CN115959213A - Mobile trolley that intelligence was followed - Google Patents

Abstract

The invention discloses an intelligent following moving trolley, which relates to the technical field of self-following intelligent trolleys and comprises a trolley body main frame and a control system, wherein a control box is fixed inside the trolley body main frame, the control system is arranged below a layered plate, a storage box is arranged at the top of a scissor type lifting frame, a servo motor is fixed on the upper part of the right side of the control box, a universal wheel is arranged at the bottom end of the left side of the trolley body main frame, and a first variable speed motor is arranged on one side of the right side of the control box. This travelling car that intelligence was followed, the required article that carry of people's trip are placed inside the storing box, and people only need press the button on tracking source module, directional control member or the remote controller when article are got to needs, and servo motor drive apron rotation and expose the storing box this moment, cuts formula crane after that and rises and jacking the storing box to suitable height to make things convenient for people to get and put article, and need not people to bow, in order to protect the waist.

Description

Mobile trolley that intelligence was followed

Technical Field

The invention relates to the technical field of self-following intelligent trolleys, in particular to an intelligent following mobile trolley.

Background

The removal dolly that intelligence was followed is a kind and can follows the human little volume automobile body that removes automatically, and the appearance that the dolly was followed to intelligence need not artificial operation application of force, and this kind of dolly is widely used for old person's life, can load certain article for old person, and does not need old person to bear and carry to make things convenient for old person's trip.

The travelling car small in size that current intelligence was followed is in order to conveniently follow people's trip, nevertheless because the dolly bears article in the in-service use process, because of dolly volume restriction, article are located low department, often need people to bow or squat and just can take out the article that the dolly bore to it is unfriendly to the old person that the waist is unhealthy.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an intelligent following mobile trolley, which solves the problems in the background technology.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a removal dolly that intelligence was followed, includes automobile body frame and control system, the inside of automobile body frame is fixed with the control box, and the inside middle part of control box is provided with the layering board, control system sets up in the below of layering board, and the upper surface of layering board is provided with cuts the formula crane, the top of cutting the formula crane is provided with the storing box, the right side upper portion of control box is fixed with servo motor, and servo motor's output is connected with the apron, the left side bottom of automobile body frame is provided with the universal wheel, one side of control box right side sets up first gear motor, and the opposite side of control box right side is provided with second gear motor, first gear motor, second gear motor's output is connected with the drive wheel, control system is including tracking module, control module, obstacle response module and receiving module, the output of tracking module, obstacle response module, receiving module is connected with control module, the tracking module remote connection has the trace source module, receiving module has the remote controller, control module still is connected with the direction control member through the wire.

Furthermore, the direction control rod piece is arranged on the upper part of one side of the main frame of the vehicle body, and a wire for connecting the direction control rod piece and the control module is embedded in the main frame of the vehicle body.

Furthermore, the tracking module is used for tracking the position of the source tracking module and judging the distance between the source tracking module and the source tracking module, and the obstacle sensing module is used for sensing an obstacle on the moving path of the trolley.

Furthermore, the control system is used for controlling the rotating speeds of the first variable speed motor and the second variable speed motor so as to realize the steering of the trolley.

Further, the left side bottom of automobile body frame is provided with the spike subassembly, the spike subassembly includes rotary rod, first inside groove, pivot and heel brace board, first inside groove has been seted up to the inside of rotary rod, and the inside of first inside groove has inserted the pivot, the one end that first inside groove was kept away from in the pivot is fixed with the heel brace board.

Furthermore, the arm brace subassembly still includes bearing ring and spring telescopic link, the inside of first inside groove is provided with the bearing ring, and one side of bearing ring is connected with the spring telescopic link.

Furthermore, the rotating shaft penetrates through the interior of the bearing ring, and the rotating shaft is elastically connected with the spring telescopic rod through the bearing ring.

Furthermore, the arm brace assembly further comprises a second inner groove, the rotating rod is further internally provided with a second inner groove, and the second inner groove is communicated with the first inner groove.

Furthermore, the arm-brace subassembly still includes profile of tooth end and block gear, the one end of second inside groove is provided with the profile of tooth end, the one end that the heel brace board was kept away from in the pivot is passed first inside groove and is connected with the block gear when stretching into inside the second inside groove.

Furthermore, the outer opening of the clamping gear is matched with the inner opening of the tooth-shaped end in structural size, and the clamping gear is fixedly connected with the rotating shaft.

