CN105857359B - A kind of multifunctional power-assisted toter - Google Patents
A kind of multifunctional power-assisted toter Download PDFInfo
- Publication number
- CN105857359B CN105857359B CN201610297776.3A CN201610297776A CN105857359B CN 105857359 B CN105857359 B CN 105857359B CN 201610297776 A CN201610297776 A CN 201610297776A CN 105857359 B CN105857359 B CN 105857359B
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- China
- Prior art keywords
- planetary gear
- motor
- governor
- gear train
- toter
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
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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
- B62B5/0026—Propulsion aids
- B62B5/0066—Transmission of movement
-
- 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
- B62B5/0069—Control
-
- 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
- B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
- F16H9/26—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members with members having orbital motion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of multifunctional power-assisted toters, including planetary gear train；Motor is fixed on vehicle frame, for driving planetary gear train；Electron speed regulator, including the first governor and the second governor, first governor and the second governor are fixed on the handle of vehicle frame；Speed-regulating control circuit, power supply connect reversing switch, the first circuit of connection or second circuit of reversing switch selectivity, the first circuit the first governor of series connection and motor, and second circuit passes through safety switch series connection electromagnetic relay, the second governor and motor；When planetary gear train rotation, reversing switch connects the first circuit, adjusts the first governor manually to control the speed that motor is advanced on level land；When planetary gear train revolves round the sun, reversing switch connects second circuit, adjusts the second governor manually to control speed when motor obstacle detouring.Speed of toter electron speed regulator and its control circuit the adjustment toter of present invention during level land advances or climbs building obstacle detouring, is readily transported cargo.
Description
Technical field
The present invention relates to power-assisted toters.It is more particularly related to assemble the multifunctional power-assisted of planetary gear train
Toter.
Background technology
With the raising of living standards of the people and the development of internet economy, logistic industry is familiar with by ordinary people gradually.
The application of the various vehicles makes logistic industry efficiency step up, but in certain large-scale logistics distribution centers and does not have
Inside the old-fashioned cell of elevator, delivery heavy goods are upstairs or by manpower.This greatly dragged slowly the speed of logistic industry with
Efficiency.Many residential areas forbid that the truck of delivery enters or the lane in cell or path are excessively narrow truck not at present
It can enter, at this moment just manpower be needed to be transported to cargo downstairs, then by cargo carry it upstairs, it is time-consuming and laborious in this way.Many storehouses at home
In storage center, also relate to level land transhipment, staircase transport the case where, while need toter small so as into
Enter warehouse.This series of activities is all by being accomplished manually at present.Also, this labour of long campaigns is easy to make the body of delivery person
At damage.
Currently there are power-assisted toter there are mainly two types of：One is the rows that planetary gear set is driven by motor
Carrier so that device can with power-assisted upstairs, but the device using when need human hand to help device and undertake in device horizontal direction
Component, and operator needs the operating frequency of adaptive device itself, bad adaptability.Another kind is Jackstay type toter,
When stair activity upstairs by the strut support device of device front end, but such device is not yet domestic, and expensive, structure is multiple
It is miscellaneous, bad adaptability.
Invention content
It is an object of the present invention to provide a kind of multifunctional power-assisted toters, using motor-driven triangle planetary gear set row
Into when encountering obstacle, travel wheel is switched to by rotation and revolved round the sun around triangle planetary gear set, to smooth obstacle detouring.
It is a still further object of the present invention to provide a kind of multifunctional power-assisted toters, with electron speed regulator and its control electricity
Road adjusts speed of toter during level land advances or climbs building obstacle detouring, is readily transported cargo.
It is a still further object of the present invention to provide a kind of multifunctional power-assisted toter, the planetary gears of vehicle frame arranged on left and right sides
Differential mechanism is installed between system, toter is made smoothly to turn.
It is a still further object of the present invention to provide a kind of multifunctional power-assisted toter, controller is according to different more barriers
Torque adjusts the output torque of motor, ensures the smooth obstacle detouring of toter.
