Transport vehicle with upstairs and downstairs structure

Abstract

The invention discloses a transport vehicle with an upstairs and downstairs structure, and belongs to the field of transport mechanical equipment. The transport vehicle comprises a vehicle body, the vehicle body comprises a bearing frame, a battery, a driving motor, a speed reducer and an action mechanism are installed on the bearing frame, the driving motor is in transmission connection with the speed reducer, the action mechanism comprises a movement box arm, a swing rod, a supporting rod and a sliding assembly, and one end of the movement box arm is provided with a power input shaft sleeve; a motion output shaft is arranged at the other end of the motion box arm, a driving output shaft of the speed reducer is inserted into the power input shaft sleeve, and the motion output shaft is connected with the supporting rod through a swing rod and limited by a sliding assembly to form the upstairs and downstairs actions of the supporting rod. The supporting rod is driven by rotation of the swing rod, rotation of the swing rod is converted into up-and-down and front-and-back circulating upstairs and downstairs actions, the transport vehicle can adapt to most stairs with different heights by adjusting the inclination angle of the transport vehicle on the stairs, and therefore better environmental adaptability is achieved.

Description

Technical Field

[0001] The invention relates to the field of transport machinery, in particular to a transport vehicle with an upstairs and downstairs structure. Background Art

[0002] There are many mechanical structures currently used for transport vehicles to go up and down stairs, and the common ones mainly include the following: 1. Planetary wheel intelligent stair transport vehicle: This type of transport vehicle uses planetary wheels to achieve arbitrary curve movement, including self-rotation, curve turning and stair climbing. However, its ability to cope with real-world scenarios is insufficient, and it may encounter adaptability problems in complex stair environments, and its universality is slightly poor.

[0003] 2. Wheel-type stair climbing device: This device may cause great pressure on the edge of the stairs when climbing stairs, thus causing certain damage to the stair structure. In addition, the device has great resistance when used on flat ground, and it is inconvenient to turn. It has problems such as low stability and large fluctuations in the center of gravity.

[0004] 3. Gear transmission and four-bar mechanism combined handling device: This device uses gear transmission and four-bar mechanism to achieve the up and down stairs of goods through the repeated support of wheels. The output motion of its connecting rod is rotational motion, and the angle and speed can be freely adjusted to improve the handling efficiency and reduce the labor intensity. However, the current structure requires a complex control system to ensure precise operation and is easy to damage.

[0005] 4. Tracked stair climbing vehicle: Traditional tracked stair climbing vehicles have the problems of heavy weight and high cost. The new design adopts a wheel-track composite mechanism, which reduces the weight of the structure. It includes a track transmission mechanism, a wheel switching mechanism, and a wheelchair mounting adjustment mechanism, and a motion control system is built. The structure is more complex, the failure rate increases, the reliability decreases, and it is still relatively heavy. In addition, the design complexity of the composite mechanism is high, which increases the difficulty and cost of maintenance.

[0006] 5. Leverage-based auxiliary mechanical device: The "eagle claw" type sliding sleeve device designed using the lever principle can slide smoothly at the turning point of the stair handrail, realizing the process of evenly dragging heavy objects along the inclined surface of the handrail, thus improving the handling efficiency and convenience. However, the application of the sign requires the construction of tracks, and is powerless for any staircase without support.

[0007] In summary, the current stair climbing mechanical structures have their own advantages and disadvantages. In practical applications, a stair climbing device that is more optimized, simple in structure, can work reliably, and is easy to maintain is needed. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the above-mentioned traditional technology and provide a transport vehicle with an up-and-down stair structure to solve the technical problems of the above-mentioned complex climbing structure, heavy structure, difficult maintenance and poor reliability.

[0009] The purpose of the present invention is achieved through the following technical measures: A transport vehicle with an up-and-down structure comprises a vehicle body and a walking wheel installed at the lower part of the vehicle body, characterized in that the vehicle body comprises a load-bearing frame, on which a battery, a drive motor, a reducer and an action mechanism are installed, a control device is arranged on the upper part of the vehicle body, the control device is electrically connected to the drive motor and the battery, the motor output shaft of the drive motor is transmission-connected to the reducer, and the reducer has a drive output shaft; the action mechanism comprises a motion box arm, a swing rod, a strut and a sliding assembly, one end of the motion box arm has a power input shaft sleeve, the other end of the motion box arm is provided with a motion output shaft, the drive output shaft of the reducer is inserted into the power input shaft sleeve of the motion box arm, one end of the motion output shaft extends out of the motion box arm and is rotationally connected to one end of the swing rod, the other end of the swing rod is rotationally connected to the middle part of the strut, the sliding assembly comprises a slide rod and a slider, the slider is sleeved on the slide rod and slidably matched, the two ends of the slide rod are fixedly arranged on the load-bearing frame, one end of the slider is rotationally installed on the upper part of the strut, and the lower part of the strut is a load-bearing foot.