The invention provides an intelligent following moving trolley, which has the following beneficial effects:

1. this travelling car that intelligence was followed has three kinds of control mode, be respectively for utilizing tracking module, obstacle response module to track and trace the source module and keep fixed distance to follow and avoid the intelligent mode of following of the last barrier of route, also can the human body take on the apron surface, through the mode of taking of controlling the direction control member control dolly removal to and the remote control mode of sending control command in order to control the dolly removal through the remote controller long-range, this three kinds of control mode are favorable to being adapted to the habits and customs that different people went on a journey.

2. This travelling car that intelligence was followed, the required article that carries of people's trip are placed inside the storing box, and people only need press the button on trace source module, directional control member or the remote controller when article are got to needs, and servo motor drive apron is rotatory and expose the storing box this moment, cuts formula crane after that and rises the jacking of storing box to suitable height to make things convenient for people to get and put article, and need not people to bow, in order to protect the waist.

3. This removal dolly that intelligence was followed, taking under controlling the mode, the human body is taken in the apron surface, and the rotary rod back-out for human foot can be placed on the foot fagging, is favorable to improving people's shank comfort level taking under controlling the mode from this, and under all the other two kinds of modes, and the rotary rod is inside through rotatory being located the automobile body frame, thereby is favorable to reducing the dolly volume.

4. This travelling car that intelligence was followed, when placing the foot on the fagging, accessible foot makes the fagging exert thrust to the spring telescopic link hard, spring telescopic link shrink this moment, and make block gear and profile of tooth end separation, the tiptoe position or the heel position of foot exert hard this moment, clockwise or anticlockwise rotation in order to drive the heel plate, with the adjustment gradient, with this support angle that is favorable to the adjustment to the foot, with the improvement human comfort level, and the power of unloading of foot after the angle is confirmed, spring telescopic link extends to reset this moment, make block gear and profile of tooth end block again, can fix the support angle after the adjustment from this, in order to prevent the fagging from selecting at will.

Drawings

FIG. 1 is a schematic front view of a main frame of an intelligent following mobile cart according to the present invention;

FIG. 2 is a schematic diagram of the right side structure of a control box of the intelligent following mobile trolley;

FIG. 3 is a schematic flow chart of an intelligent following mode of the mobile cart for intelligent following according to the present invention;

FIG. 4 is a schematic flow chart of a remote control mode of the intelligent following mobile car according to the present invention;

FIG. 5 is a schematic flow chart of a ride control mode of an intelligent following mobile cart according to the present invention;

FIG. 6 is a schematic diagram of a back view of a rotating rod of the intelligent following mobile trolley;

fig. 7 is a schematic diagram of a right-view cross-sectional structure of a rotating rod of the intelligent following mobile car.

In the figure: 1. a vehicle body main frame; 2. a control box; 3. a laminate; 4. a control system; 401. a tracking module; 402. a control module; 403. an obstacle sensing module; 404. a receiving module; 5. a scissor type lifting frame; 6. a servo motor; 7. a universal wheel; 8. a first variable speed motor; 9. a second variable speed motor; 10. a drive wheel; 11. a trace source module; 12. a remote controller; 13. a direction control rod; 14. a storage box; 15. a cover plate; 16. a temple assembly; 1601. rotating the rod; 1602. a first inner tank; 1603. a rotating shaft; 1604. a foot supporting plate; 1605. a bearing ring; 1606. a spring telescopic rod; 1607. a second inner tank; 1608. a toothed end; 1609. engaging the gear.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in fig. 1 to 5, the present invention provides a technical solution: the utility model provides a dolly that intelligence was followed, including automobile body main frame 1 and control system 4, the inside of automobile body main frame 1 is fixed with control box 2, and the inside middle part of control box 2 is provided with layering board 3, control system 4 sets up in the below of layering board 3, and the upper surface of layering board 3 is provided with scissors formula crane 5, the top of scissors formula crane 5 is provided with storage box 14, the upper portion of the right side of control box 2 is fixed with servo motor 6, and the output of servo motor 6 is connected with apron 15, the left side bottom of automobile body main frame 1 is provided with universal wheel 7, one side of the right side of control box 2 sets up first gear motor 8, and the opposite side of the right side of control box 2 is provided with second gear motor 9, first gear motor 8, the output of second gear motor 9 is connected with drive wheel 10, control system 4 includes pursuit module 401, control module 402, obstacle response module 403 and receiving module 404, the output of receiving module 404 is connected with control module 402, it is connected with control module 401 to trace module 11 to trace module remote source module, receiving module 404 is connected with remote control module 401, control module 404, control module is connected with control module 12, control module 402 is still through the control module for the remote control module of pursuit of control module 13, and the upper portion of remote controller, and control module of remote controller module 13, and control module for the remote controller of remote controller module 4, and control module of remote controller 4, the upper portion of control module used for the distance control module of remote controller 4, the control module is connected with the upper portion of control module 4, it is used for the control module to be buried in the upper portion of the control module 11, the control module of the control module 4, the upper portion of remote controller 4, the control module of remote control module for the control module of remote controller 4, the control module for the control module 4, it is connected with the control module to be used for the control module to be buried in the control module 4;

