platform (2) intended for the loading and / or transport of people or things and the engine (7) of the platform is made with a pinion-rack transmission system, so that the pinion is fixed to the motor shaft (7) of the platform, and the rack is fixed on the platform (2).
- the kinematic connection between the platform (2) and the engine (7) of the platform can also be made through a screw-nut transmission system, such that the screw (27) is fixed to the motor shaft (7 ) of the platform, and the nut is fixed on the platform (2).
- the transmission system described previously has a constant transmission ratio. It is advantageous that the device for transporting people and / or things has a variable transmission ratio transmission system.
- the kinematic connection between the mobile element (5) and the motor (6) of the mobile element is made with a crank-crank transmission system, such that the connecting rod (22) is connected in an articulated manner with the mobile element (5). ) and the crank (15) is fixed to the motor shaft (6) of the moving element.
- the kinematic connection between the platform (2) intended for the loading and / or transport of people or things and the engine (7) of the platform is made with a crank-crank transmission system, so that the connecting rod (22) It is connected in an articulated way with the platform (2) and the crank (15) is fixed to the motor shaft (7) of the platform.
- the kinematic connection between the mobile element (5) and the motor (6) of the mobile element contains a crank-sliding transmission system.
- the crank-slide transmission system is especially interesting because in this transmission system it is possible to have two different transmission ratios. If the body (1) has a large mass, it is advantageous that the transmission system has a large transmission coefficient. If the mobile element (5) has a small mass, it is advantageous for the transmission system to have a small coefficient.
- the device for transporting people and / or things contains an additional axis of rotation (11) that is connected to the body (1) of the device.
- the additional rotation axis (11) has the possibility of rotation, a work element (10) and a rack-and-pinion transmission system, such that the work element (10) and the transmission system pinion are fixed on the additional rotation axis (11) and the rack of the transmission system is fixed on the mobile element (5).
- crank (15) of the crank-slide transmission system is fixed to the motor shaft (6) of the movable element, and the slide (14) of the crank-slide transmission system is connected to the work element (10).
- the slide (14) is positioned in such a way that it has the possibility of sliding along the work element (10).
- the device for transporting people and / or things contains an additional axis of rotation (11) that is connected to the body (1) of the device.
- the additional rotation axis (11) has the possibility of rotation, a circular transmission belt (25), a pulley (12) and several passive pulleys (13) such that the work element (10) and the pulley (12 ) are fixed to the additional rotation axis (11).
- the circular drive belt (25) is fixed to the movable element (5) and connected to the pulley (12) through the passive pulleys (13).
- the crank (15) of the crank-slide transmission system is fixed to the motor shaft (6) of the movable element, and connected in an articulated manner through the finger (23) with the slide (14).
- the slide (14) is positioned in such a way that it has the possibility of sliding along the work element (10).
- the control system (8) contains a sensor in at least one of the motors for measuring the angular position. However, it is preferred that the control system (8) contains a sensor in each of the motors for measuring the angular position.
- All fixing elements (9) have the possibility of preventing the rotation of the wheels (3) in one direction or another independently.
- the fixing elements (9) have the possibility of preventing the rotation of the wheels (3) back and vice versa.
- the fixing elements (9) have the possibility of preventing rotation in the direction of movement and in the opposite direction of movement at the same time, at least in one of its wheels (3).
- the device for transporting people and / or things has at least three mechanical elements that revolve around shafts (4).
- the mechanical element that rotates around an axis (4) is constructed so that each of them contains three radial elements (20) 120 ° apart from each other, each of the radial elements (20) contains an axis (4) of rotation at the end, a wheel (3) with the possibility of rotation around said axis (4) and a fastener (9).
- the device for the transport of people and / or things including motors connected to the wheels (3) directly or through some transmission system, for movement on flat surfaces and without obstacles. It is possible that instead of motors the device includes motor-reducers. In this case, instead of using motor shafts, gear shafts are used,
- the device for the transport of people and / or things has at least three wheels (3).
- the configuration of the mechanical elements that revolve around axes (4) give the device for the transport of people and / or things the possibility of raising and lowering ladders, which is advantageous for the mobility of disabled people.
- the operation of the device for the transport of people and / or things is as follows:
- the simplest form of operation of the device consists of, from an initial position, the mobile element (5) is placed on the left part of the body (1). Forward movement of the device is initiated, at this time it is necessary to connect the fasteners (9) for each wheel (3) in such a way that it is not possible for the wheels (3) to make a counterclockwise movement. ; The wheels (3) can only turn clockwise.
- the mobile element (5) makes a forward movement at that moment the front wheel (or front wheels) rotates clockwise and the rear wheel (or rear wheels) does not perform any rotational movement.
- the control system (8) calculates the angle of rotation of the motor (6) of the mobile element. When this angle is equal to a previously set value (for example 3600 °), the control system (8) will stop the motor (6) of the moving element. Then, the control system (8) moves the motor (6) of the mobile element in the opposite direction and calculates the angle of rotation of the motor (6) of the mobile element.
- the control system (8) will stop the motor (6) of the moving element. Since the front wheel (3) (or front wheels) cannot rotate counterclockwise, the front wheel (3) does not perform any movement. The body (1) of the device makes a forward movement and the rear wheel (3) (or the rear wheels) rotates clockwise.
- any other forward movement cycle is carried out in the same way and following the same steps. If it is desired to make a backward movement the fasteners (9) will be placed for each wheel (3) so that the wheels (3) cannot turn clockwise; The wheels (3) can only turn in the opposite direction to the clockwise. It is possible that the device for the transport of people and / or things makes movements of start and stop or continuous movement without constant speed. For this second case, it is necessary for the mobile element (5) to make rapid movements, therefore, it is advantageous that when the mobile element (5) finishes a backward movement, the body (1) executes a rapid movement. In this case, when the mobile element (5) makes a forward movement the body (1) continues forward.
- the transport process is related to the relationship between the speed of the body (1) and the relative speed of the mobile element (5). If the speed of the body (1) is greater than the relative speed of the moving element (5) the front wheel (3) (or front wheels) rotates without creating force to move the body (1) forward. If the speed of the body (1) is less than the relative speed of the moving element (5) the front wheel (3) (or front wheels) rotates creating frictional force between the front wheel (3) and the surface (this force has same direction of movement of the body (I)) to move the body (1) forward, this due to the fixator (9).
- the platform (2) for loading and / or transporting people carries out a translation movement on the body (1) of the device thanks to a motor (7) and a transmission system (for example rack-and-pinion, screw-nut, connecting rod-crank).
- a transmission system for example rack-and-pinion, screw-nut, connecting rod-crank.
- the platform (2) Before starting the movement of the front wheel (3) (or front wheels) forward it is advantageous to move the platform (2) in the opposite direction to the movement of the front wheel (3), in this case, the center of gravity of the device It would be moved to the rear wheels (3), making it easier for the front wheel (3) (or front wheels) to achieve forward movement.
- the platform (2) Before starting the movement of the front wheel (3) (or front wheels) backwards it is advantageous to move the platform (2) in the opposite direction to the movement of the front wheel (3), in this case, the center of gravity of the device It would be moved to the front wheels (3), making it easier for the rear wheel (3) (or rear wheels) to achieve forward movement. Additionally, in this case the maximum possible frictional force (useful force) in the front wheel (3) will increase. It is advantageous that the device for the transport of people and / or things has at least three mechanical elements that revolve around axes (4). In this case, it is possible to go up and down steps (for example stairs to go up to the floors of a building or to a higher plane).
- the mechanical element that rotates around an axis (4) is constructed so that each of them contains three radial elements (20) 120 ° apart from each other, each of the radial elements (20) contains an axis (4) of rotation at the end, a wheel (3) with the possibility of rotation around said axis (4) and a fastener (9).
- the device To go down steps, it is necessary to perform all the steps described up to this point. In this case, it is necessary to prevent the automatic movement that is generated thanks to the force of gravity (similar movement is obtained when a platform lowers an inclined plane). Therefore, it is advantageous for the device to contemplate a brake system connected to the control system (8).
- the control system (8) will activate the brakes on the wheels (3) that must be without executing any movement, at this stage of the stepping down process.
- a fastener (9) for two directions or use two fasteners (9) for each of the addresses at the same time.
- Figure 2 shows a cycle of movement on a flat surface. In the figure it is observed as first, from an initial position, the mobile element (5) is placed in the left part of the body (1).
- the movable element (5) makes a forward movement, at that moment the front wheels (3) rotate in the direction of the hands of the clock and the rear wheels (3) does not execute any rotation movement. Then, the platform motor (7) moves the platform (2) forward, that is to the right side of the device.
- the moving element moves in the opposite direction. Since the front wheels (3) cannot rotate in the opposite direction to the clockwise direction, the front wheels (3) do not perform any movement and it is the rear wheels (3) that make a rotating movement in the direction of clock hands. Therefore, the body (1) of the device performs a forward movement. To continue the forward movement, the platform (2) is placed on the left side of the device, thus returning to the initial position.
- Figure 3 shows a fastener (9) in two directions. The figure shows how an electromagnet (17) is placed on the base of the fixator (26), the part (18) that interacts with the fixator magnet can also be observed. Between the base of the fixator (26) and the part
- the figure also shows the wheel (3) and the response part (19) of the fixator, this part is fixed to the wheel (3) and share the same axle (4).
- Figure 4 shows a fastener (9) composed of two independent fasteners capable of acting in one direction; the fasteners act in one direction but contrary to each other, in this case it is possible to prevent the turn in both directions, the turn in only one direction or allow the turn in both directions.
- Figure 5 refers to the device for transporting people and / or things with four mechanical elements that revolve around shafts (4).
- Each of these elements contains three radial elements (20) with axes (4) at their end.
- Each axle (4) of the end is attached to a wheel (3), each of these wheels (3) has a fastener (9) associated with it and the base (26) of each of these fasteners is connected to their respective radial element (20).
- This configuration is especially useful for going up and down steps (for example stairs to go up to the floors of a building or to a higher plane).