In order to realize these purposes and other advantages according to the present invention, a kind of multifunctional power-assisted toter is provided,
Including：
Vehicle frame；
Motor is fixed on vehicle frame；
Planetary gear train, is symmetrically mounted on vehicle frame both sides, and the planetary gear train is driven by motor to drive frame movement；
Wherein, the planetary gear train includes：
Expert's carrier comprising at least two outwardly extending stabilizer blades, and towards being arranged too on the side of the motor
Positive gear and planetary gear, setting center sprocket wheel and multiple planet sprockets on another side；And
The sun gear is fixed on by the way that first axle is rotatable in expert's carrier, and the motor output shaft connects
Connect the sun gear；
The planetary gear is fixed on by the way that the second axis is rotatable in expert's carrier, and with the sun tooth
Wheel engagement；
The center sprocket wheel is fixed on second axis, and the center sprocket wheel and the planetary gear rotate jointly；
The multiple planet sprocket is rotatably arranged on the outer end of the stabilizer blade correspondingly；
Chain engages simultaneously with the center sprocket wheel and the multiple planet sprocket；
Travel wheel is coaxially fixed with the multiple planet sprocket respectively, and is revolved jointly with the multiple planet sprocket
Turn.
Preferably, further include：
Electron speed regulator comprising：First governor and the second governor, first governor and the second governor are solid
It is scheduled on the handle of vehicle frame, the rotating speed for controlling motor；And
Speed-regulating control circuit comprising：Reversing switch, the first governor of connection and the second governor of selectivity；
Wherein, when planetary gear train rotation, reversing switch connects the first governor, and adjusting the first governor control motor turns
Speed, to control the level land gait of march of planetary gear train；
When planetary gear train revolves round the sun, reversing switch connects the second governor, adjusts the second governor and controls motor speed, to
Control speed when planetary gear train obstacle detouring.
Preferably, the motor is servo motor.
Preferably, the output shaft connected with differential of the motor, differential mechanism are connected by the first connecting shaft and second respectively
The planetary gear train of spindle connecting vehicle frame both sides.
Preferably, further include：
Torque sensor is mounted on motor output shaft, the torque of the torque sensor measurement motor；
Controller connects torque sensor and motor, and the controller receives the signal of torque sensor, and controls electricity
The output torque of machine.
Preferably, when the planetary gear train encounters obstacle travel wheel with ground skidding, to ensure that planetary gear train revolution is got over
Barrier, controller control real-time torque T ' satisfaction of motor：
Wherein, θ angles between traveling wheel, k are Transmission Ratio of Planetary Gear Trains, and η is the mechanical efficiency of planetary gear train；M is row
The quality of star wheel series, f are the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planetary gear train.
Preferably, the planetary gear train encounters obstacle and taking turns with ground does not have relative motion, to ensure that planetary gear train is public
Turn obstacle detouring, controller controls real-time torque T ' satisfaction of motor；
Wherein, θ angles between traveling wheel, k are Transmission Ratio of Planetary Gear Trains, and η is the mechanical efficiency of planetary gear train；M is row
The quality of star wheel series, f are the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planetary gear train.
Preferably, further include carrying disk, be rotatably connected on bottom of frame crossbeam, be used for support cargo；Wherein, institute
Loading pan bottom installation universal wheel is stated, the universal wheel plays guiding role to vehicle frame.
Preferably, further include layman's carrier, expert's carrier is identical with layman's carrier shape, expert's carrier and
Center sprocket wheel, planet sprocket and chain described in space between layman's carrier.
Preferably, the tool of expert's carrier is there are three overhanging stabilizer blade, and the quantity of the planet sprocket is three, and three
The line of centres of a planet sprocket forms equilateral triangle.
The present invention includes at least following advantageous effect：1, power-assisted cargo can be delivered under the state of level land；2, it can climb
Power-assisted delivers cargo when stair；3, toter can automatically switch to go by its mechanical property when power-assisted delivers upstairs
Into state.Between step and step, planetary gear set can adapt to carry out revolution or rotation automatically by the variation of the moment of resistance, automatically
Complete entire flow upstairs.4, toter is turned to using differential mechanism, accomplishes that torque induction turns to.5, toter is flat
When ground power-assisted delivery, the adjusting of electron speed regulator controls motor speed by one hand, and differential can be passed through
Device is turned to.6, toter reduces volume when transporting or is idle by folding carrying disk, and equipped with vehicle-mounted quick
Charge port can save space and be charged when being transported on vehicle, fully comply with use demand.7, toter has power
Arrangement of clutch, special circumstances can detach power when power drain etc. so that and travel wheel is free, meanwhile, separation power can be square
Just it goes downstairs.And electric power reclamation plant can be added, electric energy can be recycled when encountering downstairs to improve economy.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is a kind of structure chart of way of realization of the toter of the present invention.
Fig. 2 is the side view of the toter of the present invention.
Fig. 3 is the structure chart of another way of realization of the toter of the present invention.