[0010] As a preferred solution, the motion box arm includes a motion box body and an internal transmission mechanism installed in the motion box body, the internal transmission mechanism includes a driving gear, a driven gear and a transmission chain, and the driving gear and the driven gear are connected through a transmission chain.

[0011] As a preferred solution, the movement box body includes a main box body and two gear cover plates, and the two gear cover plates are arranged opposite to each other and installed on the main box body through a connecting shaft.

[0012] As a preferred solution, a gear mounting seat is fixedly connected to one side of the driving gear, and the gear mounting seat is fixedly mounted on the reducer. The driving output shaft of the reducer is coaxially arranged with the gear mounting seat and extends out of the gear mounting seat and the driving gear.

[0013] As a preferred solution, the power input shaft sleeve is arranged inside the main box body and is integrally arranged with or fixedly connected to the main box body.

[0014] As a preferred solution, the power input shaft sleeve is sleeved with a first bearing, and the driving gear is sleeved on the power input shaft sleeve through the first bearing.

[0015] As a preferred solution, the shaft center sleeve of the driven gear is provided with an output spline sleeve, the motion output shaft is inserted into the output spline sleeve, and both ends of the output spline sleeve are mounted on the gear cover plate through second bearings.

[0016] As a preferred solution, a cover plate mounting slot is provided on the main box body, the length direction of the cover plate mounting slot is consistent with the length direction of the main box body, and a mounting circular hole matching the cover plate mounting slot is provided on the gear cover plate. The connecting shaft passes through the mounting circular holes of the two gear cover plates and the cover plate mounting slot to connect the gear cover plate and the main box body.

[0017] As a preferred solution, the main box body is provided with a cover plate slide groove arranged along the length direction, and the gear cover plate is provided with a sliding protrusion that cooperates with the cover plate slide groove of the main box body. The gear cover plate can adjust the position along the length direction of the sliding protrusion and the cover plate slide groove.

[0018] The middle position of the main box body is provided with a tension adjustment base, the middle part of the tension adjustment base is provided with an eccentric shaft installation slot, the eccentric shaft is rotatably installed in the eccentric shaft installation slot, the gear cover is provided with an eccentric shaft hole, both ends of the eccentric shaft are rotatably installed in the eccentric shaft holes of the gear cover, the eccentric shaft is rotated to move the gear cover along the length direction of the cover installation slot hole to adjust the distance between the gear cover and the driven gear and the driving gear, so as to adjust the chain tension. The end of the eccentric shaft is provided with an inner hexagon or an outer hexagon, or other adjustment cross slots, etc., so as to facilitate rotation and adjustment using corresponding tools.

[0019] Due to the adoption of the above technical solution, compared with the prior art, the advantages of the present invention are: The present invention discloses a transport vehicle with a stair climbing structure, which adopts an action mechanism driven by a motor reduction to perform the stair climbing action. The action mechanism adopts a motor to drive a motion box arm to rotate, thereby driving a swing rod to rotate. The swing rod rotates to drive a support rod to realize the support rod going up and down stairs under the constraint of a sliding component, that is, all components work together to convert the rotation of the swing rod into an up and down, front and back cyclical going up and down stairs action, and the lower part of the support rod realizes the action of stepping up stairs or stepping down stairs step by step like a human foot. The going up and down stairs of the present invention is close to the going up and down stairs action of people, and can adapt to most stairs of different heights by adjusting the inclination angle of the transport vehicle on the stairs, thereby having better environmental adaptability, and solving the technical problems of complex climbing structure, heavy structure weight, difficult maintenance and poor reliability.

[0020] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Attached Figure 1 The present invention is a schematic structural diagram of a transport vehicle with an upstairs and downstairs structure.