- Figure 6 shows a top plan view of the device for transporting people and / or things with platform (2).
- the figure also shows a crank-crank type transmission for the movement of the platform (2).
- the movement of the platform (2) is more favorable when compared with the case of constant transmission coefficient, since, when the platform (2) is in the near to initial and final position, the value of the transmission coefficient is high (great acceleration) and when the platform (2) is in the near to intermediate position the value of the transmission coefficient is low (high speed).
- Figure 7 shows the device for transporting people and / or things with crank-slide transmission and belt-pulley between the motor (6) of the mobile element and the mobile element (5).
- the crank-slide transmission has the ability to work with two different transmission coefficients (see Patent ES 2 195 792), in this case it is advantageous to use a high transmission coefficient when it is necessary to move the mobile element (5) and it is advantageous to use a low transmission coefficient when it is necessary to move the body (1) of the device.
- Figure 8 shows the device for transporting people and / or things up stairs.
- the figure refers to the device for transporting people and / or things with four mechanical elements that revolve around axes (4).
- the device for transporting people and / or things with four wheels (3), two of them connected to the body (1) of the device and the other two also connected to the body (1) of the device but through the mobile element (5).
- the device has two motors (6 and 7) attached to the body (1), the engine (7) of the platform is kinematically (screw-nut transmission system) connected to the platform (2) and the motor (6) of the element Mobile is kinematically (screw-nut transmission system) connected to the mobile element (5).
- the device has fasteners (9) in both directions for all wheels (3).
- the moving element (5) To execute a cycle of movement on a flat surface, first, from an initial position, the moving element (5) is placed on the left part of the body (1). With the help of the motor (6) of the movable element through the screw-nut transmission system, the movable element (5) makes a forward movement at that moment the front wheels (3) rotate in a clockwise direction and the rear wheels (3) do not execute any rotation movement. At the same time the control system (8) calculates the angle of rotation of the motor (6) of the mobile element. When this angle is equal to 2100 °, the control system (8) will stop the motor (6) of the moving element. Then, the control system (8) moves the motor (6) of the mobile element in the opposite direction and calculates the angle of rotation of the motor (6) of the mobile element.
- the control system (8) will stop the motor (6) of the moving element. Since the front wheels (3) cannot rotate counterclockwise, the front wheels (3) do not perform any movement. The body (1) of the device performs a forward movement and the rear wheels (3) rotate clockwise.
- any other forward movement cycle is carried out in the same way and following the same steps. If it is desired to make a backward movement the fasteners (9) will be placed for each wheel (3) so that the wheels (3) cannot turn clockwise; The wheels (3) can only turn in the opposite direction to the clockwise.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to a device for transporting persons or objects and to a method for controlling same. According to the invention, at least one of the axles (4) is connected to the body (1) of the device by means of a mobile element (5) which enables the axle (4) to move in translation in relation to the body (1) and which is kinematically connected to the motor (6) of the mobile element. The motor (6) of the mobile element is fixed to the body (1) of the device. In addition, each of the wheels (3) contains a fixing element (9) which is connected to the control system (8) which prevents the wheels from rotating about the respective axles (4) thereof at least in one direction.
Description
TÍTULOTITLE
DISPOSITIVO PARA EL TRANSPORTE DE PERSONAS O COSAS Y EL PROCEDIMIENTO PARA SU CONTROLDEVICE FOR THE TRANSPORTATION OF PEOPLE OR THINGS AND THE PROCEDURE FOR THEIR CONTROL
SECTOR DE LA TÉCNICASECTOR OF THE TECHNIQUE
La invención pertenece a la ingeniería mecánica, se puede utilizar particularmente en robótica y en dispositivos para el transporte de personas o cosas.The invention pertains to mechanical engineering, it can be used particularly in robotics and in devices for the transport of people or things.
ESTADO DE LA TÉCNICA Dentro de las soluciones técnicas conocidas tenemos producto comercial iBOT Mobility System (http://www.jnj.com/innovations/newJeatures/IBOT.htm) y "A high -mobility redundantly actuated mini -rover for self adaptation to terrain characteristics" cuyos autores son F. Benamar, Ph. Bidaud, F. Plumet, G. Andrade y V. Budanov (Climbing and Walking Robots , CLAWAR 2000. Professional Engineering Publishing Limited, London UK, pp 105-112. ISBN 1 86058 268 0).STATE OF THE TECHNIQUE Within the known technical solutions we have commercial product iBOT Mobility System (http://www.jnj.com/innovations/newJeatures/IBOT.htm) and "A high -mobility redundantly actuated mini -rover for self adaptation to terrain characteristics "whose authors are F. Benamar, Ph. Bidaud, F. Plumet, G. Andrade and V. Budanov (Climbing and Walking Robots, CLAWAR 2000. Professional Engineering Publishing Limited, London UK, pp 105-112. ISBN 1 86058 268 0).
En las anteriores soluciones técnicas los sistemas son muy complejos, además en estos sistemas existen fuerzas de par asociadas a las ruedas. En este caso es difícil el uso de las soluciones técnicas conocidas sobre superficies blandas (como por ejemplo sobre arena).In the previous technical solutions the systems are very complex, in addition in these systems there are torque forces associated with the wheels. In this case, the use of known technical solutions on soft surfaces (such as sand) is difficult.
DESCRIPCIÓN DE LA INVENCIÓNDESCRIPTION OF THE INVENTION
- Breve descripción de la invención.- Brief description of the invention.
El dispositivo para el transporte de personas o cosas está compuesto por un cuerpo (1), una plataforma (2) destinada a la carga de personas o cosas y conectada al cuerpo (1) del dispositivo. El dispositivo consta, además, de varios ejes (4) conectados al cuerpo (1) del dispositivo y a las ruedas (3), las ruedas (3) tienen la posibilidad de rotar alrededor de los ejes (4). El dispositivo también tiene un sistema de control (8) y al menos un motor conectado al sistema de control (8).The device for transporting people or things is composed of a body (1), a platform (2) intended for loading people or things and connected to the body (1) of the device. The device also comprises several axes (4) connected to the body (1) of the device and to the wheels (3), the wheels (3) have the possibility of rotating around the axles (4). The device also has a control system (8) and at least one motor connected to the control system (8).
La conexión de al menos uno de los ejes (4) con el cuerpo (1) del dispositivo se realiza a través de un elemento móvil (5) que permite la traslación relativa del eje (4) con respecto al cuerpo (1) y que se encuentra cinemáticamente conectado al motor (6) del
elemento móvil. El motor (6) del elemento móvil está fijado en el cuerpo (1) del dispositivo. Además, cada una de las ruedas (3) contiene un elemento fijador (9) conectado al sistema de control (8) que impide la rotación de las mismas alrededor de sus ejes (4) respectivos, al menos en una dirección.The connection of at least one of the axes (4) with the body (1) of the device is made through a mobile element (5) that allows the relative translation of the axis (4) with respect to the body (1) and that is kinematically connected to the motor (6) of the mobile element. The motor (6) of the mobile element is fixed in the body (1) of the device. In addition, each of the wheels (3) contains a fixing element (9) connected to the control system (8) that prevents their rotation around their respective axes (4), at least in one direction.
Para lograr el movimiento del dispositivo en una dirección:To achieve movement of the device in one direction:
- el sistema de control conecta los fijadores (9) de todas las ruedas (3) de tal forma que se evita la rotación de las mismas en la dirección opuesta, es decir, que se evita la rotación el la dirección contraria a la dirección que se desea mover el dispositivo. - el motor (6) del elemento móvil mueve el elemento móvil (5) en la misma dirección en la que se desea mover el dispositivo.- the control system connects the fasteners (9) of all the wheels (3) in such a way that rotation thereof is avoided in the opposite direction, that is, rotation is avoided in the opposite direction to the direction that You want to move the device. - the motor (6) of the mobile element moves the mobile element (5) in the same direction in which it is desired to move the device.
- se realiza la medición de la posición angular del motor (6) del elemento móvil con la ayuda de un sensor.- the measurement of the angular position of the motor (6) of the mobile element is carried out with the help of a sensor.
- el sistema de control (8) detiene el motor (6) del elemento móvil en el momento en el que su posición angular es igual a un valor definido de antemano.- the control system (8) stops the motor (6) of the moving element at the moment when its angular position is equal to a value defined in advance.
- el motor (6) mueve el elemento móvil (5) en dirección opuesta al movimiento anterior seguido por el dispositivo.- the motor (6) moves the moving element (5) in the opposite direction to the previous movement followed by the device.
- se realiza la medición de la posición angular del motor (6) del elemento móvil con la ayuda de un sensor. - el sistema de control (8) finaliza el movimiento en dirección opuesta cuando el motor (6) ha recorrido el mismo ángulo fijado de antemano en valor absoluto.- the measurement of the angular position of the motor (6) of the mobile element is carried out with the help of a sensor. - the control system (8) ends the movement in the opposite direction when the motor (6) has traveled the same angle set beforehand in absolute value.
- Descripción detallada de la invención- Detailed description of the invention
La presente invención hace referencia a un dispositivo y método de control para el transporte de personas o cosas, capaz de mejorar la posibilidad de trabajar sobre superficies blandas (como por ejemplo sobre arena), de bajar y subir escalones, además de simplificar los actuales mecanismos de transporte.The present invention refers to a control device and method for the transport of people or things, capable of improving the possibility of working on soft surfaces (such as sand), of going down and up steps, in addition to simplifying the current mechanisms Of transport.
El dispositivo para el transporte de personas y/o cosas está compuesto por un cuerpo (1), una plataforma (2) destinada a la carga de personas o cosas y conectada al cuerpoThe device for transporting people and / or things is composed of a body (1), a platform (2) intended for the loading of people or things and connected to the body
(1) del dispositivo. El dispositivo consta, además, de varios ejes (4) conectados al cuerpo (1) del dispositivo y a las ruedas (3), las ruedas (3) tienen la posibilidad de rotar
alrededor de los ejes (4). El dispositivo también tiene un sistema de control (8) y al menos un motor conectado al sistema de control (8).(1) of the device. The device also includes several axes (4) connected to the body (1) of the device and to the wheels (3), the wheels (3) have the possibility of rotating around the axes (4). The device also has a control system (8) and at least one motor connected to the control system (8).
