Geared five-bar combined mechanism used for climbing car

Abstract

The invention discloses a geared five-bar combined mechanism used for a climbing car. The mechanism comprises a motor, five-bar mechanisms, planetary gear trains and an ordinary gear train. An output shaft of the motor drives an upper transmission shaft and a lower transmission shaft to rotate synchronously through gear engagement. A planetary gear of each planetary gear train is driven to rotate around a center wheel through the corresponding five-bar mechanism connected with the transmission shafts. The movement of a long bar of each five-bar mechanism is resultant movement of self-rotation of the corresponding planetary gear and a short bar fixed to the planetary gear and crank rotation, and the track of the resultant movement is an oval. Due to the fact that the movement track is an oval, compared with the prior art, the operation is more stable, the fluctuation is small, and the possibility of cargo damage can be effectively reduced. During movement, both the speed and the accelerated speed change according to a sine rule, no abrupt change occurs, and the impact on stairs is small. Supporting legs of the device are perpendicular to the ground all the time, so that borne cargoes are not prone to swinging in the transportation process, and the safety of cargo transferring and the comfort of transferring personnel are improved.

Description

technical field [0001] The invention belongs to the field of stair-climbing assisting machinery, and in particular relates to a geared five-link compound mechanism for a stair-climbing vehicle. Background technique [0002] With the development of the logistics industry and the improvement of service levels, the door-to-door service has been well received by customers, but at the same time it has also increased the labor intensity and difficulty of delivery workers. In order to solve this problem, the automation of going up and down stairs is becoming more and more popular. Existing stair climbers mainly use crawler belts, various compound wheel sets and leg-type mechanisms to complete the function of climbing stairs. But these different types of stair climbing devices have different advantages and disadvantages. The crawler mechanism moves smoothly but is heavy, poor in flexibility, and poor in adaptability to flat ground; the compound wheel structure has good flexibility...

AI Technical Summary

Problems solved by technology

The crawler mechanism moves smoothly but is heavy, poor in flexibility, and poor in adaptability to flat ground; the compound wheel structure has good flexibility, but poor stability and relatively large volume, and is adaptable to different stairs. Poor; the legged stair climbing machine is inspired by bionic robots, and usually completes the stair climbing operation with the help of a quadruped walking mechanism. Difficult to run but not widespread

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