CN116158918B - stair climbing machine - Google Patents

stair climbing machine

Info

Publication number
CN116158918B
CN116158918B CN202310155429.7A CN202310155429A CN116158918B CN 116158918 B CN116158918 B CN 116158918B CN 202310155429 A CN202310155429 A CN 202310155429A CN 116158918 B CN116158918 B CN 116158918B
Authority
CN
China
Prior art keywords
frame
stair climbing
wheel
climbing machine
bracket
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202310155429.7A
Other languages
Chinese (zh)
Other versions
CN116158918A (en
Inventor
赵勇
徐明宇
阮柳健
胡兆祥
梁国寿
饶辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongshan Prodigy Innovation Technology Corp ltd
Original Assignee
Zhongshan Prodigy Innovation Technology Corp ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhongshan Prodigy Innovation Technology Corp ltd filed Critical Zhongshan Prodigy Innovation Technology Corp ltd
Priority to CN202310155429.7A priority Critical patent/CN116158918B/en
Publication of CN116158918A publication Critical patent/CN116158918A/en
Application granted granted Critical
Publication of CN116158918B publication Critical patent/CN116158918B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1078—Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

本发明涉及智能出行技术领域，具体提供了一种爬楼机，包括包括车架、第一电控伸缩杆、履带结构和连杆机构，所述履带结构安装于所述车架；所述连杆机构包括支撑组件，所述支撑组件包括支架和车轮，所述支架通过第一转轴与车架铰接；所述车轮与所述支架的一端连接；所述第一电控伸缩杆与所述支架的另一端连接；其中，所述第一电控伸缩杆与所述支架的另一端铰接，所述第一电控伸缩杆带动所述支架绕所述第一转轴旋转并从所述车架内伸出，所述第一转轴与所述车轮的轴线平行。本发明其结构紧凑，通过车轮改变爬楼机的倾斜角度和重心，实现快速上下楼，且无需人力推车，节约人力成本。

The present invention relates to the field of intelligent travel technology, and specifically provides a stair climber, comprising a frame, a first electrically controlled telescopic rod, a track structure, and a connecting rod mechanism, wherein the track structure is mounted on the frame; the connecting rod mechanism comprises a support assembly, wherein the support assembly comprises a bracket and a wheel, wherein the bracket is hinged to the frame via a first rotating shaft; the wheel is connected to one end of the bracket; the first electrically controlled telescopic rod is connected to the other end of the bracket; wherein the first electrically controlled telescopic rod is hinged to the other end of the bracket, and the first electrically controlled telescopic rod drives the bracket to rotate around the first rotating shaft and extend from the frame, and the first rotating shaft is parallel to the axis of the wheel. The present invention has a compact structure, and the inclination angle and center of gravity of the stair climber are changed by the wheels, thereby achieving rapid climbing up and down stairs, without the need for manual pushing, thus saving labor costs.