La conexión de al menos uno de los ejes (4) con el cuerpo (1) del dispositivo se realiza a través de un elemento móvil (5) que permite la traslación relativa del eje (4) con respecto al cuerpo (1) y que se encuentra cinemáticamente conectado al motor (6) del elemento móvil. El motor (6) del elemento móvil está fijado en el cuerpo (1) del dispositivo. Además, cada una de las ruedas (3) contiene un elemento fijador (9) conectado al sistema de control (8) que impide la rotación de las mismas alrededor de sus ejes (4) respectivos, al menos en una dirección.The connection of at least one of the axes (4) with the body (1) of the device is made through a mobile element (5) that allows the relative translation of the axis (4) with respect to the body (1) and that It is kinematically connected to the motor (6) of the mobile element. The motor (6) of the mobile element is fixed in the body (1) of the device. In addition, each of the wheels (3) contains a fixing element (9) connected to the control system (8) that prevents their rotation around their respective axes (4), at least in one direction.
El dispositivo para el transporte de personas y/o cosas es eficiente para el movimiento sobre superficies blandas (como por ejemplo sobre arena), por que los motores conectados al sistema de control (8) no aplican fuerza de par a las ruedas (3). Los motores conectados al sistema de control (8) aplican fuerza directamente a los ejes (4). En este caso, es imposible que las ruedas (3) roten en un mismo punto, que se deforme la superficie y que luego las ruedas (3) se suman en la superficie (por ejemplo arena).The device for transporting people and / or things is efficient for movement on soft surfaces (such as sand), because the motors connected to the control system (8) do not apply torque force to the wheels (3) . The motors connected to the control system (8) apply force directly to the shafts (4). In this case, it is impossible for the wheels (3) to rotate at the same point, for the surface to deform and then for the wheels (3) to add up on the surface (for example, sand).
La plataforma (2) destinada a la carga y/o transporte de personas o cosas se encuentra conectada al cuerpo (1) del dispositivo. Tiene la posibilidad de traslación sobre el cuerpo (1) del dispositivo gracias a un motor (7). El motor (7) de la plataforma está fijado en el cuerpo (1) del dispositivo y conectado cinemáticamente con la plataforma (2).The platform (2) for loading and / or transporting people or things is connected to the body (1) of the device. It has the possibility of translation over the body (1) of the device thanks to a motor (7). The engine (7) of the platform is fixed in the body (1) of the device and kinematically connected to the platform (2).
Es ventajoso que el dispositivo para el transporte de personas y/o cosas tenga una plataforma (2) para mover el centro de gravedad del dispositivo.It is advantageous that the device for transporting people and / or things has a platform (2) for moving the center of gravity of the device.
La conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil está realizada con un sistema de transmisión piñón-cremallera, de tal manera que el piñón está fijado al eje del motor (6) del elemento móvil, y la cremallera está fijada en el elemento móvil (5). La conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil también puede estar realizada a través de un sistema de transmisión tornillo-tuerca, de tal manera que el tornillo (27) está fijado al eje del motor (6) del elemento móvil, y la tuerca está fijada en el elemento móvil (5).
La conexión cinemática entre la plataforma (2) destinada a la carga y/o transporte de personas o cosas y el motor (7) de la plataforma está realizada con un sistema de transmisión piñón-cremallera, de tal manera que el piñón está fijado al eje del motor (7) de la plataforma, y la cremallera está fijada en la plataforma (2). La conexión cinemática entre la plataforma (2) y el motor (7) de la plataforma también puede estar realizada a través de un sistema de transmisión tornillo -tuerca, de tal manera que el tornillo (27) está fijado al eje del motor (7) de la plataforma, y la tuerca está fijada en la plataforma (2).The kinematic connection between the mobile element (5) and the motor (6) of the mobile element is made with a pinion-rack transmission system, such that the pinion is fixed to the motor shaft (6) of the mobile element, and The zipper is fixed on the mobile element (5). The kinematic connection between the mobile element (5) and the motor (6) of the mobile element can also be made through a screw-nut transmission system, such that the screw (27) is fixed to the motor shaft ( 6) of the mobile element, and the nut is fixed in the mobile element (5). The kinematic connection between the platform (2) intended for the loading and / or transport of people or things and the engine (7) of the platform is made with a pinion-rack transmission system, so that the pinion is fixed to the motor shaft (7) of the platform, and the rack is fixed on the platform (2). The kinematic connection between the platform (2) and the engine (7) of the platform can also be made through a screw-nut transmission system, such that the screw (27) is fixed to the motor shaft (7 ) of the platform, and the nut is fixed on the platform (2).
El sistema de transmisión descrito previamente tiene un cociente de transmisión constante. Es ventajoso que el dispositivo para el transporte de personas y/o cosas tenga un sistema de transmisión de cociente de transmisión variable.The transmission system described previously has a constant transmission ratio. It is advantageous that the device for transporting people and / or things has a variable transmission ratio transmission system.
La conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil está realizada con un sistema de transmisión biela-manivela, de tal manera que la biela (22) está conectada de forma articulada con el elemento móvil (5) y la manivela (15) está fijada al eje del motor (6) del elemento móvil.The kinematic connection between the mobile element (5) and the motor (6) of the mobile element is made with a crank-crank transmission system, such that the connecting rod (22) is connected in an articulated manner with the mobile element (5). ) and the crank (15) is fixed to the motor shaft (6) of the moving element.
La conexión cinemática entre la plataforma (2) destinada a la carga y/o transporte de personas o cosas y el motor (7) de la plataforma está realizada con un sistema de transmisión biela-manivela, de tal manera que la biela (22) está conectada de forma articulada con la plataforma (2) y la manivela (15) está fijada al eje del motor (7) de la plataforma.The kinematic connection between the platform (2) intended for the loading and / or transport of people or things and the engine (7) of the platform is made with a crank-crank transmission system, so that the connecting rod (22) It is connected in an articulated way with the platform (2) and the crank (15) is fixed to the motor shaft (7) of the platform.
La conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil contiene un sistema de transmisión manivela-corredera.The kinematic connection between the mobile element (5) and the motor (6) of the mobile element contains a crank-sliding transmission system.
El sistema de transmisión manivela-corredera es especialmente interesante porque en este sistema de transmisión es posible tener dos cocientes de transmisión diferentes. Si el cuerpo (1) tiene una masa grande, es ventajoso que el sistema de transmisión tenga un coeficiente de transmisión grande. Si el elemento móvil (5) tiene una masa pequeña, es ventajoso que el sistema de transmisión tenga un coeficiente pequeño.
El dispositivo para el transporte de personas y/o cosas contiene un eje de rotación adicional (11) que está conectado con el cuerpo (1) del dispositivo. El eje de rotación adicional (11) tiene posibilidad de rotación, un elemento de trabajo (10) y un sistema de transmisión piñón-cremallera, de tal forma que el elemento de trabajo (10) y el piñón del sistema de transmisión están fijados en el eje de rotación adicional (11) y la cremallera del sistema de transmisión está fijada en el elemento móvil (5). La manivela (15) del sistema de transmisión manivela-corredera está fijada al eje del motor (6) del elemento móvil, y la corredera (14) del sistema de transmisión manivela-corredera está conectada con el elemento de trabajo (10). La corredera (14) está colocada de forma tal que tiene posibilidad del deslizamiento a lo largo del elemento de trabajo (10).The crank-slide transmission system is especially interesting because in this transmission system it is possible to have two different transmission ratios. If the body (1) has a large mass, it is advantageous that the transmission system has a large transmission coefficient. If the mobile element (5) has a small mass, it is advantageous for the transmission system to have a small coefficient. The device for transporting people and / or things contains an additional axis of rotation (11) that is connected to the body (1) of the device. The additional rotation axis (11) has the possibility of rotation, a work element (10) and a rack-and-pinion transmission system, such that the work element (10) and the transmission system pinion are fixed on the additional rotation axis (11) and the rack of the transmission system is fixed on the mobile element (5). The crank (15) of the crank-slide transmission system is fixed to the motor shaft (6) of the movable element, and the slide (14) of the crank-slide transmission system is connected to the work element (10). The slide (14) is positioned in such a way that it has the possibility of sliding along the work element (10).
El dispositivo para el transporte de personas y/o cosas contiene un eje de rotación adicional (11) que está conectado con el cuerpo (1) del dispositivo. El eje de rotación adicional (11) tiene posibilidad de rotación, una correa de transmisión (25) circular, una polea (12) y varias poleas pasivas (13) de tal forma que el elemento de trabajo (10) y la polea (12) están fijados al eje de rotación adicional (11). La correa de transmisión (25) circular está fijada al elemento móvil (5) y conectada a la polea (12) a través de las poleas pasivas (13). La manivela (15) del sistema de transmisión manivela-corredera está fijada al eje del motor (6) del elemento móvil, y conectada de forma articulada a través del dedo (23) con la corredera (14). La corredera (14) está colocada de forma tal que tiene posibilidad del deslizamiento a lo largo del elemento de trabajo (10).The device for transporting people and / or things contains an additional axis of rotation (11) that is connected to the body (1) of the device. The additional rotation axis (11) has the possibility of rotation, a circular transmission belt (25), a pulley (12) and several passive pulleys (13) such that the work element (10) and the pulley (12 ) are fixed to the additional rotation axis (11). The circular drive belt (25) is fixed to the movable element (5) and connected to the pulley (12) through the passive pulleys (13). The crank (15) of the crank-slide transmission system is fixed to the motor shaft (6) of the movable element, and connected in an articulated manner through the finger (23) with the slide (14). The slide (14) is positioned in such a way that it has the possibility of sliding along the work element (10).
El sistema de control (8) contiene un sensor en al menos uno de los motores para la medición de la posición angular. Sin embargo, es de preferencia que el sistema de control (8) contenga un sensor en cada uno de los motores para la medición de la posición angular.The control system (8) contains a sensor in at least one of the motors for measuring the angular position. However, it is preferred that the control system (8) contains a sensor in each of the motors for measuring the angular position.