Fig. 4 is the speed-regulating control circuit figure of the toter of the present invention.
Fig. 5 is the planetary gear train structure chart of the toter of the present invention.
Fig. 6 is the planetary gear set structure chart of the toter of the present invention.
Fig. 7 is the planetary gear set structure chart of the toter of the present invention.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Fig. 1-4 shows that a kind of way of realization according to the present invention, power-assisted toter include vehicle frame 100, planetary gear train
200, control system 300, vehicle frame 100 are used for bearing goods, and the planetary gear train 200, control system 300 are mounted on vehicle frame 100
On, planetary gear train 200 drives vehicle frame 100 in level land advance or the obstacle detouring when encountering obstacle, stair, the control row of control system 300
The travel condition of star wheel series 200.
As shown in Fig. 2, vehicle frame 100 includes main body of vehicle frame 110, handle 120, carrying disk 130, main body of vehicle frame 110 is two
The rectangle rack that longeron and two crossbeams connect into has the function of anticollision deformation and load-bearing using hard steel；120 liang of handle
End is fixed on the midpoint of two crossbeams, and 120 top of handle is equipped with the grip part of bending, and hand is grasped when being conveniently operated；
Carrying disk 130 is rectangle rack, and the structure of bearing goods is formed with main body of vehicle frame 110, and carrying disk 130 is rotatably connected in vehicle frame
On the crossbeam of 100 bottoms, enables carrying disk 130 around crossbeam-rotating and then realize that the folding of carrying disk 130 is packed up, wherein carry
Universal wheel is installed in the bottom of object disk 130, for guiding toter to turn to；Vehicle frame 100 is left with respect to the one side installation of carrying disk 130
Side shield, right-hand apron and ground baffle, left side baffle, right-hand apron and bottom baffle are for connecting planetary gear train 200.
As shown in Fig. 2, planetary gear train 200 includes motor 210, travel wheel 220 and planetary gear set 230, motor 210 is fixed on
In the accommodating space that left side baffle, right-hand apron and bottom baffle are formed, output axis connection planetary gear set 230, three travelings
Wheel 220 is fixed in planetary gear set 230.Motor 210 is adjusting torque formula motor, output axis connection planetary gear set 230；Its
In, torque sensor is installed on 210 output shaft of motor, is common sensor, is not shown.The torque sensor
It measures and uses electric measurement technique of strain gage, paste foil gauge thereon and form measuring bridge, when output shaft is generated micro-strain by torque
After cause bridge resistance to change, the change transitions of strain bridge resistance at the variation of electric signal to realize torque measurement, from
And realize the torque of measurement motor.
By Fig. 5-7 as it can be seen that planetary gear set 230 is gear, it acts as motor 210 is exported power to pass according to certain
Dynamic ratio is accelerated, including sun gear 231, planetary gear 232, planetary gear cover board 233, expert's carrier 234, layman's carrier
235, center sprocket wheel 236, planet sprocket 237, chain 238 and traveling wheel shaft 239.Sun gear 231 is equipped with central through hole, outside it
Teeth are laid on circumference, wherein the size of central through hole and 210 output shaft of motor is exported to matching for connecting motor 210
Axis, sun gear 231 are rotatably connected at the center of interior planet carrier 234.Planetary gear 232 is rotatably connected by central shaft
In expert's carrier 234, teeth are laid on excircle.Wherein, the sun gear 231 and planetary gear 232 pass through planet tooth
Wheel cover board 233 is fixed on the homonymy in interior planet carrier 234, further, angularly to lay vehicle equilateral for three planetary gears 232
Triangle, and engaged with sun gear 231, drive three planetary gears 232 to rotate by sun gear 231.Center sprocket wheel 236 with
232 concentric setting of planetary gear, and the both sides of expert's carrier 234 are fixed on by same central shaft, planetary gear 232 turns
Dynamic drive center sprocket wheel 236 rotates synchronously.As seen from Figure 7, in center sprocket wheel 236, chain 238 and planet sprocket 237 are laid in
The same side of planet carrier 234, further, the phase in interior planet carrier 234 is arranged with sun gear 231 and planetary gear 232
Anti- side, wherein three planet sprockets 237 are connected to by traveling wheel shaft 239 on three angles of expert's carrier 234, chain 238
It is engaged respectively at center sprocket wheel 236 and planet sprocket 237, i.e., center sprocket wheel 236 drives 237 turns of planet sprocket by chain 238
It is dynamic, to drive the traveling wheel shaft 239 being fixedly connected with planet sprocket 237 to rotate.As seen from Figure 1, traveling wheel shaft 239 is set in
In expert's carrier 234 and layman's carrier 235 disposed in parallel, expert's carrier 234 is identical with 235 structure of layman's carrier, not advise
Then triangular structure, wherein traveling wheel shaft 239 connects travel wheel 220, three travel wheels 220 in the branch outlet of outer planet carrier 235
Planetary gear set 230 is connected by traveling wheel shaft 239.
