一种自动爬楼运输车

A Kind of Automatic Transport Vehicle for Climbing Stairs

设计了一种自动爬楼运输车,其特征是将水平行走运动与升降运动分开,水平行走由伺服电动机通过滚珠丝杠带动载物台实现,升降运动由电动推杆的伸缩实现,行走运动与升降运动交替进行。其中,水平行走与升降运动均由3条腿支撑完成,利用三角形的稳定性保持整个机构在水平面内稳定牢固。在爬楼过程中,载物台始终呈水平状态,运送的物品不会因倾斜而滑落。整个装置由单片机控制伺服电动机与电动推杆协调运动,从而完成爬楼动作。

This paper designs a kind of automatic transport vehicle for climbing stairs which can separate the horizontalwalking motion from the lifting movement. The horizontal walking is driven by the servo motors through the ball screws, thelifting movement is realized by the electric push rods, the walking motion and the ascending/descending motion can bealternated. And the horizontal walking and lifting movements are all supported by three legs, the stability of the wholevehicle in the horizontal plane is maintained by the stability of the triangle. In the process of climbing stairs, the platform isalways in a horizontal state and the goods will not be transported due to tilt and slide. The whole device is monitored byasingle chip microcomputer to control the servo motors and the electric push rods to coordinate the movements, and thus theclimbing action is completed.