Todos los elementos fijadores (9) tienen la posibilidad de impedir la rotación de las ruedas (3) en una u otra dirección independientemente. Por ejemplo, si el dispositivo para el trasporte de personas y/o cosas se encuentra ejecutando un movimiento hacia delante, los elementos fijadores (9) tienen la posibilidad de impedir la rotación de las ruedas (3) hacia atrás y viceversa. Por ejemplo, si el dispositivo para el trasporte de personas y/o cosas se encuentra ejecutando un movimiento en el que se baja una
pendiente (por ejemplo escaleras), los elementos fijadores (9) tienen la posibilidad de impedir la rotación en la dirección del movimiento y en la dirección opuesta al movimiento al mismo tiempo, al menos en una de sus ruedas (3).All fixing elements (9) have the possibility of preventing the rotation of the wheels (3) in one direction or another independently. For example, if the device for transporting people and / or things is performing a forward movement, the fixing elements (9) have the possibility of preventing the rotation of the wheels (3) back and vice versa. For example, if the device for the transport of people and / or things is executing a movement in which a pending (for example stairs), the fixing elements (9) have the possibility of preventing rotation in the direction of movement and in the opposite direction of movement at the same time, at least in one of its wheels (3).
El dispositivo para el trasporte de personas y/o cosas tiene al menos tres elementos mecánicos que giran alrededor de ejes (4). El elemento mecánico que gira alrededor de un eje (4) está construido de manera que cada uno de ellos contiene tres elementos radiales (20) separados 120° entre sí, cada uno de los elementos radiales (20) contiene un eje (4) de rotación en el extremo, una rueda (3) con posibilidad de rotación alrededor de dicho eje (4) y un fijador (9).The device for transporting people and / or things has at least three mechanical elements that revolve around shafts (4). The mechanical element that rotates around an axis (4) is constructed so that each of them contains three radial elements (20) 120 ° apart from each other, each of the radial elements (20) contains an axis (4) of rotation at the end, a wheel (3) with the possibility of rotation around said axis (4) and a fastener (9).
Es posible el dispositivo para el trasporte de personas y/o cosas incluya motores conectados a las ruedas (3) directamente o a través de algún sistema de transmisión, para el movimiento sobre superficies planas y sin obstáculos. Es posible que en lugar de motores el dispositivo incluya motores-reductores. En este caso, en lugar de usar ejes de motores se usan ejes de reductores,It is possible the device for the transport of people and / or things including motors connected to the wheels (3) directly or through some transmission system, for movement on flat surfaces and without obstacles. It is possible that instead of motors the device includes motor-reducers. In this case, instead of using motor shafts, gear shafts are used,
Es posible usar un reductor entre el elemento de trabajo (10) y el piñón.It is possible to use a reducer between the work element (10) and the pinion.
Es posible usar un reductor entre el elemento de trabajo (10) y la polea (12), para reducir el diámetro de la polea (12).It is possible to use a reducer between the work element (10) and the pulley (12), to reduce the diameter of the pulley (12).
Es posible el dispositivo para el trasporte de personas y/o cosas tenga al menos tres ruedas (3).It is possible the device for the transport of people and / or things has at least three wheels (3).
La forma por la cual se logra el giro de cambio de dirección del dispositivo para el trasporte de personas y/o cosas, no está contemplado en esta solución. Para ello, es posible utilizar un método estándar conocido.The way in which the change of direction of the device for the transport of people and / or things is achieved, is not contemplated in this solution. For this, it is possible to use a known standard method.
La configuración de los elementos mecánicos que giran alrededor de ejes (4) le aportan al dispositivo para el transporte de personas y/o cosas la posibilidad de subir y bajar espaleras, lo cual es ventajoso para la movilidad de personas discapacitadas.
El funcionamiento del dispositivo para el trasporte de personas y/o cosas es el siguiente:The configuration of the mechanical elements that revolve around axes (4) give the device for the transport of people and / or things the possibility of raising and lowering ladders, which is advantageous for the mobility of disabled people. The operation of the device for the transport of people and / or things is as follows:
La forma más simple de funcionamiento del dispositivo consiste en, a partir de una posición inicial, el elemento móvil (5) es colocado en la parte izquierda del cuerpo (1). Se inicia el movimiento del dispositivo hacia adelante, en este momento es necesario conectar los fijadores (9) para cada rueda (3) de manera tal que no sea posible que las ruedas (3) realicen un movimiento en dirección contraria a las manecillas del reloj; las ruedas (3) sólo pueden girar en la dirección de las manecillas del reloj.The simplest form of operation of the device consists of, from an initial position, the mobile element (5) is placed on the left part of the body (1). Forward movement of the device is initiated, at this time it is necessary to connect the fasteners (9) for each wheel (3) in such a way that it is not possible for the wheels (3) to make a counterclockwise movement. ; The wheels (3) can only turn clockwise.
Con la ayuda del motor (6) del elemento móvil a través del sistema de transmisión (por ejemplo piñón-cremallera, tornillo -tuerca, biela-manivela o manivela-corredera) el elemento móvil (5) realiza un movimiento hacia adelante en ese instante la rueda (3) delantera (o ruedas delanteras) rota en dirección a las manecillas del reloj y la rueda (3) trasera (o ruedas traseras) no ejecuta ningún movimiento de rotación. Al mismo tiempo el sistema de control (8) calcula el ángulo de rotación del motor (6) del elemento móvil. Cuando este ángulo es igual a un valor establecido previamente (por ejemplo 3600°), el sistema de control (8) detendrá el motor (6) del elemento móvil. Luego, el sistema de control (8) mueve el motor (6) del elemento móvil en dirección contraria y calcula el ángulo de rotación del motor (6) del elemento móvil. Cuando el ángulo es igual al valor establecido previamente (por ejemplo 3600°), el sistema de control (8) detendrá el motor (6) del elemento móvil. Dado que la rueda (3) delantera (o ruedas delanteras) no puede rotar en dirección contraria a la dirección de las manecillas del reloj, la rueda (3) delantera no ejecuta movimiento alguno. El cuerpo (1) del dispositivo realiza un movimiento hacia adelante y la rueda (3) trasera (o las ruedas traseras) gira en dirección de las manecillas del reloj.With the help of the motor (6) of the mobile element through the transmission system (for example pinion-rack, screw-nut, connecting rod-crank or crank-slide) the mobile element (5) makes a forward movement at that moment the front wheel (or front wheels) rotates clockwise and the rear wheel (or rear wheels) does not perform any rotational movement. At the same time the control system (8) calculates the angle of rotation of the motor (6) of the mobile element. When this angle is equal to a previously set value (for example 3600 °), the control system (8) will stop the motor (6) of the moving element. Then, the control system (8) moves the motor (6) of the mobile element in the opposite direction and calculates the angle of rotation of the motor (6) of the mobile element. When the angle is equal to the previously set value (for example 3600 °), the control system (8) will stop the motor (6) of the moving element. Since the front wheel (3) (or front wheels) cannot rotate counterclockwise, the front wheel (3) does not perform any movement. The body (1) of the device makes a forward movement and the rear wheel (3) (or the rear wheels) rotates clockwise.
En este punto un ciclo de movimiento hacia adelante ha sido concluido. Por tanto, cualquier otro ciclo de movimiento hacia adelante es llevado acabo de la misma forma y siguiendo los mismos pasos. Si se desea realizar un movimiento hacia atrás los fijadores (9) estarán colocados para cada rueda (3) de forma tal que las ruedas (3) no puedan girar en dirección de las manecillas del reloj; las ruedas (3) sólo pueden girar en la dirección contraria a la de las manecillas del reloj.
Es posible que el dispositivo para el transporte de personas y/o cosas realice movimientos de arranque y parada o movimiento continuo sin velocidad constante. Para este segundo caso, es necesario que el elemento móvil (5) efectúe movimientos rápidos, por tanto, es ventajoso que cuando el elemento móvil (5) termine un movimiento hacia atrás, el cuerpo (1) ejecute un movimiento rápido. En este caso, cuando el elemento móvil (5) efectúa un movimiento hacia adelante el cuerpo (1) continúa hacia adelante. Si el elemento móvil (5) realiza un movimiento relativo hacia atrás el proceso de transporte está relacionado con la relación entre la velocidad del cuerpo (1) y la velocidad relativa del elemento móvil (5). Si la velocidad del cuerpo (1) es mayor a la velocidad relativa del elemento móvil (5) la rueda (3) delantera (o ruedas delanteras) rota sin crear fuerza para mover el cuerpo (1) hacia delante. Si la velocidad del cuerpo (1) es menor a la velocidad relativa del elemento móvil (5) la rueda (3) delantera (o ruedas delanteras) rota creando fuerza de fricción entre la rueda (3) delantera y la superficie (esta fuerza tiene misma dirección del movimiento del cuerpo (I)) para mover el cuerpo (1) hacia delante, esto debido al fijador (9).At this point a cycle of forward movement has been concluded. Therefore, any other forward movement cycle is carried out in the same way and following the same steps. If it is desired to make a backward movement the fasteners (9) will be placed for each wheel (3) so that the wheels (3) cannot turn clockwise; The wheels (3) can only turn in the opposite direction to the clockwise. It is possible that the device for the transport of people and / or things makes movements of start and stop or continuous movement without constant speed. For this second case, it is necessary for the mobile element (5) to make rapid movements, therefore, it is advantageous that when the mobile element (5) finishes a backward movement, the body (1) executes a rapid movement. In this case, when the mobile element (5) makes a forward movement the body (1) continues forward. If the mobile element (5) makes a relative backward movement, the transport process is related to the relationship between the speed of the body (1) and the relative speed of the mobile element (5). If the speed of the body (1) is greater than the relative speed of the moving element (5) the front wheel (3) (or front wheels) rotates without creating force to move the body (1) forward. If the speed of the body (1) is less than the relative speed of the moving element (5) the front wheel (3) (or front wheels) rotates creating frictional force between the front wheel (3) and the surface (this force has same direction of movement of the body (I)) to move the body (1) forward, this due to the fixator (9).
