Portable self-balancing transporter

Abstract

The present invention belongs to the technical field of auxiliary handling machinery manufacturing, and discloses a convenient lifting self-balancing transport vehicle, comprising a wheel assembly mechanism, a chassis, a moving mechanism, a load-bearing plate, and a self-balancing mechanism. The wheel assembly mechanism is installed on both sides of the chassis, the moving mechanism is installed on the chassis, and the self-balancing mechanism supports the load-bearing plate and balances the load-bearing plate so that the load-bearing plate is in a horizontal state. Compared with traditional hand trucks and electric forklifts, as well as existing transport vehicles, the present invention has the advantages of being applicable to multiple road conditions and having a strong carrying capacity. The transport vehicle of the present invention can operate objects in various road conditions such as uneven, flat, uphill and downhill roads, and has a wider range of applications. The transport vehicle of the present invention can carry large and heavy objects, meet diverse and personalized transportation needs, improve the problems of current transport vehicles, improve operating efficiency, and reduce manual labor.

Description

Technical Field

[0001] The invention belongs to the technical field of auxiliary transport machinery manufacturing, and in particular relates to a portable self-balancing transport vehicle. Background Art

[0002] my country has a large population, and to reduce labor costs and increase operational efficiency, there is a need for continuous mechanization. With the development of industries like logistics and manufacturing, the demand for logistics and handling is increasing, and so is the demand for handling equipment. While traditional equipment like hand trucks and electric forklifts offer high efficiency over short distances, they often fall short when handling large objects on complex surfaces, and there are also risks associated with the handling process.

[0003] In addition, traditional transport equipment has some limitations, such as inflexible operation, poor maneuverability, and many restricted scenarios. Hand trucks require manual push and are not flexible to operate. Although electric forklifts can achieve autonomous driving and lifting, they are limited by factors such as site and road surface, and there are also safety hazards during operation. At present, the Chinese patent document with publication number CN110104586 B discloses a transport vehicle with a gantry assembly. By setting a support assembly on the gantry assembly, when the gantry assembly flips relative to the vehicle body, the gantry assembly can drive the support assembly to rotate and then abut against the ground, increasing the contact area between the transport vehicle and the ground and providing support force. However, this transport vehicle still has some problems: (1) It is only suitable for flat roads and cannot cope with different road conditions such as uneven roads, uphill and downhill roads; (2) The carrying capacity is small and cannot meet the needs of carrying large and heavy objects. Summary of the Invention

[0004] In response to the above technical problems, the present invention provides a portable self-balancing transporter that can operate objects under various road conditions such as uneven, flat, uphill and downhill roads. It has a wider range of applications and can transport large and heavy objects to meet diverse and personalized transportation needs.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A portable self-balancing transporter includes a wheel assembly, a chassis, a moving mechanism, a load-bearing plate and a self-balancing mechanism. The wheel assembly is installed on both sides of the chassis, the moving mechanism is installed on the chassis, and the self-balancing mechanism supports the load-bearing plate and balances the load-bearing plate so that the load-bearing plate is in a horizontal state.

[0007] It is further provided that a posture sensor is installed on the non-loading surface of the carrying plate, and the posture sensor is used to determine whether the carrying plate is balanced.

[0008] It is further provided that the self-balancing mechanism includes a plurality of hydraulic rods, the upper ends of the hydraulic rods are connected to the bearing plate, and the lower ends of the hydraulic rods are installed on the chassis.

[0009] It is further configured that the wheel assembly mechanism includes a driving wheel, an auxiliary wheel and a driving motor. The driving wheel and the auxiliary wheel are correspondingly installed on both sides of the chassis, the driving motor is installed on the chassis, and the driving wheel is connected to the motor shaft of the driving motor.

[0010] It is further provided that the moving mechanism includes an arc-shaped rack, a lifting member, a connecting member and a driving member, the arc-shaped rack is engaged with the driving member, and the driving member drives the lifting member to move through the connecting member.

[0011] It is further provided that the arc-shaped rack is provided with a slide groove, and the connecting piece is provided with a guide block, and the guide block is slidably installed in the slide groove.