[0022] Attached Figure 2 The present invention is a schematic diagram of the exploded structure of the action mechanism of a transport vehicle with an upstairs and downstairs structure.

[0023] Attached Figure 3 It is a partial structural schematic diagram of a moving box in an action mechanism of a transport vehicle with an up-and-down stair structure according to the present invention.

[0024] Attached Figure 4 It is a schematic diagram of the exploded structure of a moving box in the action mechanism of a transport vehicle with an up-and-down stair structure according to the present invention.

[0025] Attached Figure 5 The present invention is a schematic structural diagram of an eccentric shaft in a motion mechanism of a transport vehicle with an up-and-down stair structure.

[0026] Attached Figure 6 The present invention is a schematic structural diagram of a support rod in a transport vehicle with an upstairs and downstairs structure.

[0027] In the figure: 1. reducer; 2. motion box arm; 20. motion box body; 21. main box body; 22. gear cover plate; 3. rocker arm; 4. support rod; 5. sliding assembly; 51. slide bar; 52. slider; 6. power input shaft sleeve; 7. motion output shaft; 8. drive output shaft; 9. rocker arm shaft; 10. rocker arm shaft hole; 11. load-bearing foot; 12. driving gear; 13. driven gear; 14. transmission chain; 15. gear mounting seat; 16. first bearing; 17. output spline sleeve; 18. cover plate mounting slot hole; 19. mounting circular hole; 23. tensioning adjustment base; 24. eccentric shaft mounting slot; 25. eccentric shaft; 26. eccentric shaft hole; 27. second bearing; 28. drive motor; 29. ​​battery; 30. load-bearing frame; 31. control device; 32. cover plate slide slot; 33. sliding convex edge. DETAILED DESCRIPTION

[0028] Example: Figures 1 to 6As shown, a transport vehicle with an up-and-down structure includes a vehicle body and running wheels installed at the lower part of the vehicle body, the running wheels are not shown in the figure, the vehicle body includes a load-bearing frame 30, a battery 29, a drive motor 28, a reducer 1 and an action mechanism are installed on the load-bearing frame 30, a control device 31 is arranged on the upper part of the vehicle body, the control device 31 is electrically connected to the drive motor 28 and the battery 29, the motor output shaft of the drive motor 28 is transmission-connected to the reducer 1, the action mechanism includes a motion box arm 2, a rocker rod 3, a strut 4 and a sliding assembly 5, one end of the motion box arm 2 has a power input shaft sleeve 6, the other end of the motion box arm 2 is provided with a motion output shaft 7, the reducer The machine 1 has a driving output shaft 8, which is inserted into the power input sleeve 6 of the motion box arm 2, and the driving output shaft 8 is splined to the power input sleeve 6; one end of the motion output shaft 7 extends out of the motion box arm 2 and is rotatably connected to one end of the rocker 3, and the other end of the rocker 3 is rotatably connected to the rocker shaft hole 10 in the middle of the strut 4 through the rocker shaft 9, and the sliding assembly 5 includes a slide bar 51 and a slider 52, and the slider 52 is sleeved on the slide bar 51 and slidably matched, and the two ends of the slide bar 51 are fixedly placed on the load-bearing frame, and one end of the slider 52 is rotatably installed in the slider shaft hole on the upper part of the strut 4 through a rotating shaft, and the lower part of the strut 4 is a load-bearing foot 11. The load-bearing frame is used to install the sliding assembly, which is the same structure as the body of the transport vehicle in the product, and can have a variety of adaptive designs according to the different appearances of the transport vehicle, so it is not shown in the drawings. The transport vehicle up and down stairs structure of the present application is driven by the output of the reducer on both sides, driving the mirror structures on both sides to perform the same action or to perform alternate stepping and lifting actions, so only one side is shown in the drawings, and the other side is a symmetrical mirror structure. The drive motor is set according to the required carrying weight, and there are a large number of commercially available products, which are not shown in the drawings.

[0029] like Figures 1 to 4 As shown, the motion box arm 2 includes a motion box body 20 and an internal transmission mechanism installed in the motion box body 20, the internal transmission mechanism includes a driving gear 12, a driven gear 13 and a transmission chain 14, and the driving gear 12 and the driven gear 13 are connected to each other through the transmission chain 14.