Es ventajoso que la plataforma (2) destinada a la carga y/o transporte de personas realice un movimiento de traslación sobre el cuerpo (1) del dispositivo gracias a un motor (7) y a un sistema de transmisión (por ejemplo piñón-cremallera, tornillo -tuerca, biela-manivela).It is advantageous that the platform (2) for loading and / or transporting people carries out a translation movement on the body (1) of the device thanks to a motor (7) and a transmission system (for example rack-and-pinion, screw-nut, connecting rod-crank).
Antes de iniciar el movimiento de la rueda (3) delantera (o ruedas delanteras) hacia delante es ventajoso mover la plataforma (2) en dirección opuesta al movimiento de la rueda (3) delantera, en este caso, el centro de gravedad del dispositivo sería trasladado hacia las ruedas (3) traseras siendo más fácil para la rueda (3) delantera (o ruedas delanteras) lograr el movimiento hacia delante.Before starting the movement of the front wheel (3) (or front wheels) forward it is advantageous to move the platform (2) in the opposite direction to the movement of the front wheel (3), in this case, the center of gravity of the device It would be moved to the rear wheels (3), making it easier for the front wheel (3) (or front wheels) to achieve forward movement.
Antes de iniciar el movimiento de la rueda (3) delantera (o ruedas delanteras) hacia atrás es ventajoso mover la plataforma (2) en dirección opuesta al movimiento de la rueda (3) delantera, en este caso, el centro de gravedad del dispositivo sería trasladado hacia las ruedas (3) delanteras siendo más fácil para la rueda (3) trasera (o ruedas traseras) lograr el movimiento hacia delante. Adicionalmente, en este caso la máxima fuerza posible de fricción (fuerza útil) en la rueda (3) delantera aumentará.
Es ventajoso que el dispositivo para el trasporte de personas y/o cosas tenga al menos tres elementos mecánicos que giran alrededor de ejes (4). En este caso, es posible subir y bajar escalones (por ejemplo escaleras para subir a los pisos de un edificio o a un plano más elevado). El elemento mecánico que gira alrededor de un eje (4) está construido de manera que cada uno de ellos contiene tres elementos radiales (20) separados 120° entre sí, cada uno de los elementos radiales (20) contiene un eje (4) de rotación en el extremo, una rueda (3) con posibilidad de rotación alrededor de dicho eje (4) y un fijador (9).Before starting the movement of the front wheel (3) (or front wheels) backwards it is advantageous to move the platform (2) in the opposite direction to the movement of the front wheel (3), in this case, the center of gravity of the device It would be moved to the front wheels (3), making it easier for the rear wheel (3) (or rear wheels) to achieve forward movement. Additionally, in this case the maximum possible frictional force (useful force) in the front wheel (3) will increase. It is advantageous that the device for the transport of people and / or things has at least three mechanical elements that revolve around axes (4). In this case, it is possible to go up and down steps (for example stairs to go up to the floors of a building or to a higher plane). The mechanical element that rotates around an axis (4) is constructed so that each of them contains three radial elements (20) 120 ° apart from each other, each of the radial elements (20) contains an axis (4) of rotation at the end, a wheel (3) with the possibility of rotation around said axis (4) and a fastener (9).
Para subir escalones, es necesario realizar todos los pasos descritos hasta este punto. En este caso, cuando una de las ruedas (3) que conforman el elemento mecánico delantero tiene contacto con la parte vertical del escalón a ser ascendido, el elemento mecánico rota en dirección de las manecillas del reloj hasta que dos de las ruedas (3) del elemento mecánico se posiciones sobre el escalón. Esto es aplicable al elemento o elementos mecánicos delanteros. Un proceso similar es seguido por el elemento mecánico trasero (o elementos mecánicos traseros) cuando el cuerpo (1) del dispositivo es trasladado hacia delante.To climb steps, it is necessary to perform all the steps described up to this point. In this case, when one of the wheels (3) that make up the front mechanical element has contact with the vertical part of the step to be lifted, the mechanical element rotates clockwise until two of the wheels (3) The mechanical element is positioned on the step. This is applicable to the front mechanical element or elements. A similar process is followed by the rear mechanical element (or rear mechanical elements) when the body (1) of the device is moved forward.
Para bajar escalones, es necesario realizar todos los pasos descritos hasta este punto. En este caso, es necesario prevenir el movimiento automático que se genera gracias a la fuerza de gravedad (movimiento similar se obtiene cuando una plataforma baja un plano inclinado). Por lo tanto, es ventajoso que el dispositivo contemple un sistema de frenos conectado al sistema de control (8). El sistema de control (8) activará los frenos en las ruedas (3) que deben de estar sin ejecutar movimiento alguno, en esta fase del proceso de bajar escalones. En lugar de utilizar un sistema de frenos, es ventajoso utilizar un fijador (9) para dos direcciones o utilizar dos fijadores (9) para cada una de las direcciones al mismo tiempo.To go down steps, it is necessary to perform all the steps described up to this point. In this case, it is necessary to prevent the automatic movement that is generated thanks to the force of gravity (similar movement is obtained when a platform lowers an inclined plane). Therefore, it is advantageous for the device to contemplate a brake system connected to the control system (8). The control system (8) will activate the brakes on the wheels (3) that must be without executing any movement, at this stage of the stepping down process. Instead of using a brake system, it is advantageous to use a fastener (9) for two directions or use two fasteners (9) for each of the addresses at the same time.
DESCRIPCIÓN DE LOS DIBUJOS Para la mejor comprensión de cuanto queda escrito en esta memoria, se acompañan unos dibujos en los que, tan sólo a título de ejemplo, se representan casos prácticos de realización del dispositivo para el transporte de personas o cosas y el procedimiento para su control.
La figura 1 hace referencia al dispositivo para el transporte de personas y/o cosas con cuatro ruedas (3), dos de ellas conectadas al cuerpo (1) del dispositivo y las otras dos conectadas también al cuerpo (1) del dispositivo pero a través del elemento móvil (5). El dispositivo tiene dos motores (6 y 7) fijados al cuerpo (1), el motor (7) de la plataforma está cinemáticamente (sistema de transmisión tornillo-tuerca) conectado a la plataforma (2) y el motor (6) del elemento móvil está cinemáticamente (sistema de transmisión tornillo-tuerca) conectado al elemento móvil (5). En la figura también se observan los fijadores (9).DESCRIPTION OF THE DRAWINGS For the best understanding of what is written in this report, some drawings are attached in which, by way of example only, practical cases of realization of the device for the transport of people or things and the procedure for your control Figure 1 refers to the device for transporting people and / or things with four wheels (3), two of them connected to the body (1) of the device and the other two also connected to the body (1) of the device but through of the mobile element (5). The device has two motors (6 and 7) fixed to the body (1), the engine (7) of the platform is kinematically (screw-nut transmission system) connected to the platform (2) and the motor (6) of the element mobile is kinematically (screw-nut transmission system) connected to the mobile element (5). The figure also shows the fasteners (9).
La figura 2 muestra un ciclo de movimiento sobre una superficie plana. En la figura se observa como primero, a partir de una posición inicial, el elemento móvil (5) es colocado en la parte izquierda del cuerpo (1).Figure 2 shows a cycle of movement on a flat surface. In the figure it is observed as first, from an initial position, the mobile element (5) is placed in the left part of the body (1).
Se inicia el movimiento del dispositivo hacia adelante, en este momento es necesario conectar los fijadores (9) para cada rueda (3) de manera tal que no sea posible que las ruedas (3) realicen un movimiento en dirección contraria a las manecillas del reloj; las ruedas (3) sólo pueden girar en la dirección de las manecillas del reloj.Forward movement of the device is initiated, at this time it is necessary to connect the fasteners (9) for each wheel (3) in such a way that it is not possible for the wheels (3) to make a counterclockwise movement. ; The wheels (3) can only turn clockwise.
Con la ayuda del motor (6) del elemento móvil a través del sistema de transmisión tornillo -tuerca, el elemento móvil (5) realiza un movimiento hacia adelante, en ese instante las rueda s (3) delanteras rota n en dirección a las manecillas del reloj y las ruedas (3) traseras no ejecuta ningún movimiento de rotación. Luego, el motor (7) de la plataforma mueve la plataforma (2) hacia adelante, es decir hacia la parte derecha del dispositivo.With the help of the motor (6) of the movable element through the screw-nut transmission system, the movable element (5) makes a forward movement, at that moment the front wheels (3) rotate in the direction of the hands of the clock and the rear wheels (3) does not execute any rotation movement. Then, the platform motor (7) moves the platform (2) forward, that is to the right side of the device.
Luego, con el motor (6) del elemento móvil se mueve en dirección contraria. Dado que las ruedas (3) delanteras no pueden rotar en dirección contraria a la dirección de las manecillas del reloj, las ruedas (3) delanteras no ejecuta movimiento alguno y son las ruedas (3) traseras las que realizan un movimiento giratorio en dirección de las manecillas del reloj. Por tanto, el cuerpo (1) del dispositivo realiza un movimiento hacia adelante.
Para continuar el movimiento hacia adelante, la plataforma (2) es colocada en la parte izquierda del dispositivo, volviendo de esta forma a la posición inicial.Then, with the motor (6) the moving element moves in the opposite direction. Since the front wheels (3) cannot rotate in the opposite direction to the clockwise direction, the front wheels (3) do not perform any movement and it is the rear wheels (3) that make a rotating movement in the direction of clock hands. Therefore, the body (1) of the device performs a forward movement. To continue the forward movement, the platform (2) is placed on the left side of the device, thus returning to the initial position.
