CN110448417A - Obstacle crossing trolley and working method thereof - Google Patents

Abstract

The invention relates to an obstacle crossing trolley and a working method thereof, and the obstacle crossing trolley comprises a sliding base, wherein the front side and the rear side of the lower end of the sliding base are respectively connected with two staggered electric push rods through gear components, the electric push rods can rotate along with the rotation of the gear components, and the lower ends of the two electric push rods are respectively provided with a trundle; the obstacle crossing trolley is characterized in that a seat is connected to the upper portion of the sliding base in a sliding mode, a front electric push rod is arranged at the front end of the seat and rotates under the driving of a driving gear, front casters are arranged at the lower end of the front electric push rod, and the obstacle crossing trolley is simple in structure, safe and convenient.

Description

An obstacle-crossing vehicle and its working method

technical field

The invention relates to the field of electric vehicles, and relates to an obstacle-crossing trolley and a working method thereof.

Background technique

The current electric vehicles are small, flexible and convenient, and are widely used by people as a means of transportation. However, no electric vehicles with the function of climbing steps have been widely used in people's daily life, especially for the disabled or those with limited mobility. Electric wheelchairs are also particularly needed. Up and down steps, functions, but conventional wheelchairs have poor adaptability and mobility. If they encounter complex road conditions such as up and down steps, stairs, obstacles, etc., it will be difficult for wheelchairs to pass. Although there are some experimental stage obstacle-crossing wheelchairs and some obstacle-crossing robots, the structure of the obstacle-crossing wheelchairs we have seen is very complicated and not practical, and the obstacle-crossing robots are only conceptual and cannot carry people. The object really realizes the passage of obstacles up and down the stairs.

Contents of the invention

In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an obstacle-crossing vehicle and its working method, which is not only simple and reasonable in structure, but also safe in use and low in cost.

In order to solve the above technical problems, the technical solution of the present invention is: an obstacle-crossing trolley, including a sliding base, the front and rear sides of the lower end of the sliding base are respectively connected with two staggered electric push rods through gear assemblies, and the electric push rods can As the gear assembly rotates, casters are provided at the lower ends of the two electric push rods; a seat is slidingly connected above the sliding base, and a front electric push rod is arranged at the front end of the seat, and the front electric push rod is driven to rotate through a driving gear , the lower end of the front electric push rod is provided with front casters.

Further, the two electric push rods directly below the sliding base can be divided into a middle electric push rod and a rear electric push rod according to the connection with different casters below, the middle electric push rod is arranged at the left rear of the lower end of the sliding base, and the The rear electric push rod is arranged on the right front of the lower end of the sliding base, and the two electric push rods drive the two gear assemblies to rotate through two motors respectively and then drive the electric push rods to rotate.

Further, the two motors are fixedly connected to the lower end of the sliding base, and are respectively arranged beside the middle electric push rod and the rear electric push rod. The motor shafts are connected with driving gears, and the upper end of each electric push rod is connected to the sliding base through two connecting plates. The bases are connected, and a gear shaft is horizontally pierced between the two connecting plates. The end of the gear shaft close to the motor is connected with a driven gear, and the driven gears are all meshed with the driving gear.

Further, the left and right sides of the sliding base are fixed with sliding rails extending forward and backward, the upper seat is used as a slider to slide with the sliding rail, and the upper surface of the sliding base is provided with an installation groove, and the installation groove extends forward to the head, and the installation groove A fourth electric push rod is fixed inside, the rear end of the fourth electric push rod is fixedly connected with the rear end of the installation groove, and the front end is fixedly connected with a fixed rod fixed at the lower end of the seat.

Further, a driving motor is fixedly connected under the front end of the seat. The driving mode of the driving motor is the same as that of the above two motors. It is also connected to the front gear shaft through the driving driving gear and the driven driving gear. The front gear shaft extends left and right. To both sides of the seat, the middle part of the gear shaft is fixedly connected with the upper end of the front electric push rod.

Further, the casters include front casters, middle casters and rear casters according to their positions. There are two front casters, middle casters and rear casters, and the two casters are connected by connecting rods. The connecting rod is connected.

Further, a pedal is fixed on the front end surface of the front electric push rod.

Further, the front electric push rod, the middle electric push rod, the rear electric push rod, the fourth electric push rod, the motor and the drive motor are all electrically connected to a controller.