[0012] It is further provided that the driving member includes a gear hob, which is engaged with the arc-shaped rack and is driven by a motor to move in the arc surface direction of the arc-shaped rack.

[0013] It is further configured that the lifting member includes a lifting shelf and a push-pull rod, the lifting shelf is hinged with shovel blades at both ends, the lifting shelf is connected to the first end of the push-pull rod, and the shovel blade is connected to the second end of the push-pull rod.

[0014] The device is further configured and characterized in that a lifting assembly is provided, the lifting assembly includes a frame and a slider, the slider is connected to the arc-shaped rack, and the frame is installed on the chassis.

[0015] It is further provided that flexible pads are provided around the chassis and anti-slip parts are provided on the bearing plate.

[0016] It is further provided that the chassis is equipped with a visual sensor for detecting the distance between the cargo and the portable self-balancing transporter.

[0017] It is further provided that the self-balancing mechanism and the lifting assembly are electric push rod devices.

[0018] It is further provided that the chassis is an Ackerman chassis or a crawler chassis.

[0019] In summary, the present invention has the following beneficial effects:

[0020] 1. Compared with traditional hand trucks, electric forklifts, and existing transport trucks, the present invention has the advantages of being applicable to multiple road conditions and having a strong carrying capacity. The transport truck of the present invention can operate objects on various road conditions such as uneven, flat, uphill and downhill roads, and has a wider range of applications. The transport truck of the present invention can carry large and heavy objects, meeting diverse and personalized transportation needs, improving the problems of current transport trucks, improving operating efficiency, and reducing manual labor.

[0021] 2. The present invention completes the loading and unloading process of goods through a mobile mechanism, and the self-balancing mechanism ensures the balance and stability of the goods on the transport vehicle. The structural design of the present invention is simple and compact, the structural technical elements are determined and matched scientifically and reasonably, the service life is long, and the chassis structure can be replaced and applied in different scenarios, providing technical support for the industrialization of handling operations in different environmental scenarios.

[0022] 3. Based on the traditional transport vehicle, the present invention cleverly realizes the flipping process of the shovel plate in the hinged axis direction through the hinged connection between the shovel plate and the lifting platform and the push-pull action of the telescopic rod. The driving mechanism can drive the lifting platform to move in the tooth surface direction of the arc-shaped rack. The structure of the arc-shaped rack ensures the loading and unloading action of the shovel plate of the lifting platform in the direction of the vehicle body.

[0023] 4. The present invention adjusts the horizontal position of the cargo through the load-bearing plate and can cooperate with the mobile mechanism to complete the loading and unloading process more conveniently and reasonably.

[0024] 5. In the process of transporting goods, the present invention can independently move the moving mechanism, the load-bearing plate, the self-balancing mechanism and the lifting assembly, so that the transport vehicle can simultaneously complete the two actions of transport leveling and transport fixing within one transport cycle, and can effectively and easily realize the loading and unloading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of a portable self-balancing transporter according to a preferred embodiment;

[0026] Figure 2 It is a structural diagram of the chassis;

[0027] Figure 3 It is a structural diagram of the mobile mechanism;

[0028] Figure 4 It is a structural diagram of the lifting assembly;

[0029] Figure 5 It is a structural diagram of the load-bearing plate and the self-balancing mechanism;

[0030] Figure 6 It is a structural diagram of the load-bearing plate;

[0031] Figure 7 This is a schematic diagram of the first state of transport;

[0032] Figure 8 This is a schematic diagram of the second state of transport;

[0033] Figure 9 This is a schematic diagram of the third state of transport;

[0034] Figure 10 This is a schematic diagram of the fourth state of transport;

[0035] Figure 11 This is a schematic diagram of the fifth state of transport.