La figura 3 muestra un fijador (9) en dos direcciones. En la figura se observa como en la base del fijador (26) es colocado un electroimán (17), también se puede observar la parte (18) que interactúa con el imán del fijador. Entre la base del fijador (26) y la parteFigure 3 shows a fastener (9) in two directions. The figure shows how an electromagnet (17) is placed on the base of the fixator (26), the part (18) that interacts with the fixator magnet can also be observed. Between the base of the fixator (26) and the part
(18) que interactúa con el imán del fijador está colocado un elemento elástico (16), cuya función es las de mover la parte (18) que interactúa con el imán del fijador hacia abajo cuando el electroimán (17) no tiene voltaje. En la figura también se observa la rueda (3) y la parte (19) de respuesta del fijador, esta parte esta fijada a la rueda (3) y comparten un mismo eje (4).(18) that interacts with the magnet of the fixator is placed an elastic element (16), whose function is to move the part (18) that interacts with the magnet of the fixator down when the electromagnet (17) has no voltage. The figure also shows the wheel (3) and the response part (19) of the fixator, this part is fixed to the wheel (3) and share the same axle (4).
La figura 4 muestra un fijador (9) compuesto por dos fijadores independientes capaces de actuar en una dirección; los fijadores actúan en una dirección pero contrarias entre sí, en este caso es posible prevenir el giro en ambas direcciones, el giro en sólo una dirección o permitir el giro en ambas direcciones.Figure 4 shows a fastener (9) composed of two independent fasteners capable of acting in one direction; the fasteners act in one direction but contrary to each other, in this case it is possible to prevent the turn in both directions, the turn in only one direction or allow the turn in both directions.
La figura 5 hace referencia al dispositivo para el transporte de personas y/o cosas con cuatro elementos mecánicos que giran alrededor de ejes (4). Cada uno de estos elementos contiene tres elementos radiales (20) con ejes (4) en su extremo. Cada eje (4) del extremo está unido a una rueda (3), cada una de estas ruedas (3) tiene un fijador (9) asociado a ella y la base (26) de cada uno de estos fijadores está conectada a su respectivo elemento radial (20). Esta configuración es especialmente útil para subir y bajar escalones (por ejemplo escaleras para subir a los pisos de un edificio o a un plano más elevado).Figure 5 refers to the device for transporting people and / or things with four mechanical elements that revolve around shafts (4). Each of these elements contains three radial elements (20) with axes (4) at their end. Each axle (4) of the end is attached to a wheel (3), each of these wheels (3) has a fastener (9) associated with it and the base (26) of each of these fasteners is connected to their respective radial element (20). This configuration is especially useful for going up and down steps (for example stairs to go up to the floors of a building or to a higher plane).
La figura 6 muestra una vista en planta superior del dispositivo para el transporte de personas y/o cosas con plataforma (2). En la figura también se observa una transmisión de tipo biela-manivela para el movimiento de la plataforma (2). El movimiento de la plataforma (2) es más favorable si se compara con el caso de coeficiente de transmisión constante, ya que, cuando la plataforma (2) se encuentra en posición cercana a inicial y final, el valor del coeficiente de transmisión es alto (gran aceleración) y cuando la
plataforma (2) se encuentra en posición cercana a intermedio el valor del coeficiente de transmisión es bajo (gran velocidad).Figure 6 shows a top plan view of the device for transporting people and / or things with platform (2). The figure also shows a crank-crank type transmission for the movement of the platform (2). The movement of the platform (2) is more favorable when compared with the case of constant transmission coefficient, since, when the platform (2) is in the near to initial and final position, the value of the transmission coefficient is high (great acceleration) and when the platform (2) is in the near to intermediate position the value of the transmission coefficient is low (high speed).
La figura 7 muestra el dispositivo para el transporte de personas y/o cosas con transmisión manivela-corredera y correa-polea entre el motor (6) del elemento móvil y el elemento móvil (5). La transmisión manivela-corredera tiene la capacidad de trabajar con dos diferentes coeficientes de transmisión (ver Patente ES 2 195 792), en este caso es ventajoso utilizar un coeficiente de transmisión alto cuando sea necesario mover el elemento móvil (5) y es ventajoso utilizar un coeficiente de transmisión bajo cuando sea necesario mover el cuerpo (1) del dispositivo. En caso de evadir obstáculos, subir y bajar escalones (por ejemplo escaleras para subir a los pisos de un edificio o a un plano más elevado) u otras situaciones especiales, es posible utilizar un coeficiente de transmisión bajo cuando sea necesario mover el elemento móvil (5) y utilizar un coeficiente de transmisión alto cuando sea necesario mover el cuerpo (1) del dispositivo.Figure 7 shows the device for transporting people and / or things with crank-slide transmission and belt-pulley between the motor (6) of the mobile element and the mobile element (5). The crank-slide transmission has the ability to work with two different transmission coefficients (see Patent ES 2 195 792), in this case it is advantageous to use a high transmission coefficient when it is necessary to move the mobile element (5) and it is advantageous to use a low transmission coefficient when it is necessary to move the body (1) of the device. In case of evading obstacles, going up and down steps (for example stairs to go up to the floors of a building or to a higher plane) or other special situations, it is possible to use a low transmission coefficient when it is necessary to move the moving element (5 ) and use a high transmission coefficient when it is necessary to move the body (1) of the device.
La figura 8 muestra el dispositivo para el transporte de personas y/o cosas subiendo escalones. La figura hace referencia al dispositivo para el transporte de personas y/o cosas con cuatro elementos mecánicos que giran alrededor de ejes (4).Figure 8 shows the device for transporting people and / or things up stairs. The figure refers to the device for transporting people and / or things with four mechanical elements that revolve around axes (4).
Lista de designacionesList of designations
1. Cuerpo1. Body
2. Plataforma2. Platform
3. Rueda 4. Eje3. Wheel 4. Axle
5. Elemento móvil5. Mobile element
6. Motor del elemento móvil6. Motor of the moving element
7. Motor de la plataforma7. Platform engine
8. Sistema de control 9. Fijador8. Control system 9. Fixer
10. Elemento de trabajo10. Work item
11. Eje de rotación adicional11. Additional rotation axis
12. Polea
13. Polea pasiva12. Pulley 13. Passive pulley
14. Corredera (deslizador)14. Slider (slider)
15. Manivela15. Crank
16. Elemento elástico 17. Electroimán16. Elastic element 17. Electromagnet
18. Parte que interactúa con el imán del fijador18. Part that interacts with the fixator magnet
19. Parte de respuesta del fijador19. Fixer response part
20. Elemento radial20. Radial element
21. Guía 22. Biela21. Guide 22. Connecting rod
23. Dedo23. Finger
24. Bisagra24. Hinge
25. Correa de transmisión25. Drive belt
26. Base del fijador 27. Tornillo de transmisión tornillo -tuerca26. Fixer base 27. Screw-nut transmission screw
MODOS DE REALIZACIÓN DE LA INVENCIÓN.EMBODIMENTS OF THE INVENTION
La presente invención se ilustra adicionalmente con los siguientes ejemplos, los cuales no pretenden ser limitativos de su alcance.The present invention is further illustrated by the following examples, which are not intended to be limiting in scope.
Ejemplo 1Example 1
Se tiene un dispositivo para el transporte de personas y/o cosas con cuatro ruedas (3), dos de ellas conectadas al cuerpo (1) del dispositivo y las otras dos conectadas también al cuerpo (1) del dispositivo pero a través del elemento móvil (5). El dispositivo tiene dos motores (6 y 7) fijados al cuerpo (1), el motor (7) de la plataforma está cinemáticamente (sistema de transmisión tornillo -tuerca) conectado a la plataforma (2) y el motor (6) del elemento móvil está cinemáticamente (sistema de transmisión tornillo -tuerca) conectado al elemento móvil (5). El dispositivo tiene fijadores (9) en una y otra dirección para todas las ruedas (3).There is a device for transporting people and / or things with four wheels (3), two of them connected to the body (1) of the device and the other two also connected to the body (1) of the device but through the mobile element (5). The device has two motors (6 and 7) attached to the body (1), the engine (7) of the platform is kinematically (screw-nut transmission system) connected to the platform (2) and the motor (6) of the element Mobile is kinematically (screw-nut transmission system) connected to the mobile element (5). The device has fasteners (9) in both directions for all wheels (3).
Para ejecuta un ciclo de movimiento sobre una superficie plana, primero, a partir de una posición inicial, el elemento móvil (5) es colocado en la parte izquierda del cuerpo (1).
Con la ayuda del motor (6) del elemento móvil a través del sistema de transmisión tornillo -tuerca, el elemento móvil (5) realiza un movimiento hacia adelante en ese instante las ruedas (3) delanteras rotan en dirección a las manecillas del reloj y las ruedas (3) traseras no ejecutan ningún movimiento de rotación. Al mismo tiempo el sistema de control (8) calcula el ángulo de rotación del motor (6) del elemento móvil. Cuando este ángulo es igual a 2100°, el sistema de control (8) detendrá el motor (6) del elemento móvil. Luego, el sistema de control (8) mueve el motor (6) del elemento móvil en dirección contraria y calcula el ángulo de rotación del motor (6) del elemento móvil. Cuando el ángulo es igual al 2100°, el sistema de control (8) detendrá el motor (6) del elemento móvil. Dado que las ruedas (3) delanteras no pueden rotar en dirección contraria a la dirección de las manecillas del reloj, las ruedas (3) delanteras no ejecutan movimiento alguno. El cuerpo (1) del dispositivo realiza un movimiento hacia adelante y las ruedas (3) traseras giran en dirección de las manecillas del reloj.To execute a cycle of movement on a flat surface, first, from an initial position, the moving element (5) is placed on the left part of the body (1). With the help of the motor (6) of the movable element through the screw-nut transmission system, the movable element (5) makes a forward movement at that moment the front wheels (3) rotate in a clockwise direction and the rear wheels (3) do not execute any rotation movement. At the same time the control system (8) calculates the angle of rotation of the motor (6) of the mobile element. When this angle is equal to 2100 °, the control system (8) will stop the motor (6) of the moving element. Then, the control system (8) moves the motor (6) of the mobile element in the opposite direction and calculates the angle of rotation of the motor (6) of the mobile element. When the angle is equal to 2100 °, the control system (8) will stop the motor (6) of the moving element. Since the front wheels (3) cannot rotate counterclockwise, the front wheels (3) do not perform any movement. The body (1) of the device performs a forward movement and the rear wheels (3) rotate clockwise.