Description

Stair climbing machine
Technical Field
The invention relates to the technical field of intelligent travel, in particular to a stair climbing machine.
Background
Most of the walking tools on the market can only walk on the flat ground, such as an electric wheelchair, but cannot travel on platforms with large drop heights, such as stairs. Can only walk on the flat ground, has small application range and is easy to be limited in daily life.
The existing stair climbing machine is also partially suitable for disabled people, but has a complex structure, and is basically required to be wheeled by means of manpower, so that time and labor are wasted, and the wheel assembly of the existing stair climbing machine adopts a vertical lifting mode, and when external impact force is applied, external force can be directly acted on the frame, so that the joint of the frame and the wheel assembly is broken.
Disclosure of Invention
The invention aims to provide a stair climbing machine which is compact in structure, changes the inclination angle and the gravity center of the stair climbing machine through wheels, realizes quick upstairs and downstairs, does not need a manual cart, and saves the labor cost.
In order to solve the technical problems, the invention provides a stair climbing machine, which comprises a frame, a first electric control telescopic rod, a track structure and a connecting rod mechanism, wherein the track structure and the first electric control telescopic rod are both arranged on the frame;
The linkage includes a support assembly including:
the bracket is hinged with the frame through a first rotating shaft;
The wheels are connected with the bracket;
the first electric control telescopic rod is hinged with the support, the first electric control telescopic rod drives the support to rotate around the first rotating shaft and extend out of the frame, and the first rotating shaft is parallel to the axis of the wheel.
Optionally, the two groups of link mechanisms are a first link mechanism and a second link mechanism respectively, wherein the first link mechanism is arranged at the front end of the frame, and the second link mechanism is arranged at the rear end of the frame.
Optionally, the first link mechanism includes two sets of first supporting components, the second link mechanism includes two sets of second supporting components, two sets of first supporting components and two sets of second supporting components symmetry respectively set up in the both sides of frame.
Optionally, the second support assembly further comprises a first drive motor, and the first drive motor is connected with the wheel.
Optionally, the front end of the track structure is located on an axial projection of a rotation track of the wheel of the first support assembly away from the end of the bracket, and the rear end of the track structure is located on an axial projection of a rotation track of the wheel of the second support assembly away from the end of the bracket.
Optionally, the first pivot is located the bottom of frame, just first automatically controlled telescopic link with the support is kept away from the rotation track tangent of the one end of wheel.
Optionally, the crawler structure comprises a mounting frame, a crawler, a driving wheel, a driven wheel and a second driving motor, wherein the mounting frame is mounted on the frame, the driving wheel and the driven wheel are mounted on the mounting frame, the crawler is connected with the driving wheel and the driven wheel, and the second driving motor is connected with the driving wheel.
Optionally, two crawler structures are provided, and the two crawler structures are symmetrically arranged on two sides of the frame.
Optionally, the mounting frame has a first end and a second end that are connected in sequence, the second end is inclined towards a direction away from the ground, the driving wheel is mounted on the second end, and the driven wheel is mounted on the first end.
Optionally, the linkage is disposed between two of the track structures.
Optionally, the stair climbing machine further comprises a seat, and the seat is mounted on the frame.
Optionally, the seat is hinged with the frame, the stair climbing machine further comprises a second electric control telescopic rod, the second electric control telescopic rod is installed on the frame, and the second electric control telescopic rod is connected with the seat.
Optionally, the seat comprises a cushion, a backrest and armrests, wherein the cushion is hinged with the frame, the backrest is mounted on the cushion, the armrests are mounted on the backrest, and the second electric control telescopic rod is hinged with the cushion.
Optionally, the cushion has a first connecting end and a second connecting end, the first connecting end is hinged with the frame, the distance from the second electric control telescopic rod to the first connecting end is G, and the distance from the second electric control telescopic rod to the second connecting end is F, where G: f=1:1-5.
Optionally, the stair climbing machine further comprises a foot pedal, and the foot pedal is mounted on the frame.
Optionally, the foot rest comprises a connecting plate and a supporting plate, one end of the connecting plate is hinged with the frame, and the supporting plate is connected with the other end of the connecting plate.
Optionally, the stair climbing machine further comprises a tool box, and the tool box is mounted on the frame.
Optionally, the device further comprises a shock absorber, wherein the shock absorber is mounted on the bracket;
The support includes support main part and set square, support main part one end with first automatically controlled telescopic link articulates, support main part's the other end with the set square articulates, the wheel rotate install in the set square.
Optionally, the triangle has first apex angle link, second apex angle link and third apex angle link, first apex angle link with the axle center rotatable coupling of wheel, the second apex angle link with the support main part is articulated, the one end of shock absorber with third apex angle link is articulated, the other end of shock absorber with the support main part is articulated.