the trolley has three control modes according to the use requirement, namely an intelligent following mode which utilizes the tracking module 401 and the obstacle sensing module 403 to track the tracking source module 11 and keep a fixed distance to follow and avoid obstacles on a path, an intelligent taking control mode which can also enable a human body to take on the surface of the cover plate 15 and control the trolley to move by controlling the direction control rod 13, and a remote control mode which remotely sends a control command through the remote controller 12 to control the trolley to move, the three control modes are favorable for adapting to the living habits of different people in a trip, wherein the specific working flow of the intelligent following mode is as follows, the human body carries the tracking source module 11 to move by itself, and the tracking module 401 on the trolley tracks the position of the tracking source module 11 in real time and judges the distance between the tracking module and the tracking source module, then the control module 402 drives the first variable speed motor 8 and the second variable speed motor 9 to drive the driving wheel 10 to rotate based on the direction and distance of the tracking source module 11, thereby enabling the trolley to move, and the turning of the trolley can be realized by controlling the rotating speeds of the first variable speed motor 8 and the second variable speed motor 9, when the trolley follows to move, the obstacle sensing module 403 senses the obstacle on the path in real time, and the control module 402 adjusts the rotating speeds of the first variable speed motor 8 and the second variable speed motor 9 to change the trolley following path to avoid the obstacle, when the trolley is in the control mode, the human body sits on the surface of the cover plate 15 and pushes the control rod on the hand-held direction control rod piece 13, the control module 402 receives an instruction to control the first variable speed motor 8 and the second variable speed motor 9 to drive the driving wheel 10 to rotate based on the pushing direction, and when the trolley is in the remote control mode, the human body pushes the direction rod on the remote controller 12, the receiving module 404 receives a signal of the remote controller 12, the control module 402 controls the first variable speed motor 8 and the second variable speed motor 9 to drive the driving wheel 10 to rotate so as to realize remote control of the trolley, articles required to be carried by people during traveling are placed in the storage box 14, and when people need to take and place the articles, the people only need to press the trace source module 11 and the buttons on the direction control rod piece 13 or the remote controller 12, at the moment, the servo motor 6 drives the cover plate 15 to rotate so as to expose the storage box 14, then the scissors type lifting frame 5 is lifted up to lift the storage box 14 to a proper height, so that people can take and place the articles conveniently, and people do not need to bend down to protect the waist.

As shown in fig. 1, 6-7, a foot support assembly 16 is arranged at the bottom of the left side of the vehicle body main frame 1, the foot support assembly 16 comprises a rotating rod 1601, a first inner groove 1602, a rotating shaft 1603 and a foot support plate 1604, the rotating rod 1601 is internally provided with the first inner groove 1602, the rotating shaft 1603 is inserted into the first inner groove 1602, and the foot support plate 1604 is fixed at one end of the rotating shaft 1603 far away from the first inner groove 1602;

specifically, in the riding operation mode, a human body is seated on the surface of the cover plate 15, and the rotary rod 1601 is screwed out, so that the feet of the human body can be placed on the foot supporting plate 1604, which is favorable for improving the leg comfort of people in the riding operation mode, and in the other two modes, the rotary rod 1601 is positioned inside the main frame 1 of the car body through rotation, which is favorable for reducing the volume of the car.

As shown in fig. 1 and fig. 6 to fig. 7, the temple assembly 16 further includes a bearing ring 1605 and a spring expansion link 1606, a bearing ring 1605 is disposed inside the first inner groove 1602, the spring expansion link 1606 is connected to one side of the bearing ring 1605, a rotation shaft 1603 penetrates through the inside of the bearing ring 1605, the rotation shaft 1603 is elastically connected to the spring expansion link 1606 through the bearing ring 1605, the temple assembly 16 further includes a second inner groove 1607, a second inner groove 1607 is further formed inside the rotation link, the second inner groove 1607 is communicated with the first inner groove 1602, the temple assembly 16 further includes a tooth-shaped end 1608 and a snap-on gear 1609, one end of the rotation shaft 1603, which is far away from the temple plate 1604, penetrates through the first inner groove 1602 and extends into the second inner groove 1607 while being connected with the snap-on gear 1609, an outer opening of the snap-on gear 1609 is matched with an inner opening of the tooth-shaped end, and the snap-on gear 1609 is fixedly connected to the rotation shaft 1603;