A working method of an obstacle-crossing trolley, which is carried out according to the following steps: (1) When the trolley encounters a step, first the controller controls the drive motor to work, the active drive gear drives the driven drive gear to rotate, and then drives the front electric push rod clockwise Rotate to the same height as the step, and then control the front electric push rod to push forward, which will drive the front caster to move forward to contact the upper surface of the step, and then control the action of the fourth electric push rod to push the seat forward horizontally; (2) Then the controller controls the motor at the rear end of the sliding base to work, and through the driving gear and the driven gear, the driving middle electric push rod is rotated clockwise to the level, and then the middle electric push rod is controlled to push forward, so that the middle casters move to the steps; (3 ) Then control the middle casters and rear casters to make the trolley move forward for a certain distance to ensure that the center of gravity of the trolley is above the steps; (4) After the trolley is stable, control the motor at the front end of the sliding base to drive the rear electric pusher through the driving gear and driven gear. The rod rotates counterclockwise to the level; (5) The controller controls the rotation of the middle casters to make the trolley move forward, and when the rear casters move forward to the steps, the trolley stops moving forward; (6) Controls the fourth electric push rod to return to drive Slide the seat directly above the sliding base, and then adjust the motor rotation direction so that the middle electric push rod rotates counterclockwise, and the rear electric push rod rotates clockwise, driving the sliding base and the seat to lift, and finally controlling the driving motor to rotate in the opposite direction, and the front electric push rod rotates counterclockwise. The push rod rotates counterclockwise, and the front electric push rod retracts, that is, it returns to the state of walking on flat roads.

Compared with the prior art, the present invention has the following beneficial effects: the effective combination control of the motor and the electric push rod by the controller ensures that the trolley can easily overcome obstacles up and down 1-3 steps, and the two electric push rods The rotation also effectively realizes that the seat can be raised and lowered, ensuring that the disabled or the disabled can take the elevated objects while sitting. This kind of obstacle-crossing trolley is not only simple and reasonable in structure, but also safe and convenient to use, and low in cost.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

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

Fig. 2 is a perspective view of Fig. 1;

Fig. 3 is the top view of removing seat according to the embodiment of the present invention;

Fig. 4 is the component diagram of seat in the embodiment of the present invention;

Fig. 5 is a schematic view 1 of the working state of the embodiment of the present invention;

Fig. 6 is a schematic diagram 2 of the working state of the embodiment of the present invention;

Fig. 7 is a schematic diagram 3 of the working state of the embodiment of the present invention;

Fig. 8 is a schematic view 4 of the working state of the embodiment of the present invention;

Fig. 9 is a schematic view 5 of the working state of the embodiment of the present invention;

Fig. 10 is a schematic diagram 6 of the working state of the embodiment of the present invention;

Fig. 11 is a schematic view 7 of the working state of the embodiment of the present invention.

In the figure: 1-sliding base, 2-gear assembly, 3-electric actuator, 4-caster, 5-seat, 6-front electric actuator, 7-driving gear, 8-front caster, 9-middle electric actuator Rod, 10-rear electric push rod, 11-motor, 12-driving gear, 13-connecting plate, 14-gear shaft, 15-driven gear, 16-slide rail, 17-installation groove, 18-fourth electric pusher Rod, 19-fixed rod, 20-drive motor, 21-driving drive gear, 22-driven drive gear, 23-front gear shaft, 24-middle caster, 25-rear caster, 26-connecting rod, 27-pedal.

Detailed ways

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail with reference to the accompanying drawings.

As shown in Figures 1 to 11, an obstacle-crossing trolley includes a sliding base 1, the front and rear sides of the lower end of the sliding base are respectively connected to two staggered electric push rods 3 through gear assemblies 2, and the electric push rods can be connected with the gears. The components rotate and rotate, and the lower ends of the two electric push rods are provided with casters 4; a seat 5 is slidingly connected above the sliding base, and the front end of the seat is provided with a front electric push rod 6, and the front electric push rod passes through a driving gear 7 Driven to rotate, the lower end of the front electric push rod is provided with a front caster 8.

In the embodiment of the present invention, the two electric push rods directly below the sliding base can be divided into a middle electric push rod 9 and a rear electric push rod 10 according to the connection with different casters below, and the middle electric push rod is arranged on the sliding base At the left rear of the lower end, the rear electric push rod is arranged on the right front of the lower end of the sliding base, and the two electric push rods drive the two gear assemblies through the two motors 11 to rotate respectively and then drive the electric push rod to rotate.