[0036] Reference numerals: 1, chassis; 11, flexible pad;

[0037] 2. Moving mechanism; 21. Curved rack; 22. Lifting element; 221. Shovel blade; 222. Shelf lifter; 223. Push-pull rod; 23. Connecting element; 231. Guide block; 24. Driving element; 241. Gear hobbing; 242. Motor; 25. Slideway;

[0038] 3. Loading plate; 31. Anti-slip parts;

[0039] 4. Lifting assembly; 41. Frame; 42. Slider;

[0040] 5. Self-balancing mechanism; 51. Hydraulic rod;

[0041] 6. Wheel assembly; 61. Driving wheel; 62. Auxiliary wheel; 63. Driving motor;

[0042] 7. Visual sensor; 8. Posture sensor. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0044] like Figure 1 、 Figure 4As shown, a preferred embodiment of a portable lifting self-balancing transporter includes a wheel assembly 6, a chassis 1, a mobile mechanism 2, a load plate 3, and a self-balancing mechanism 5. The wheel assembly 6 is mounted on both sides of the chassis 1, the mobile mechanism 2 is mounted on the chassis 1, and the self-balancing mechanism 5 supports the load plate 3 and balances the load plate 3 to maintain a horizontal position. The chassis 1 is a differential steering mechanism suitable not only for flat roads but also for uneven surfaces such as outdoor gardens. The self-balancing mechanism 5 is mounted on the chassis 1 and includes several hydraulic rods 51. The upper ends of the hydraulic rods 51 are connected to the load plate 3, and the lower ends of the hydraulic rods 51 are mounted to the chassis 1. The self-balancing mechanism 5 is a hydraulic mechanism, which can also be an electric push rod device. There are at least four hydraulic rods 51, with a first end mounted to the chassis 1 and a second end mounted to the load plate 3. Each hydraulic rod 51 can be independently controlled to control the lifting and balancing of the load plate 3. A posture sensor 8 is installed on the non-loading surface of the load-bearing plate 3 , and the posture sensor 8 is used to determine whether the load-bearing plate 3 is balanced.

[0045] like Figure 2 As shown, the chassis 1 includes a chassis 1 and a wheel assembly 6, which is mounted on both sides of the chassis 1. The wheel assembly 6 includes a drive wheel 61, auxiliary wheels 62, and a drive motor 63. The drive wheels 61 and auxiliary wheels 62 are mounted on both sides of the chassis 1, respectively. The drive motor 63 is mounted on the chassis 1. The drive wheel 61 is connected to the motor shaft of the drive motor 63 and is driven by the drive motor 63. The wheel assembly 6 is the movement mechanism of the entire transport vehicle. The wheel assembly 6 includes two drive wheels 61 and four auxiliary wheels 62. One drive wheel 61 and two auxiliary wheels 62 are respectively provided on both sides of the chassis 1. The drive wheel 61 is located between the two auxiliary wheels 62 to maintain the stability of the transport vehicle. The drive wheel 61 also has a steering function.

[0046] like Figure 3 As shown, the moving mechanism 2 includes a lifting member 22, a connecting member 23, and a driving member 24. The lifting member 22 is connected to the driving member 24 via the connecting member 23. The driving member 24 includes a gear hob 241, which cooperates with the arcuate rack 21 and is driven by a motor 242 to move in the direction of the arc surface of the arcuate rack 21. The moving mechanism 2 also includes an arcuate rack 21, which is provided with a slide groove 25. The connecting member 23 is provided with a guide block 231, which is slidably mounted in the slide groove 25. The guide block 231 can be limited and slid within the slide groove 25, further limiting and guiding the movement between the gear hob 241 and the arcuate rack 21.

[0047] The lifting member 22 includes a lifting frame 222 and a push-pull rod 223. The lifting frame 222 is a hollow frame structure. The two ends of the lifting frame 222 are hinged to the shovel blade 221. The first end of the push-pull rod 223 is connected to the lifting frame 222, and the second end of the push-pull rod 223 is connected to the shovel blade 221. Under the action of the push-pull rod 223, the shovel blade 221 can be flipped on the side axis connecting the shovel blade 221 and the lifting frame 222.

[0048] Moving mechanism 2 is equipped with a lifting assembly 4, which is a screw mechanism, or alternatively, an electric push rod device. It includes a frame 41 and a slider 42, which is connected to an arcuate rack 21. Frame 41 is mounted on chassis 1. Frame 41 is always stationary and is used to drive slider 42 to vertically adjust the arcuate rack 21. This allows lifting assembly 4 to independently control the lifting and lowering of moving mechanism 2 for transport purposes.