Optionally, the second vertex angle connection end is located below the first vertex angle connection end.
Optionally, the wheel is an omni wheel.
According to the stair climbing machine, the stair climbing machine has at least the following beneficial effects:
(1) According to the first electric control telescopic rod of the stair climbing machine, the support is hinged with the frame, so that one end of the support is driven to make an arc track through the telescopic action of the first electric control telescopic rod, the wheel at the other end of the support is driven to make an arc track to lift, the inclination angle of the stair climbing machine is changed through the wheel, the gravity center of the stair climbing machine is changed, and the stair climbing machine is matched with a crawler structure, so that automatic stair climbing and downstairs of the stair climbing machine are achieved, manual pushing is not needed, and the stair climbing machine is compact in structure, safe and reliable.
(2) The wheel of the stair climbing machine rotates by taking the first rotating shaft as the shaft, the support is in an inclined state when the wheel extends out of the frame, and when the wheel receives the force on the front surface or the bottom surface and transmits the force to the support, the support in the inclined state can decompose the received force, so that the force transmitted to the frame is decomposed in multiple directions, the burden of the joint of the support and the frame is reduced, and the fracture of the joint is avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic view of a stair climbing machine according to an embodiment of the present invention;
fig. 2 is a schematic view of an internal structure of a stair climbing machine according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a link mechanism of the stair climbing machine according to the embodiment of the present invention;
FIG. 4 is a schematic view of a track structure of a stair climbing machine according to an embodiment of the present invention;
FIG. 5 is a schematic view of a mounting frame of a stair climbing machine according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a wheel motion profile provided by an embodiment of the present invention;
FIG. 7 is a schematic illustration of seat motion forces provided by an embodiment of the present invention;
fig. 8 is a partial enlarged view of fig. 3.
Reference numerals:
1. the vehicle comprises a vehicle frame, 2, a connecting rod mechanism, 21, a bracket, 22, wheels, 221, an omnidirectional wheel, 23, a shock absorber, 24, a first electric control telescopic rod, 25, a triangle plate, 251, a first vertex angle connecting end, 252, a second vertex angle connecting end, 253, a third vertex angle connecting end, 26, a first rotating shaft, 3, a track structure, 31, a mounting frame, 311, a first end, 312, a second end, 32, a track, 33, a driving wheel, 34, a driven wheel, 35, a second driving motor, 4, a seat, 41, a cushion, 42, a backrest, 43, an armrest, 44, a connecting plate, 45, a supporting plate, 5, a second electric control telescopic rod, 6, a tool box and 7, and a control module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 3, a preferred embodiment of the present invention provides a stair climbing machine, which includes a frame 1, a first electrically controlled telescopic rod 24, a link mechanism 2, and a track structure 3.
The frame 1 is specifically an integral frame of the stair climbing machine, the frame 1 adopts an aluminum alloy frame structure, the rigidity is enough, enough installation space is provided for other components to install, the integral weight is light enough on the premise of meeting the rigidity, the follow-up traveling of the stair climbing machine is facilitated, and the burden of the crawler belt structure 3 is reduced.
The crawler belt structure 3 is arranged at the bottom of the frame 1, and can drive the stair climbing machine to run through the crawler belt structure 3, thereby being a driving means of the stair climbing machine.
The linkage 2 includes a support assembly including a bracket 21, wheels 22, and shock absorbers 23.
The bracket 21 is hinged with the frame 1, specifically, a first through hole is formed in the middle of the bracket 21, a first fixing hole is formed in the frame 1, the first through hole is aligned with the first fixing hole, a first rotating shaft 26 is installed in the first fixing hole, one end of the first rotating shaft is inserted into the first through hole, and the frame 1 can rotate by taking the first rotating shaft as an axle center.
The wheels 22 are connected with one end of the bracket 21, specifically, when the bracket 21 rotates, the two ends of the bracket 21 respectively do circular arc track movement, and the wheels 22 are connected with one end of the frame 1, so that the wheels 22 do circular arc track movement along with one end of the frame 1 can be realized.
The shock absorber 23 is arranged on the support 21, wherein a second fixing hole is formed in one end, close to the wheels 22, of the support 21, the wheels 22 are connected with the support 21 through a tripod, a second through hole is formed in the tripod, the second through hole is connected with the second fixing hole through a rotating shaft, one end of the shock absorber 23 is connected with the support 21, the other end of the shock absorber is connected with the tripod, and when the wheels 22 are stressed, the tripod can rotate around the rotating shaft as an axis, so that the shock absorber 23 is pressed or pulled, and a shock absorbing effect on the wheels 22 is achieved.