Fig. 3 shows that another way of realization of planetary gear train 200, motor 210 export axis connection and export helical gear 211,
Helical gear 211 and 240 engaged transmission of differential mechanism, 240 both ends of differential mechanism are separately connected the first connecting shaft 241 and the second connecting shaft
242, the planetary gear set 230 of 241 connecting vehicle frame of the first connecting shaft, 100 side, 242 connecting vehicle frame 100 of the second connecting shaft is separately
The planetary gear set 230 of side adjusts the planetary gear set 230 for making both sides by differential mechanism 240 when toter is turned
Speed difference is generated, smoothly turning is realized using the speed difference of both sides.
Control system 300 includes the first governor 310, the second governor 320, speed-regulating control circuit and controller, wherein
Speed-regulating control circuit includes reversing switch, safety switch 330, electromagnetic relay and power supply.As illustrated in fig. 1 and 2, the first governor
310 and second governor 320 be electron speed regulator, electron speed regulator has the function of frequency converter, passes through that change motor work electric
Source frequency controls the rotating speed of motor；First governor 310 is mounted on 120 outside of handle, and the second governor 320 is mounted on handle
The inboard of hand 120；Safety switch 330 is mounted on the upper end of the main body of vehicle frame 110 of handle 120, manually controls safety switch 330
Folding, Fig. 4 show the type of attachment of speed-regulating control circuit, and power supply connects reversing switch, the connection of reversing switch selectivity the
One circuit or second circuit, the first circuit the first governor 310 of series connection and motor reconnect power supply and form closed circuit, wherein
First circuit is applied in toter the case where level land is advanced, and the first governor 310 controls motor 210 to control delivery dress
Set the speed in level walking；Second circuit passes through the series connection of safety switch 330 electromagnetic relay, the second governor 320 and motor
It reconnects power supply and forms closed circuit, when safety switch 330 is opened, the signal end of electromagnetic relay disconnects, and works as safety switch
When 330 closing, the signal end connection of electromagnetic relay makes the dynamic closed end of electromagnetic relay be closed, electromagnetic relay connection second
Governor 320.Wherein, second circuit is applied the case where toter is in obstacle detouring or stair climbing, and the second governor 320 controls electricity
Machine 210 is to control toter speed in obstacle detouring or stair climbing.Controller is common control element, is not shown in figure
Go out, the controller is mounted on vehicle frame 100, connects torque sensor and motor 210, controller receives, storage torque passes
The signal of sensor, and control the output torque of motor；Wherein, controller is also connected with speed-regulating control circuit, and intelligent control commutation is opened
The commutation of pass, when toter is when level land is advanced, controller controls reversing switch and connects the first circuit, the first governor 310
Control motor 210 to control toter level walking speed；When toter is in obstacle detouring or stair climbing, controller
It controls reversing switch and connects second circuit, the second governor 320 controls motor 210 to control toter in obstacle detouring or climb building
Speed when terraced.
When toter is in level walking, surface resistance square is less than planetary gear set 230 from torque, and motor 210 passes through
Differential mechanism 240 drives to sun gear 231, and sun gear 231 drives planetary gear 232 to rotate, center sprocket wheel 236 and planet tooth
Wheel 232 rotates synchronously, and center sprocket wheel 236 drives planet sprocket 237 to rotate by chain 238, to make 220 rotation of travel wheel,
To drive toter to advance.When toter encounters barrier or stair climbing, running resistance square moment, which increases to, to be more than
Drive planetary gear set from torque, driving motor 210 drives to sun gear 231 by differential mechanism 250, but resistance makes planet tooth
Wheel 232 is stagnated, and sun gear 231 drives expert's carrier 234 to rotate, and to realize that planetary gear set 230 revolves round the sun, planetary gear set drives
The smooth obstacle detouring of toter.But toter is in obstacle detouring that there will be two kinds of situations：When at barrier travel wheel 220 with
It skids on ground；Second is that travel wheel 220 does not have relative motion with ground at barrier, that is, stops operating, discuss two separately below
The condition of toter obstacle detouring in the case of kind.