[0049] like Figure 2 As shown, the chassis 1 is equipped with a flexible pad 13, and the load plate 3 is equipped with an anti-slip member 31. The flexible pad 13 is positioned between the chassis 1 and the arc-shaped rack 21, providing a cushioning effect for the raising and lowering of the arc-shaped rack 21 and providing safety. The anti-slip member 31 further stabilizes and prevents slipping when cargo is placed on the load plate 3.

[0050] like Figure 1 As shown, a visual sensor 7 is mounted on chassis 1. This sensor is used to detect the distance between the cargo and the vehicle, as well as the angle between the vehicle and the vehicle. When an obstacle is detected, the truck automatically stops to avoid a collision. Furthermore, the visual sensor 7 can detect the position and angle of the cargo to ensure safe transport.

[0051] like Figure 5-Figure 9 As shown, during the working process, the transport vehicle of the preferred embodiment moves to the transport site under the control of the user, and the transmission of the gear hobbing 241 meshing with the arc-shaped rack 21 causes the lifting rack 222 to move to the bottom end along the slide limit track of the arc-shaped rack 21. The transport vehicle is pushed forward to scoop up the goods. After scooping up the objects, the lifting rack 222 returns to the center position according to the original track and transfers the goods to the load-bearing plate 3.

[0052] When the lifting rack 222 moves to the bottom of the arc-shaped rack 21, the shovel blade 221 is adjusted to a horizontal position with the lifting rack 222. When the shovel blade 221 scoops under the goods, the push-pull rod 223 is adjusted to an angle perpendicular to the lifting rack 222 to hold the goods, thereby securing and transporting the goods, similar to grabbing an object upwards like a human hand. As the transport truck moves forward, the lifting rack 222 returns to its original position along the track, slowly scooping the goods onto the load plate 3.

[0053] As shown in the figure, when an object is on an uneven road surface, the vehicle body will cause the lifting rack 222 or the left and right sides of the vehicle body to be not on the same horizontal line due to driving on a pit or a raised ground, which makes it impossible for the mobile mechanism 2 to maintain a level and difficult to shovel the object. At this time, the height difference in the four directions is adjusted by the load-bearing plate 3. The first end of the hydraulic rod 51 is connected to the chassis 1, and the second end is connected to the load-bearing plate 3. Each hydraulic rod 51 can be independently controlled to lift and lower, and is used to control the lifting and leveling of the load-bearing plate 3 to adjust the height difference of the lifting rack 222. The load-bearing plate 3 can adjust the lifting rack 222 at any time before transporting the goods, and keep the lifting rack 222 in a horizontal state to achieve the purpose of stable loading.

[0054] In addition, when the goods are on an uphill or downhill road, in order to prevent the goods from slipping or being pushed away when the transport vehicle moves forward, and to prevent the goods from falling or flying off the load plate 31 when the transport route is uphill or downhill, the preferred embodiment of the transport vehicle is designed with a shovel blade 221 that can freely adjust the angle on the lifting shelf 222. The shovel blade 221 is connected to the lifting shelf 222 in a hinged manner, and the push-pull rod 223 provides power so that the shovel blade 221 can freely adjust the angle, providing a protective plate for the goods on the load plate 31.

[0055] When going up or down a slope, in addition to the movement of the hobbing gear 241 and the arc-shaped rack 21, the angle of the moving mechanism 2 can also be adjusted by the lifting assembly 4, providing a guardrail for the goods on the carrying plate 3 during the transportation process.

[0056] When encountering uphill and downhill situations during transportation, the self-balancing mechanism 5 can maintain the balance and stability of the goods, ensuring the safety of the goods during transportation.

[0057] When loading goods, the goods will be lifted to a certain height by the load plate 3. The height of the goods is determined by the lifting height of the hydraulic rod 51 after the self-balancing mechanism 5 adjusts the balance of the load plate 3. The moving mechanism 2 will move along the preset trajectory of the arc-shaped rack 21 to push the goods into the loading box; when unloading, the lifting component 4 is lowered to the lowest point, and the moving mechanism 2 moves on the arc-shaped rack 21 to push the goods onto the shovel blade 221 to complete the unloading process.