En este punto un ciclo de movimiento hacia adelante ha sido concluido. Por tanto, cualquier otro ciclo de movimiento hacia adelante es llevado acabo de la misma forma y siguiendo los mismos pasos. Si se desea realizar un movimiento hacia atrás los fijadores (9) estarán colocados para cada rueda (3) de forma tal que las ruedas (3) no puedan girar en dirección de las manecillas del reloj; las ruedas (3) sólo pueden girar en la dirección contraria a la de las manecillas del reloj.
At this point a cycle of forward movement has been concluded. Therefore, any other forward movement cycle is carried out in the same way and following the same steps. If it is desired to make a backward movement the fasteners (9) will be placed for each wheel (3) so that the wheels (3) cannot turn clockwise; The wheels (3) can only turn in the opposite direction to the clockwise.
Claims
1. Dispositivo para el transporte de personas y/o cosas, compuesto por un cuerpo (1), una plataforma (2) destinada a la carga y conectada al cuerpo (1) del dispositivo, varios ejes (4) conectados al cuerpo (1) del dispositivo, varias ruedas (3) conectadas a los ejes (4) con posibilidad de rotación alrededor de ellos, un sistema de control (8) y al menos un motor conectado al sistema de control (8), y que se caracteriza porque la conexión de al menos uno de los ejes (4) con el cuerpo (1) del dispositivo se realiza a través de un elemento móvil (5) que permite la traslación relativa del eje (4) con respecto al cuerpo (1) y que se encuentra cinemáticamente conectado a un motor (6) fijado en el cuerpo (1) del dispositivo, y porque además cada una de las ruedas (3) contiene un elemento fijador (9) conectado al sistema de control (8) que impide la rotación de las mismas alrededor de sus ejes (4) respectivos.1. Device for transporting people and / or things, consisting of a body (1), a platform (2) for loading and connected to the body (1) of the device, several axes (4) connected to the body (1 ) of the device, several wheels (3) connected to the axles (4) with the possibility of rotation around them, a control system (8) and at least one motor connected to the control system (8), and characterized in that the connection of at least one of the axes (4) with the body (1) of the device is made through a mobile element (5) that allows the relative translation of the axis (4) with respect to the body (1) and that It is kinematically connected to a motor (6) fixed on the body (1) of the device, and because each of the wheels (3) also contains a fixing element (9) connected to the control system (8) that prevents rotation thereof around their respective axes (4).
2. Dispositivo para el transporte de personas o cosas según la reivindicación 1, que se caracteriza porque la plataforma (2) destinada a la carga se encuentra conectada al cuerpo (1) del dispositivo con posibilidad de traslación sobre el mismo gracias a un motor (7) fijado en el cuerpo (1) del dispositivo y conectado cinemáticamente con la plataforma (2).2. Device for transporting people or things according to claim 1, characterized in that the platform (2) intended for loading is connected to the body (1) of the device with the possibility of transfer over it thanks to a motor ( 7) fixed on the body (1) of the device and connected kinematically with the platform (2).
3. Dispositivo para el transporte de personas o cosas según la reivindicación 1, 2, que se caracteriza porque la conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil está realizada con un sistema de transmisión piñón- cremallera, de tal manera que el piñón está fijado al eje del motor (6), y la cremallera está fijada en el elemento móvil (5).3. Device for transporting people or things according to claim 1, 2, characterized in that the kinematic connection between the mobile element (5) and the motor (6) of the mobile element is made with a rack-and-pinion transmission system , such that the pinion is fixed to the motor shaft (6), and the rack is fixed in the movable element (5).
4. Dispositivo para el transporte de personas o cosas según la reivindicación 1, 2, que se caracteriza porque la conexión cinemática entre la plataforma (2) destinada a la carga y el motor (7) de la plataforma está realizada con un sistema de transmisión piñón-cremallera, de tal manera que el piñón está fijado al eje del motor (7), y la cremallera está fijada a la plataforma (2).4. Device for transporting people or things according to claim 1, 2, characterized in that the kinematic connection between the platform (2) intended for loading and the engine (7) of the platform is made with a transmission system rack-and-pinion, such that the pinion is fixed to the motor shaft (7), and the rack is fixed to the platform (2).
5. Dispositivo para el transporte de personas o cosas según la reivindicación 1, 2, que se caracteriza porque la conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil está realizada con un sistema de transmisión biela- manivela, de tal manera que la biela (22) está conectada de forma articulada con el elemento móvil (5) y la manivela (15) está fijada al eje del motor (6). 5. Device for transporting people or things according to claim 1, 2, characterized in that the kinematic connection between the mobile element (5) and the motor (6) of the mobile element is made with a crank-hand transmission system , such that the connecting rod (22) is connected in an articulated manner with the mobile element (5) and the crank (15) is fixed to the motor shaft (6).
6. Dispositivo para el transporte de personas o cosas según la reivindicación 1, 2, que se caracteriza porque la conexión cinemática entre la plataforma (2) destinada a la carga y el motor (7) de la plataforma está realizada con un sistema de transmisión biela- manivela, de tal manera que la biela (22) está conectada de forma articulada con la plataforma (2) y la manivela (15) está fijada al eje del motor (7).6. Device for transporting people or things according to claim 1, 2, characterized in that the kinematic connection between the platform (2) intended for loading and the engine (7) of the platform is made with a transmission system connecting rod, in such a way that the connecting rod (22) is connected in an articulated way with the platform (2) and the crank (15) is fixed to the motor shaft (7).
7. Dispositivo para el transporte de personas o cosas según la reivindicación 1, 2, que se caracteriza porque la conexión cinemática entre el elemento móvil (5) y el motor (6) del elemento móvil contiene un sistema de transmisión manivela-corredera.7. Device for transporting people or things according to claim 1, 2, characterized in that the kinematic connection between the mobile element (5) and the motor (6) of the mobile element contains a crank-sliding transmission system.
8. Dispositivo para el transporte de personas o cosas según la reivindicación 7, que se caracteriza porque contiene un eje de rotación adicional (11) que está conectado con el cuerpo (1) del dispositivo y con posibilidad de rotación, un elemento de trabajo (10) y un sistema de transmisión piñón-cremallera, de tal forma que el elemento de trabajo (10) y el piñón del sistema de transmisión están fijados en el eje de rotación adicional (11) y la cremallera del sistema de transmisión está fijada en el elemento móvil (5), y con la manivela (15) del sistema de transmisión manivela-corredera fijada al eje de motor, y la corredera (14) del sistema de transmisión manivela-corredera conectada con el elemento de trabajo (10).8. Device for transporting people or things according to claim 7, characterized in that it contains an additional axis of rotation (11) that is connected to the body (1) of the device and with the possibility of rotation, a work element ( 10) and a rack-and-pinion transmission system, so that the work element (10) and the pinion of the transmission system are fixed on the additional rotation axis (11) and the rack of the transmission system is fixed at the mobile element (5), and with the crank (15) of the crank-slide transmission system fixed to the motor shaft, and the slide (14) of the crank-slide transmission system connected to the work element (10).
9. Dispositivo para el transporte de personas o cosas según la reivindicación 7, que se caracteriza porque contiene un eje de rotacional adicional (11) conectado con el cuerpo (1) del dispositivo y con posibilidad de rotación, una correa (25) circular, una polea (12) y varias poleas pasivas (13) de tal forma que el elemento de trabajo (10) y la polea (12) están fijados al eje de rotación adicional (11), la correa (25) circular está fijada en elemento móvil (5) y conectada a la polea (12) a través de las poleas pasivas (13) y la manivela (15) del sistema de transmisión manivela-corredera está fijada al eje del motor (6), y conectada de forma articulada con la corredera (14), la cual está colocada con posibilidad del deslizamiento a lo largo del elemento de trabajo (10).9. Device for transporting people or things according to claim 7, characterized in that it contains an additional rotational axis (11) connected to the body (1) of the device and with the possibility of rotation, a circular belt (25), a pulley (12) and several passive pulleys (13) such that the work element (10) and the pulley (12) are fixed to the additional rotation axis (11), the circular belt (25) is fixed in element movable (5) and connected to the pulley (12) through the passive pulleys (13) and the crank (15) of the crank-slide transmission system is fixed to the motor shaft (6), and connected in an articulated way with the slide (14), which is positioned with the possibility of sliding along the work element (10).
10. Dispositivo para el transporte de personas o cosas según la reivindicación 1-9, que se caracteriza porque el sistema de control (8) contiene un sensor en cada uno de los motores para la medición de la posición angular. 10. Device for transporting people or things according to claim 1-9, characterized in that the control system (8) contains a sensor in each of the motors for measuring angular position.
11. Dispositivo para el transporte de personas o cosas según la reivindicación 1-10, que se caracteriza porque todos los elementos fijadores (9) tienen la posibilidad de prevenir la rotación de las ruedas (3) en una u otra dirección independientemente. 11. Device for transporting people or things according to claim 1-10, characterized in that all fixing elements (9) have the possibility of preventing the rotation of the wheels (3) in one direction or another independently.
12. Dispositivo para el transporte de personas o cosas según la reivindicación 1-11, que se caracteriza porque tiene elementos mecánicos que giran alrededor de ejes (4), de manera que cada una de los elementos mecánicos contiene tres elementos radiales (20) separados 120° entre sí y cada uno de los elementos radiales (20) contiene un eje (4) de rotación en el extremo, una rueda (3) co n posibilidad de rotación alrededor de dicho eje (4) y un fijador.12. Device for transporting people or things according to claim 1-11, characterized in that it has mechanical elements that revolve around axes (4), so that each of the mechanical elements contains three separate radial elements (20) 120 ° to each other and each of the radial elements (20) contains an axis (4) of rotation at the end, a wheel (3) with the possibility of rotation around said axis (4) and a fixator.