In the embodiment of the present invention, the two motors are fixedly connected to the lower end of the sliding base, and are respectively arranged beside the middle electric push rod and the rear electric push rod. The driving gear 12 is connected to the motor shaft, and the upper end of each electric push rod passes through Two connecting plates 13 are connected with the sliding base, and a gear shaft 14 is horizontally pierced between the two connecting plates. One end of the gear shaft close to the motor is connected with a driven gear 15, and the driven gears are all meshed with the driving gear.

In the embodiment of the present invention, the left and right sides of the sliding base are fixed with slide rails 16 extending forward and backward, the upper seat is used as a slider to slide with the slide rail, and the upper surface of the sliding base is provided with a mounting groove 17, and the mounting groove faces The front extends to the head, and the fourth electric push rod 18 is fixedly installed in the installation groove. The rear end of the fourth electric push rod is connected with the rear end of the installation groove, and the front end is connected with a fixed rod 19 fixedly located at the lower end of the seat.

In the embodiment of the present invention, a driving motor 20 is fixedly connected under the front end of the seat. The driving mode of the driving motor is the same as that of the above two motors. Then, the front gear shaft extends to both sides of the seat left and right, and the middle part of the gear shaft is fixedly connected with the upper end of the front electric push rod.

In the embodiment of the present invention, the casters include front casters, middle casters 24 and rear casters 25 according to their positions. There are two front casters, middle casters and rear casters, and the two casters are connected by connecting rods 26. The lower ends of the electric push rods are all connected with the connecting rods, and the middle casters can also be replaced by universal casters to facilitate direction adjustment.

In the embodiment of the present invention, a pedal 27 is fixed on the front end surface of the front electric push rod, which is convenient for users to place their feet.

In the embodiment of the present invention, the front electric push rod, the middle electric push rod, the rear electric push rod, the fourth electric push rod, the motor, and the drive motor are all electrically connected to a controller. Sequential coordination control can be accomplished through existing control circuits and methods. As for the control of the controller to control the rotation of the middle and rear casters to make the trolley move, it is an existing technology, so it will not be described in detail here.

A working method of an obstacle-crossing trolley, which is carried out according to the following steps: as shown in Figure 5, when the trolley encounters a step, first the controller controls the drive motor to work, the active drive gear drives the driven drive gear to rotate, and then drives the front motor Rotate the push rod clockwise to the same height as the step, then control the front electric push rod to push forward, which will drive the front casters to move forward to contact with the upper surface of the step, and then control the action of the fourth electric push rod to push the seat forward horizontally , the process is shown in Figure 6; then the controller controls the motor at the rear end of the sliding base to work, and drives the middle electric push rod to rotate clockwise to the horizontal through the driving gear and driven gear, and then controls the middle electric push rod to push forward, so that the middle Move the casters to the steps, the process is shown in Figure 7; then control the middle casters and rear casters to make the trolley move forward for a certain distance to ensure that the center of gravity of the trolley is above the steps, as shown in Figure 8; after the trolley is stable, control the front end of the sliding base The motor works, and the driving gear and the driven gear will drive the rear electric push rod to rotate counterclockwise to the level. The process is shown in Figure 9; the controller controls the rotation of the middle casters to make the trolley move forward. , the trolley stops moving forward, the process is shown in Figure 10; control the fourth electric push rod to return, drive the seat to slide directly above the sliding base, and then adjust the motor rotation direction so that the middle electric push rod rotates counterclockwise, and the rear electric push rod The rod rotates clockwise, driving the sliding base and the seat to lift up, and finally controls the driving motor to rotate in reverse, the front electric push rod rotates counterclockwise, and the front electric push rod retracts, that is, it returns to the state of walking on flat roads, as shown in Figure 11 ; In the same way, the same method steps are used when going down the steps, so I won't repeat them one by one here.

The present invention is not limited to the above-mentioned best implementation mode, anyone can draw other various forms of obstacle-crossing vehicles and working methods thereof under the enlightenment of the present invention. All equivalent changes and modifications made according to the patent scope of the present invention shall fall within the scope of the present invention.