[0030] like Figures 2 to 4 As shown, the movement box body 20 includes a main box body 21 and two gear cover plates 22. The two gear cover plates 22 are arranged opposite to each other and are installed on the main box body 21 through a connecting shaft.

[0031] like Figure 2 and Figure 3 As shown, a gear mounting seat 15 is fixedly connected to one side of the driving gear 12 , and the gear mounting seat 15 is fixedly mounted on the reducer 1 . The driving output shaft 8 of the reducer 1 is coaxially arranged with the gear mounting seat 15 and extends out of the gear mounting seat 15 and the driving gear 12 .

[0032] The power input shaft sleeve 6 is disposed inside the main box body 21 and is integrally disposed with or fixedly connected to the main box body 21 .

[0033] The power input shaft sleeve 6 is sleeved with a first bearing 16 , and the driving gear 12 is sleeved on the power input shaft sleeve 6 via the first bearing 16 .

[0034] like Figures 2 to 4 As shown, the axis sleeve of the driven gear 13 is provided with an output spline sleeve 17 , the motion output shaft 7 is inserted into the output spline sleeve 17 , and both ends of the output spline sleeve 17 are rollingly mounted on the gear cover plate 22 through second bearings 27 .

[0035] like Figures 2 to 4 As shown, the main box body 21 is provided with a cover plate mounting slot 18, and the length direction of the cover plate mounting slot 18 is consistent with the length direction of the main box body 21. The gear cover plate 22 is provided with a mounting circular hole 19 that matches the cover plate mounting slot 18. The connecting shaft passes through the mounting circular holes 19 and the cover plate mounting slot 18 of the two pieces of the gear cover plates 22 to connect the gear cover plate 22 and the main box body 21 as a whole.

[0036] like Figure 3 and Figure 4 As shown, the main box body 21 is provided with a cover plate slide groove 32 arranged along the length direction, and the gear cover plate 22 is provided with a sliding protrusion 33 that cooperates with the cover plate slide groove 32 of the main box body 21. The gear cover plate 22 can adjust the position along the length direction of the sliding protrusion 33 and the cover plate slide groove 32.

[0037] The tension adjustment base 23 is provided in the middle of the main box body 21, and an eccentric shaft installation slot 24 is provided in the middle of the tension adjustment base 23. An eccentric shaft 25 is rotatably installed in the eccentric shaft installation slot 24. An eccentric shaft hole 26 is provided on the gear cover plate, and both ends of the eccentric shaft 25 are rotatably installed in the eccentric shaft hole 26 of the gear cover plate 22. The eccentric shaft 25 is rotated to move the gear cover plate 22 along the length direction of the cover plate installation slot 18 to adjust the distance between the gear cover plate 22 and the driven gear 13 and the driving gear 12, so as to adjust the tension of the transmission chain 14. The end of the eccentric shaft 25 is provided with an inner hexagon or an outer hexagon, or other adjustment cross slots, etc., so as to facilitate rotation and adjustment using corresponding tools.

[0038] In the present application, the up and down stairs action is realized by the following motion mode: taking the up stairs as an example, the driving motor drives the action mechanism on both sides through the reducer 1, the driving output shaft 8 of the reducer 1 is inserted into the power input shaft sleeve 6 of the main box body 21 through a spline, the driving output shaft 8 drives the motion box body 20 to rotate, the driven gear 13 is installed on the main box 21 by the bearing 27 and the gear cover plate 22, the driven gear 13 rotates with the motion box 20, and at the same time, because the driven gear 13 is connected to the driving gear 12 by the chain 14, the driving gear 12 is driven by the gear The mounting seat 15 is fixedly mounted on the reducer 1. The driven gear 13 generates a rotation under the influence of the gear 12 driven by the chain 14. The driven gear 13 drives the swing rod 3 to rotate through the spline-connected motion output shaft 7. The swing rod 3 drives the strut 4 to move through the swing rod shaft 9. Because one end of the strut 4 is restricted by the slider 52 and can only move up and down along the slider 51, the lower end of the strut 4 can be lifted, extended, dropped, and retreated repeatedly, and a similar circular motion trajectory is achieved with the lower end of the strut 4, which is to imitate the action of humans going upstairs to achieve going upstairs. The motor can be driven in the reverse direction for the action of going downstairs.

[0039] The up-and-down structure of the transport vehicle disclosed in the present application can be applied to a variety of equipment that needs to move up and down, and can lift goods step by step. Its movements are similar to human movement, and it has strong environmental applicability and can be applied to most equipment that needs to be lifted step by step.