When travel wheel 220 and ground are skidded, controller by torque sensor measure the real-time torque T of toter ', control
It is T that device processed calculates the torque that obstacle detouring needs according to formula (1)1, controller control motor real-time torque T '>T1, in toter
The revolution of planetary gear set 230 to obstacle detouring：
The first impact factor λ is introduced, reflects the influence of angle, θ, transmission ratio k, mechanical efficiency η and radius R to obstacle detouring torque,
Its calculation formula (2) is：
Wherein, λ is the first impact factor, zero dimension；θ is angle between three traveling wheels for constituting equilateral triangle, single
Position is degree；K is planet gear transmission ratio, and η is the mechanical efficiency of toter；M is the quality of toter, unit g；F is fortune
The coefficient of kinetic friction set with ground is carried, R is the half of the circumcircle for the equilateral triangle that three traveling wheels of toter are formed
Diameter, unit are rice.
When travel wheel 220 and ground do not have relative motion, i.e. 220 stop motion of travel wheel, controller is according to formula (3)
It is T to calculate the torque that obstacle detouring needs2, controller control motor real-time torque T '>T2, planetary gear set 230 in toter from
And obstacle detouring；
The first impact factor λ is introduced, reflects the influence of angle, θ, transmission ratio k, mechanical efficiency η and radius R to obstacle detouring torque,
Its calculation formula (4) is：
Wherein, λ is the first impact factor, zero dimension；θ is angle between three traveling wheels for constituting equilateral triangle, single
Position is degree；K is planet gear transmission ratio, and η is the mechanical efficiency of toter；M is the quality of toter, unit g；F is fortune
The coefficient of kinetic friction set with ground is carried, R is the half of the circumcircle for the equilateral triangle that three traveling wheels of toter are formed
Diameter, unit are rice.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With.It can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of multifunctional power-assisted toter, which is characterized in that including：
Vehicle frame；
Motor is fixed on vehicle frame；
Planetary gear train, is symmetrically mounted on vehicle frame both sides, and the planetary gear train is driven by motor to drive frame movement；Its
In, the planetary gear train includes：
Expert's carrier comprising at least two outwardly extending stabilizer blades, and towards sun tooth is arranged on the side of the motor
Wheel and planetary gear, setting center sprocket wheel and multiple planet sprockets on another side；And
The sun gear is fixed on by the way that first axle is rotatable in expert's carrier, and the motor output shaft connects institute
State sun gear；
The planetary gear is fixed in expert's carrier by the way that the second axis is rotatable, and is nibbled with the sun gear
It closes；
The center sprocket wheel is fixed on second axis, and the center sprocket wheel and the planetary gear rotate jointly；
The multiple planet sprocket is rotatably arranged on the outer end of the stabilizer blade correspondingly；
Chain engages simultaneously with the center sprocket wheel and the multiple planet sprocket；
Travel wheel is coaxially fixed with the multiple planet sprocket respectively, and is rotated jointly with the multiple planet sprocket；
When the planetary gear train encounters obstacle travel wheel with ground skidding, to ensure planetary gear train revolution obstacle detouring, controller control
Real-time torque T ' satisfaction of motor：
Wherein, θ angles between traveling wheel, k are Transmission Ratio of Planetary Gear Trains, and η is the mechanical efficiency of planetary gear train；M is planetary gear
The quality of system, f are the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planetary gear train.
2. multifunctional power-assisted toter as described in claim 1, which is characterized in that further include：
Electron speed regulator comprising：First governor and the second governor, first governor and the second governor are fixed on
On the handle of vehicle frame, the rotating speed for controlling motor；And
Speed-regulating control circuit comprising：Reversing switch, the first governor of connection and the second governor of selectivity；
Wherein, when planetary gear train rotation, reversing switch connects the first governor, and the first governor of adjusting controls motor speed, from
And control the level land gait of march of planetary gear train；
When planetary gear train revolves round the sun, reversing switch connects the second governor, adjusts the second governor and controls motor speed, to control
Speed when planetary gear train obstacle detouring.
3. multifunctional power-assisted toter as claimed in claim 1 or 2, which is characterized in that the motor is servo motor.
4. multifunctional power-assisted toter as claimed in claim 3, which is characterized in that the output axis connection differential of the motor
Device, differential mechanism pass through the planetary gear train of the first connecting shaft and the second connecting shaft connecting vehicle frame both sides respectively.