13. Procedimiento para el control del dispositivo según las reivindicaciones 1-12, que se caracteriza por el hecho de que para el movimiento del dispositivo en una dirección: - el sistema de control (8) conecta los elementos fijadores de todas las ruedas (3) de tal forma que se evita la rotación de las mismas en la dirección opuesta.13. Procedure for the control of the device according to claims 1-12, characterized in that for the movement of the device in one direction: - the control system (8) connects the fasteners of all wheels (3 ) in such a way that their rotation in the opposite direction is avoided.
- el motor (6) mueve el elemento móvil en la misma dirección en la que se desea mover el dispositivo- the motor (6) moves the moving element in the same direction in which it is desired to move the device
- se realiza la medición de la posición angular del motor (6) del elemento móvil con la ayuda de un sensor- the measurement of the angular position of the motor (6) of the mobile element is carried out with the help of a sensor
- el sistema de control (8) detiene el motor (6) del elemento móvil en el momento en el que su posición angular es igual a un valor definido de antemano.- the control system (8) stops the motor (6) of the mobile element at the moment when its angular position is equal to a value defined in advance.
- el motor (6) mueve el elemento móvil (5) en dirección opuesta- the motor (6) moves the moving element (5) in the opposite direction
- se realiza la medición de la posición angular del motor (6) del elemento móvil con la ayuda de un sensor- the measurement of the angular position of the motor (6) of the mobile element is carried out with the help of a sensor
- el sistema de control (8) finaliza este movimiento en el momento en que el motor (6) ha recorrido el mismo ángulo fijado de antemano en valor absoluto.- the control system (8) ends this movement at the moment when the motor (6) has traveled the same angle set beforehand in absolute value.
14. Procedimiento para el control del dispositivo según las reivindicaciones 1-13, que se caracteriza por el hecho de que: - antes de realizar el movimiento del elemento móvil (5) en la dirección definida, el motor (7) mueve la plataforma (2) en dirección opuesta a la dirección en la que se desea mover el dispositivo14. Method for controlling the device according to claims 1-13, characterized in that: - before moving the moving element (5) in the defined direction, the motor (7) moves the platform ( 2) in the opposite direction to the direction in which you want to move the device
- se realiza la medición de la posición angular del motor (7) de la plataforma con la ayuda de un sensor - el sistema de control (8) detiene el motor (7 ) de la plataforma en el momento en el que su posición angular es igual a un valor definido de antemano. - Antes de realizar el movimiento del elemento móvil (5) en dirección opuesta, el motor (7) mueve la plataforma (2) en la misma dirección en la que se desea mover el dispositivo.- Measurement of the angular position of the motor (7) of the platform is carried out with the help of a sensor - the control system (8) stops the motor (7) of the platform at the moment when its angular position is equal to a value defined beforehand. - Before moving the moving element (5) in the opposite direction, the motor (7) moves the platform (2) in the same direction in which you want to move the device.
- se realiza la medición de la posición angular del motor (7) de la plataforma con la ayuda de un sensor- the measurement of the angular position of the motor (7) of the platform is carried out with the help of a sensor
- el sistema de control (8) detiene el motor (7) de la plataforma en el momento en el que su posición angular es igual a un valor absoluto definido de antemano.- the control system (8) stops the engine (7) from the platform at the moment when its angular position is equal to an absolute value defined in advance.
15. Procedimiento para el control del dispositivo según las reivindicaciones 1-13, que se caracteriza por el hecho de que al menos en parte de la trayectoria15. Procedure for controlling the device according to claims 1-13, characterized in that at least part of the trajectory
- el motor (6) mueve el elemento móvil en la dirección definida de antemano por medio de un sistema de transmisión manivela-corredera, de tal forma, que la manivela (15) gira en la misma dirección de rotación que las manecillas de un reloj.- the motor (6) moves the moving element in the direction defined in advance by means of a crank-sliding transmission system, such that the crank (15) rotates in the same direction of rotation as the hands of a clock .
- completado el movimiento anterior, el motor (6) mueve el elemento móvil (5) en la dirección opuesta por medio de un sistema de transmisión manivela- corredera, de tal forma, que la manivela (15) gira en dirección opuesta a la dirección de rotación de las manecillas de un reloj.- having completed the previous movement, the motor (6) moves the mobile element (5) in the opposite direction by means of a crank-sliding transmission system, such that the crank (15) turns in the opposite direction to the direction of rotation of the hands of a clock.
16. Procedimiento para el control del dispositivo según las reivindicaciones 1-13, que se caracteriza por el hecho de que al menos en parte de la trayectoria - el motor (6) mueve el elemento móvil (5) en la dirección definida de antemano por medio de un sistema de transmisión manivela-corredera, de tal forma, que la manivela (15) gira en la misma dirección de rotación que las manecillas de un reloj.16. Method for controlling the device according to claims 1-13, characterized in that at least part of the path - the motor (6) moves the moving element (5) in the direction defined in advance by means of a crank-sliding transmission system, such that the crank (15) rotates in the same direction of rotation as the hands of a clock.
- completado el movimiento anterior, el motor (6) mueve el elemento móvil (5) en la dirección opuesta por medio de un sistema de transmisión manivela- corredera, de tal forma, que la manivela (15) gira en la misma dirección de rotación que las manecillas de un reloj.- having completed the previous movement, the motor (6) moves the mobile element (5) in the opposite direction by means of a crank-sliding transmission system, such that the crank (15) rotates in the same direction of rotation Than the hands of a clock.
17. Procedimiento para el control del dispositivo según las reivindicaciones 1-13, que se caracteriza por el hecho de que al menos en parte de la trayectoria:17. Procedure for controlling the device according to claims 1-13, characterized in that at least part of the path:
- el motor (6) mueve el elemento móvil (5) en la dirección definida de antemano por medio de un sistema de transmisión manivela-corredera, de tal forma, que la manivela (15) gira en dirección opuesta a la dirección de rotación de las manecillas de un reloj. Completado el movimiento anterior, el motor (6) mueve el elemento móvil (5) en la dirección opuesta por medio de un sistema de transmisión manivela-corredera, de tal forma, que la manivela (15) gira en dirección opuesta a la dirección de rotación de las manecillas de un reloj. - the motor (6) moves the mobile element (5) in the direction defined in advance by means of a crank-sliding transmission system, such that the crank (15) rotates in the opposite direction to the direction of rotation of The hands of a clock. Once the previous movement is completed, the motor (6) moves the moving element (5) in the opposite direction by means of a crank-sliding transmission system, so that the crank (15) turns in the opposite direction to the direction of clockwise rotation.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200503060A ES2277777B1 (en) | 2005-12-13 | 2005-12-13 | DEVICE FOR THE TRANSPORT OF PERSONS OR THINGS AND THE PROCEDURE FOR THEIR CONTROL. |
ESP200503060 | 2005-12-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007068780A1 true WO2007068780A1 (en) | 2007-06-21 |
Family
ID=38162596
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2006/070185 WO2007068780A1 (en) | 2005-12-13 | 2006-11-29 | Device for transporting persons or objects and method for controlling same |
Country Status (2)
Country | Link |
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ES (1) | ES2277777B1 (en) |
WO (1) | WO2007068780A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106080725A (en) * | 2016-08-24 | 2016-11-09 | 安庆师范学院 | A kind of adaptive mechanical power-assisted climb building dolly |
US20210122188A1 (en) * | 2018-05-16 | 2021-04-29 | Mitsubishi Electric Corporation | Mobile carriage |
CN114030517A (en) * | 2021-11-16 | 2022-02-11 | 贵州电网有限责任公司 | SF6 gas cylinder transport trolley capable of climbing stairs |
Citations (6)
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US3907138A (en) * | 1973-07-02 | 1975-09-23 | Woodward Mfg & Sales Co | Power control hand truck |
EP0193473A1 (en) * | 1985-01-31 | 1986-09-03 | Pierre Brunet | Motorized transporting device, for example for climbing and descending stairs |
JPH0751319A (en) * | 1993-08-19 | 1995-02-28 | Hisato Aramaki | Climbing motorized wheelchair |
WO2004062991A1 (en) * | 2003-01-09 | 2004-07-29 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
ES2244343A1 (en) * | 2004-05-31 | 2005-12-01 | Consejo Sup. Investig. Cientificas | Quadruped robot for technological processes |
US20060151218A1 (en) * | 2005-01-10 | 2006-07-13 | Michael Goren | Stair-climbing human transporter |
-
2005
- 2005-12-13 ES ES200503060A patent/ES2277777B1/en not_active Expired - Fee Related
-
2006
- 2006-11-29 WO PCT/ES2006/070185 patent/WO2007068780A1/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3907138A (en) * | 1973-07-02 | 1975-09-23 | Woodward Mfg & Sales Co | Power control hand truck |
EP0193473A1 (en) * | 1985-01-31 | 1986-09-03 | Pierre Brunet | Motorized transporting device, for example for climbing and descending stairs |
JPH0751319A (en) * | 1993-08-19 | 1995-02-28 | Hisato Aramaki | Climbing motorized wheelchair |
WO2004062991A1 (en) * | 2003-01-09 | 2004-07-29 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
ES2244343A1 (en) * | 2004-05-31 | 2005-12-01 | Consejo Sup. Investig. Cientificas | Quadruped robot for technological processes |
US20060151218A1 (en) * | 2005-01-10 | 2006-07-13 | Michael Goren | Stair-climbing human transporter |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106080725A (en) * | 2016-08-24 | 2016-11-09 | 安庆师范学院 | A kind of adaptive mechanical power-assisted climb building dolly |
US20210122188A1 (en) * | 2018-05-16 | 2021-04-29 | Mitsubishi Electric Corporation | Mobile carriage |
CN114030517A (en) * | 2021-11-16 | 2022-02-11 | 贵州电网有限责任公司 | SF6 gas cylinder transport trolley capable of climbing stairs |
Also Published As
Publication number | Publication date |
---|---|
ES2277777B1 (en) | 2008-06-16 |
ES2277777A1 (en) | 2007-07-16 |
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