Claims (9)

1. An obstacle-crossing trolley, characterized in that: it includes a sliding base, the front and rear sides of the lower end of the sliding base are respectively connected to two staggered electric push rods through a gear assembly, and the electric push rods can rotate with the rotation of the gear assembly, The lower ends of the two electric push rods are provided with casters; a seat is slidingly connected above the sliding base, and the front end of the seat is provided with a front electric push rod, which is driven to rotate by a driving gear, and the front electric push rod The lower end is provided with front casters. 2. An obstacle-crossing trolley according to claim 1, characterized in that: the two electric push rods directly below the sliding base can be divided into middle electric push rods and rear electric push rods according to the connection with different casters below, The middle electric push rod is arranged at the left rear of the lower end of the sliding base, and the rear electric push rod is arranged at the right front of the lower end of the sliding base. 3. An obstacle-crossing trolley according to claim 1 or 2, characterized in that: the two motors are fixedly connected to the lower end of the sliding base, and are respectively arranged on the side of the middle electric push rod and the rear electric push rod, at the motor shaft Both are connected with driving gears, and the upper end of each electric push rod is connected with the sliding base through two connecting plates, and a gear shaft is horizontally pierced between the two connecting plates, and the end of the gear shaft close to the motor is connected with a driven gear. The gears are all meshed with the driving gear. 4. An obstacle-crossing trolley according to claim 1, characterized in that: the left and right sides of the sliding base are fixed with sliding rails extending forward and backward, the upper seat is used as a slider to slide with the sliding rail, and the upper surface of the sliding base is A mounting slot is opened, and the mounting slot extends forward to the end. A fourth electric push rod is fixed in the mounting slot. The fixed rod at the lower end of the chair is fixedly connected. 5. The obstacle-crossing trolley according to claim 1 or 3, characterized in that: a drive motor is fixedly connected to the bottom of the front end of the seat, and the drive mode of the drive motor is the same as that of the above two motors, and it is also driven by the active drive gear. 1. The driven drive gear is connected with the front gear shaft, and the front gear shaft extends to both sides of the seat left and right, and the middle part of the gear shaft is fixedly connected with the upper end of the front electric push rod. 6. An obstacle-crossing trolley according to claim 1, characterized in that: said casters include front casters, middle casters and rear casters according to their positions, and there are two front casters, middle casters and rear casters, and two The casters are all connected by connecting rods, and the lower ends of the electric push rods are all connected with the connecting rods. 7. The obstacle-crossing trolley according to claim 1, wherein a pedal is fixed on the front end surface of the front electric push rod. 8. The obstacle-crossing trolley according to claim 1, characterized in that: the front electric push rod, the middle electric push rod, the rear electric push rod, the fourth electric push rod, the motor and the drive motor are all connected with a control electrical connection. 9. A working method of an obstacle-crossing trolley, characterized in that any obstacle-crossing trolley as claimed in claims 1-8 is used, and the following steps are carried out: (1) When the trolley encounters a step, it first controls The controller controls the drive motor to work, the active drive gear drives the driven drive gear to rotate, and then drives the front electric push rod to rotate clockwise to the same height as the step, and then controls the front electric push rod to push forward, which will drive the front casters to move forward and meet the steps. The upper surface of the step is in contact, and then controls the action of the fourth electric push rod to push the seat forward horizontally; (2) Then the controller controls the operation of the motor at the rear end of the sliding base, and drives the middle electric push rod clockwise through the driving gear and driven gear Rotate to the level, and then control the middle electric push rod to push forward, so that the middle casters move to the steps; (3) Then control the middle casters and rear casters to make the trolley move forward for a certain distance, ensuring that the center of gravity of the trolley is above the steps; (4) Wait After the trolley is stable, control the motor at the front end of the sliding base to work, and drive the rear electric push rod to rotate counterclockwise to the horizontal through the driving gear and driven gear; (5) The controller controls the rotation of the middle casters to make the trolley move forward, and when the rear casters When moving to the steps, the trolley stops moving forward; (6) Control the fourth electric push rod to return, drive the seat to slide directly above the sliding base, then adjust the rotation direction of the motor so that the middle electric push rod rotates counterclockwise, and the rear electric push rod The push rod rotates clockwise, which drives the sliding base and the seat to lift, and finally controls the drive motor to rotate in the opposite direction, the front electric push rod rotates counterclockwise, and the front electric push rod retracts, that is, it returns to the state of walking on flat roads.