5. multifunctional power-assisted toter as claimed in claim 4, which is characterized in that further include：
Torque sensor is mounted on motor output shaft, the torque of the torque sensor measurement motor；
Controller connects torque sensor and motor, and the controller receives the signal of torque sensor, and controls motor
Output torque.
6. multifunctional power-assisted toter as claimed in claim 5, which is characterized in that the planetary gear train encounters obstacle and takes turns
There is no relative motion with ground, to ensure that planetary gear train revolution obstacle detouring, controller control real-time torque T ' satisfaction of motor；
Wherein, θ angles between traveling wheel, k are Transmission Ratio of Planetary Gear Trains, and η is the mechanical efficiency of planetary gear train；M is planetary gear
The quality of system, f are the coefficient of kinetic friction of travel wheel and ground, and R is the radius of turn of planetary gear train.
7. such as multifunctional power-assisted toter described in claim 5 or 6, which is characterized in that further include carrying disk, rotation connects
It is connected on bottom of frame crossbeam, is used for support cargo；Wherein, universal wheel is installed in the loading pan bottom, and the universal wheel is to vehicle
Erect guiding role.
8. multifunctional power-assisted toter as claimed in claim 7, which is characterized in that further include layman's carrier, the expert
Carrier is identical with layman's carrier shape, center sprocket wheel, planet described in the space between expert's carrier and layman's carrier
Sprocket wheel and chain.
9. multifunctional power-assisted toter as claimed in claim 8, which is characterized in that there are three outer for the tool of expert's carrier
The quantity of the stabilizer blade stretched, the planet sprocket is three, and the line of centres of three planet sprockets forms equilateral triangle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610297776.3A CN105857359B (en) | 2016-05-06 | 2016-05-06 | A kind of multifunctional power-assisted toter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610297776.3A CN105857359B (en) | 2016-05-06 | 2016-05-06 | A kind of multifunctional power-assisted toter |
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| CN105857359A CN105857359A (en) | 2016-08-17 |
| CN105857359B true CN105857359B (en) | 2018-08-24 |
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| CN107554635A (en) * | 2017-09-22 | 2018-01-09 | 重庆雷步特科技有限责任公司 | A kind of wheel assembly of Multifunctional carrying dolly |
| CN108001928A (en) * | 2017-11-26 | 2018-05-08 | 钟立朋 | A kind of hydraulic part delivery system |
| CN109131463A (en) * | 2018-08-06 | 2019-01-04 | 尹宗航 | A kind of moving trolley platform |
| CN108953514B (en) * | 2018-08-23 | 2023-06-02 | 吉林大学 | Double-clutch active planetary gear train obstacle surmounting robot and control method thereof |
| CN109204419B (en) * | 2018-10-15 | 2024-03-12 | 潘秀兰 | Electric stair climbing vehicle with compensation function |
| CN109782768A (en) * | 2019-01-26 | 2019-05-21 | 哈尔滨玄智科技有限公司 | A kind of autonomous navigation system adapting to expert's planetary compound gear train transfer robot |
| CN110155138B (en) * | 2019-05-24 | 2023-07-11 | 吉林大学 | Multifunctional cargo carrying device capable of being applied to complex terrain and control method thereof |
| CN110215358A (en) * | 2019-07-10 | 2019-09-10 | 吉林大学 | A kind of electric wheelchair having self-determination climbing stairs function and its control method |
| CN111645734A (en) * | 2020-07-13 | 2020-09-11 | 菏泽学院 | Laborsaving stair helping hand carrier |
| CN112537359A (en) * | 2020-12-10 | 2021-03-23 | 南宁学院 | Stair climbing device for freight transportation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2483873B (en) * | 2010-09-22 | 2012-08-15 | Jonathan Sitton | Stair climbing attachment for a pram |
| CN103587566A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Planetary multi-wheel carrier |
| JP3189397U (en) * | 2013-12-20 | 2014-03-13 | 信仁 齋藤 | Trolley |
| CN204548165U (en) * | 2014-12-09 | 2015-08-12 | 沈阳工学院 | Corridor level land dual-purpose electric hand barrow |
| CN204688162U (en) * | 2015-06-19 | 2015-10-07 | 刘兆仑 | A kind of shopping cart |
| CN105346581B (en) * | 2015-11-09 | 2017-12-29 | 苏州市职业大学 | A kind of power-assisted dolly of climbing stairs |
| CN105292219A (en) * | 2015-11-16 | 2016-02-03 | 湖北汽车工业学院 | Stair climbing vehicle |
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2016
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