Claims

1. A transport vehicle with an up-and-down structure, comprising a vehicle body and running wheels installed at the lower part of the vehicle body, characterized in that: The vehicle body includes a load-bearing frame, on which a battery, a drive motor, a reducer and an action mechanism are installed, a control device is arranged on the upper part of the vehicle body, the control device is electrically connected to the drive motor and the battery, the motor output shaft of the drive motor is transmission-connected to the reducer, and the reducer has a drive output shaft; the action mechanism includes a motion box arm, a rocker arm, a strut and a sliding assembly, one end of the motion box arm has a power input shaft sleeve, the other end of the motion box arm is provided with a motion output shaft, the drive output shaft of the reducer is inserted into the power input shaft sleeve of the motion box arm, one end of the motion output shaft extends out of the motion box arm and is rotationally connected to one end of the rocker arm, the other end of the rocker arm is rotationally connected to the middle part of the strut, the sliding assembly includes a slide bar and a slider, the slider is sleeved on the slide bar and slidably matched, both ends of the slide bar are fixedly arranged on the load-bearing frame, one end of the slider is rotationally installed on the upper part of the strut, and the lower part of the strut is a load-bearing foot.

2. The transport vehicle with up and down stair structure according to claim 1, characterized in that: The moving box arm comprises a moving box body and an internal transmission mechanism installed in the moving box body, the internal transmission mechanism comprises a driving gear, a driven gear and a transmission chain, and the driving gear and the driven gear are connected through the transmission chain.

3. The transport vehicle with up and down stair structure according to claim 2, characterized in that: The motion box body comprises a main box body and two gear cover plates, wherein the two gear cover plates are arranged opposite to each other and are mounted on the main box body through a connecting shaft.

4. The transport vehicle with up and down stair structure according to claim 3, characterized in that: One side of the driving gear is fixedly connected with a gear mounting seat, and the gear mounting seat is fixedly mounted on the reducer. The driving output shaft of the reducer is coaxially arranged with the gear mounting seat and extends out of the gear mounting seat and the driving gear.

5. The transport vehicle with up and down stair structure according to claim 4, characterized in that: The power input shaft sleeve is arranged inside the main box body and is integrally arranged with or fixedly connected to the main box body.

6. The transport vehicle with up and down stair structure according to claim 5, characterized in that: The power input shaft sleeve is sleeved with a first bearing, and the driving gear is sleeved on the power input shaft sleeve through the first bearing.

7. The transport vehicle with up and down stair structure according to claim 6, characterized in that: The shaft center sleeve of the driven gear is provided with an output spline sleeve, the motion output shaft is inserted into the output spline sleeve, and both ends of the output spline sleeve are mounted on the gear cover plate through second bearings.

8. The transport vehicle with up and down stair structure according to claim 3, characterized in that: The main box body is provided with a cover plate mounting slot hole, the length direction of the cover plate mounting slot hole is consistent with the length direction of the main box body, the gear cover plate is provided with a mounting circular hole that matches the cover plate mounting slot hole, and the connecting shaft passes through the mounting circular holes of the two gear cover plates and the cover plate mounting slot hole to connect the gear cover plate and the main box body.

9. The transport vehicle with up-and-down stair structure according to claim 8, characterized in that: The main box body is provided with a cover plate slide groove arranged along the length direction, and the gear cover plate is provided with a sliding convex edge that cooperates with the cover plate slide groove of the main box body. The gear cover plate can adjust the position along the sliding convex edge and the length direction of the cover plate slide groove.

10. The transport vehicle with up-and-down stair structure according to claim 9, characterized in that: A tensioning adjustment base is provided in the middle position inside the main box body, an eccentric shaft mounting groove is provided in the middle of the tensioning adjustment base, an eccentric shaft is rotatably mounted in the eccentric shaft mounting groove, an eccentric shaft is provided in the gear cover plate with an eccentric shaft hole, both ends of the eccentric shaft are rotatably mounted in the eccentric shaft holes of the gear cover plate, and the eccentric shaft is rotated to make the gear cover plate move along the length direction of the cover plate mounting groove hole to adjust the distance between the gear cover plate and the driven gear and the driving gear, thereby realizing chain tension adjustment.

Images