[0058] During operation, the visual sensor 7 detects the distance between the cargo and the vehicle, as well as the angle of the truck itself. If the visual sensor 7 detects an obstacle, the truck automatically stops to avoid a collision. The visual sensor 7 also monitors the position and angle of the cargo to ensure the truck can safely carry the cargo.

[0059] Once the vision sensor 7 determines the position and angle of the cargo, the truck begins moving and transporting the cargo. The vision sensor 7 continuously monitors the cargo's position and angle to ensure it remains within the truck's controllable range. During the transport process, the vision sensor 7 continuously updates the truck's speed and direction to ensure it remains in the correct position and avoid collisions. If the vision sensor 7 detects an abnormality, such as cargo movement or a change in its center of gravity, the truck stops immediately to avoid potential danger.

[0060] When the cargo is successfully transported to the target location, the truck automatically stops and waits for the next task. By using vision sensors 7, the truck can ensure that the cargo is moved efficiently, safely and reliably.

[0061] In the preferred embodiment, when the transport vehicle is transporting objects, the moving mechanism 2, the load-bearing plate 3, the self-balancing mechanism 5 and the lifting assembly 4 can all move independently, so that the transport vehicle can simultaneously complete the two actions of transport leveling and transport fixing within one transport cycle.

[0062] In the present invention, unless otherwise expressly provided, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed connections, detachable connections, or integral molding; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly provided. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A portable self-balancing transport vehicle, comprising a wheel assembly mechanism (6), characterized in that: It also includes a chassis (1), a moving mechanism (2), a bearing plate (3) and a self-balancing mechanism (5), wherein the wheel assembly mechanism (6) is mounted on both sides of the chassis (1), the moving mechanism (2) is mounted on the chassis (1), and the self-balancing mechanism (5) supports the bearing plate (3) and balances the bearing plate (3) so that the bearing plate (3) is in a horizontal state; The moving mechanism (2) comprises an arc-shaped rack (21), a lifting member (22), a connecting member (23) and a driving member (24); the arc-shaped rack (21) is engaged with the driving member (24); and the driving member (24) drives the lifting member (22) to move via the connecting member (23); The arc-shaped rack (21) is provided with a slide groove (25), and the connecting member (23) is provided with a guide block (231), and the guide block (231) is slidably mounted on the slide groove (25); The lifting member (22) includes a lifting shelf (222) and a push-pull rod (223), wherein the lifting shelf (222) is hinged with a shovel blade (221) at both ends, the lifting shelf (222) is connected to the first end of the push-pull rod (223), and the shovel blade (221) is connected to the second end of the push-pull rod (223).

2. The portable self-balancing transporter according to claim 1, characterized in that: A posture sensor (8) is installed on the non-load surface of the load-bearing plate (3), and the posture sensor (8) is used to determine whether the load-bearing plate (3) is balanced.

3. The portable self-balancing transporter according to claim 1, characterized in that: The self-balancing mechanism (5) comprises a plurality of hydraulic rods (51), the upper ends of the hydraulic rods (51) are connected to the bearing plate (3), and the lower ends of the hydraulic rods (51) are mounted on the chassis (1).

4. The portable self-balancing transporter according to claim 3, characterized in that: The wheel assembly mechanism (6) includes a driving wheel (61), an auxiliary wheel (62) and a driving motor (63). The driving wheel (61) and the auxiliary wheel (62) are correspondingly mounted on both sides of the chassis (1). The driving motor (63) is mounted on the chassis (1). The driving wheel (61) is connected to the motor shaft of the driving motor (63).

5. The portable self-balancing transporter according to claim 1, characterized in that: The driving member (24) includes a gear hob (241), which is engaged with the arc-shaped rack (21). The gear hob (241) is driven by a motor (242) to move in the arc surface direction of the arc-shaped rack (21).

6. The portable self-balancing transporter according to any one of claims 1 to 5, characterized in that: A lifting assembly (4) is provided, the lifting assembly (4) comprising a frame (41) and a slider (42), the slider (42) being connected to the arc-shaped rack (21), and the frame (41) being mounted on the chassis (1).

7. The portable self-balancing transporter according to claim 6, characterized in that: The chassis (1) is provided with flexible pads (11) around its periphery, and the supporting plate (3) is provided with anti-slip parts (31).

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