specifically, when the foot is placed on the foot supporting plate 1604, the foot supporting plate 1604 may apply a pushing force to the spring expansion link 1606 by the foot force, at this time, the spring expansion link 1606 contracts, so that the rotating shaft 1603 moves along the inside of the first inner groove 1602, and the engaging gear 1609 is separated from the tooth-shaped end 1608, at this time, the toe portion or the heel portion of the foot exerts a force to drive the foot supporting plate 1604 to rotate clockwise or counterclockwise, so as to adjust the inclination, thereby facilitating adjustment of the supporting angle for the foot, so as to improve the comfort of the human body, and at the time of determining the angle, the foot releases the force, at this time, the spring expansion link 1606 extends and resets, so that the engaging gear 1609 and the tooth-shaped end 1608 re-engage, thereby fixing the adjusted supporting angle, and preventing the foot supporting plate 1604 from being selected at will.

In summary, as shown in fig. 1 to 7, when the intelligent following mobile cart is used, the cart has three control modes, namely an intelligent following mode, a riding control mode and a remote control mode, according to the use requirement, and the three control modes are favorable for adapting to the living habits of different people, wherein the specific working process of the intelligent following mode is as follows, the human body carries the tracking source module 11 to move by itself, at this time, the tracking module 401 on the cart tracks the position of the tracking source module 11 in real time and judges the distance between the tracking source module 11 and the tracking source module, the control module 402 drives the first variable speed motor 8 and the second variable speed motor 9 to drive the driving wheel 10 to rotate based on the direction and the distance of the tracking source module 11, so that the cart moves, and the turning of the cart can be realized by controlling the rotating speeds of the first variable speed motor 8 and the second variable speed motor 9, and when the cart moves in following, the obstacle sensing module 403 senses obstacles on the path in real time, and the control module 402 adjusts the rotating speeds of the first variable speed motor 8 and the second variable speed motor 9 to change the path of the cart so as to avoid obstacles;

when the vehicle is in the riding control mode, a human body sits on the surface of the cover plate 15 and holds the control rod on the direction control rod piece 13 to push, and the control module 402 receives instructions to control the first variable speed motor 8 and the second variable speed motor 9 to drive the driving wheel 10 to rotate based on the pushing direction, so as to control the vehicle;

in the remote control mode, a human body pushes a direction lever on the remote controller 12, the receiving module 404 receives a signal of the remote controller 12, and the control module 402 controls the first variable speed motor 8 and the second variable speed motor 9 to drive the driving wheel 10 to rotate so as to realize remote control of the trolley;

when people need to take and place the articles, the user only needs to press the button on the tracking source module 11, the direction control rod 13 or the remote controller 12, at the moment, the servo motor 6 drives the cover plate 15 to rotate to expose the storage box 14, and then the scissor type lifting frame 5 is lifted to lift the storage box 14 to a proper height, so that the people can take and place the articles conveniently without bending the waist of people to protect the waist;

in the riding control mode, a human body rides on the surface of the cover plate 15, and the rotary rod 1601 is screwed out, so that feet of the human body can be placed on the foot supporting plate 1604, thereby being beneficial to improving the leg comfort of people in the riding control mode, and in the other two modes, the rotary rod 1601 is positioned in the main frame 1 of the vehicle body through rotation, thereby being beneficial to reducing the volume of the vehicle;

when the foot is placed on the foot supporting plate 1604, the foot supporting plate 1604 applies thrust to the spring expansion link 1606 by foot force, at this time, the spring expansion link 1606 contracts, so that the rotating shaft 1603 moves along the inside of the first inner groove 1602, the clamping gear 1609 is separated from the tooth-shaped end 1608, at this time, the toe part or the heel part of the foot applies force, so as to drive the foot supporting plate 1604 to rotate clockwise or anticlockwise, so as to adjust the inclination, thereby being beneficial to adjusting the supporting angle of the foot, so as to improve the comfort of the human body, and the rear foot force removal is determined at an angle, at this time, the spring expansion link 1606 extends and resets, so that the clamping gear 1609 and the tooth-shaped end 1608 are re-clamped, therefore, the adjusted supporting angle can be fixed, and the foot supporting plate 1604 is prevented from being selected randomly;

when the further mode of controlling of taking, the human body is located apron 15 surface, apron 15 surface can be laid the cushion and is used for improving the human comfort level when taking, and 15 surfaces of apron have still seted up threaded hole, whole dolly can regard as the removal chassis to use this moment, utilize the threaded hole on apron 15 surface, install the loading platform that is used for bearing article to apron 15 surface through the bolt, this dolly can be to different year thing and accept the loading platform to, thereby enlarge the application scope of this dolly, and this dolly has seted up interface group in control box 2's right flank, so that follow-up adds other mechanical component, so as to realize the function customization.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (10)

1. The utility model provides a removal dolly that intelligence was followed, includes automobile body frame (1) and control system (4), its characterized in that: the inner part of the main car body frame (1) is fixed with a control box (2), the middle part of the inner part of the control box (2) is provided with a layered plate (3), the control system (4) is arranged below the layered plate (3), the upper surface of the layered plate (3) is provided with a shear type lifting frame (5), the top of the shear type lifting frame (5) is provided with a storage box (14), the upper part of the right side of the control box (2) is fixed with a servo motor (6), the output end of the servo motor (6) is connected with a cover plate (15), the left bottom end of the main car body frame (1) is provided with a universal wheel (7), one side of the right side of the control box (2) is provided with a first variable speed motor (8), the other side of the right side of the control box (2) is provided with a second variable speed motor (9), the output ends of the first variable speed motor (8) and the second variable speed motor (9) are connected with a driving wheel (10), the control system (4) comprises a tracking module (401), a control module (402), an obstacle induction module (403) and a remote tracking source control module (401) and a remote source tracking module (11), the remote control device is characterized in that the receiving module (404) is remotely connected with a remote controller (12), and the control module (402) is also connected with a direction control rod piece (13) through a lead.

2. The intelligent following moving trolley according to claim 1, wherein: the direction control rod piece (13) is arranged on the upper part of one side of the main vehicle body frame (1), and a conducting wire for connecting the direction control rod piece (13) and the control module (402) is embedded in the main vehicle body frame (1).

3. The intelligent following mobile trolley according to claim 1, wherein: the tracking module (401) is used for tracking the position of the source tracking module (11) and judging the distance between the source tracking module and the source tracking module, and the obstacle sensing module (403) is used for sensing obstacles on the moving path of the trolley.

4. The intelligent following mobile trolley according to claim 1, wherein: the control system (4) is used for controlling the rotating speeds of the first variable speed motor (8) and the second variable speed motor (9) so as to realize the steering of the trolley.

5. The intelligent following mobile trolley according to claim 1, wherein: the left side bottom of automobile body main frame (1) is provided with spike subassembly (16), spike subassembly (16) include rotary rod (1601), first inside groove (1602), pivot (1603) and heel brace board (1604), first inside groove (1602) have been seted up to the inside of rotary rod (1601), and the inside of first inside groove (1602) has inserted pivot (1603), the one end that first inside groove (1602) was kept away from in pivot (1603) is fixed with heel brace board (1604).

6. The intelligent following mobile trolley according to claim 5, wherein: the supporting foot assembly (16) further comprises a bearing ring (1605) and a spring telescopic rod (1606), the bearing ring (1605) is arranged inside the first inner groove (1602), and one side of the bearing ring (1605) is connected with the spring telescopic rod (1606).

7. The intelligent following mobile trolley according to claim 6, wherein: the rotating shaft (1603) penetrates through the inside of the bearing ring (1605), and the rotating shaft (1603) is elastically connected with the spring telescopic rod (1606) through the bearing ring (1605).

8. The intelligent following mobile trolley according to claim 5, wherein: the arm brace assembly (16) further comprises a second inner groove (1607), the rotating rod (1601) is further provided with a second inner groove (1607), and the second inner groove (1607) is communicated with the first inner groove (1602).

9. The intelligent follow-up moving trolley according to claim 8, wherein: the supporting foot component (16) further comprises a tooth-shaped end (1608) and a clamping gear (1609), the tooth-shaped end (1608) is arranged at one end of the second inner groove (1607), and one end, far away from the supporting foot plate (1604), of the rotating shaft (1603) penetrates through the first inner groove (1602) and extends into the second inner groove (1607) and is connected with the clamping gear (1609).

10. The intelligent following mobile cart according to claim 9, wherein: the outer opening of the clamping gear (1609) is matched with the inner opening of the tooth-shaped end (1608), and the clamping gear (1609) is fixedly connected with the rotating shaft (1603).

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