The first electric control telescopic rod 24 is hinged with the other end of the bracket 21, specifically, the first electric control telescopic rod 24 is arranged on the frame 1, the first electric control telescopic rod 24 is connected with the other end of the frame 1, and when the first electric control telescopic rod 24 stretches out, the other end of the bracket 21 is driven to do circular arc track movement. It should be noted that the first electrically controlled telescopic rod 24 is an existing telescopic cylinder or telescopic cylinder in the market and is configured with an air supply source or an oil supply source, and the frame 1 is provided with a control module 7 electrically connected with the first electrically controlled telescopic rod 24, wherein the interior of the control module comprises a battery and a control main board.
The first electrically controlled telescopic rod 24 is hinged to the other end of the support 21, the first electrically controlled telescopic rod 24 drives the support 21 to rotate around a first rotating shaft and extend out of the frame 1, and the first rotating shaft is parallel to the axis of the wheel 22.
The stair climbing machine moves far away, the wheel 22 or the crawler belt structure 3 can be adopted for walking on the flat ground, when the wheel 22 walks, the first electric control telescopic rod 24 is in a retracted state, one end of the support 21 is pulled to enable the wheel 22 to extend out of the frame 1, the stair climbing machine walks through the wheel 22, when the crawler belt structure 3 walks, the first electric control telescopic rod 24 is in an extending state, one end of the support 21 is pressed down, the wheel 22 is enabled to be received into the frame 1, and the stair climbing machine is driven to walk on the flat ground through the crawler belt structure 3.
When the stair is required to be climbed, the crawler belt structure 3 drives the stair climbing machine to go to the edge of the stair and back to the stair, at the moment, the wheels 22 are in a retraction state, the crawler belt structure 3 drives the stair climbing machine to retract and butt against the stair surface, the stair climbing machine is gradually inclined until the stair climbing machine starts to climb the stair at the inclination angle which is consistent with that of the stair, when the stair is reached, the stair climbing machine is not supported by the subsequent stair, the stair climbing machine suddenly recovers to be horizontal, so that the vibration is unstable, when the stair top is reached, the rear wheels extend out, the stair surface is supported, the stability of the stair climbing machine is ensured, the rear wheels are slowly retracted after the stair climbing machine is completely on the stair top, and the vibration caused by sudden descending is avoided.
When the stair is required to be downstairs, the crawler belt structure 3 drives the stair climbing machine to go to the edge of the stair and is just opposite to the stair, at the moment, the wheels 22 are in a income state, the crawler belt structure 3 drives the stair climbing machine to extend out of the first-stage stair and incline gradually, and an operator can control the first electric control telescopic rod 24 to drive the extending and recycling of the wheels 22 according to the stair condition, so that the stair climbing machine can travel on the stair.
It should be noted that, the cooperation between the first electrically controlled telescopic rod 24 and the link mechanism 2 may be that the support 21 is pressed to extend the wheel 22, the support 21 is pulled to recover the wheel 22, or the support 21 is pressed to recover the wheel 22, the support 21 is pulled to extend the wheel 22, and the specific cooperation mode is flexibly changed according to the requirement.
In some preferred embodiments of the present invention, the two sets of link mechanisms 2 are provided, and the two sets of link mechanisms 2 are respectively a first link mechanism and a second link mechanism, wherein the first link mechanism is installed at the front end of the frame 1, and the second link mechanism is installed at the rear end of the frame 1. Thus, the link mechanism 2 is arranged into two groups and is respectively arranged at the front end and the rear end of the frame 1, so that the stair climbing machine is provided with a front wheel and a rear wheel which are respectively controlled by the two groups of wheels 22, the stair climbing machine is more flexible in stair climbing and stair descending, and is suitable for more types of stairs, and various requirements are met. And two wheels are adjusted simultaneously, so that the road-mounted vehicle can adapt to different road conditions and crowds, and if more stones are on the ground, a little more wheels can be stretched out, and the passing rate is increased. If the terrain is flat, a little of wheels can be extended out, so that the gravity center is lower, and the rapid walking is safer. The ability to adjust the position allows the occupant to transfer from different positions to the machine more conveniently, such as to the upper seat 4, to the bed, as long as they are adjusted to conform to their plane. In addition, when the vehicle goes up and down a slope, the ground is at an angle, the extending distance of the front wheel and the rear wheel can be adjusted to adjust the angle of the seat 4, and the maximum angle of the seat 4 is the front wheel and the rear wheel when the vehicle goes up and down the slope, and one of the front wheel and the rear wheel is completely retracted. In this adjustable angle, the seat 4 is balanced. The comfort and safety performance of ascending and descending slopes are improved.
It should be noted that, the link mechanism 2 at the rear end of the frame 1 may adopt a bracket 21 to connect with two wheels 22 at the same time, and adopts a first electrically controlled telescopic rod 24 to control the bracket 21, so that the internal space can be saved, and the unified allocation of two wheels 22 at the rear row is ensured, and the synchronization rate is ensured.
In some preferred embodiments of the present invention, the first link mechanism 2 includes two sets of first support assemblies, the second link mechanism 2 includes two sets of second support assemblies, and the two sets of first support assemblies and the two sets of second support assemblies are symmetrically disposed on two sides of the frame 1, respectively. So, every group link mechanism 2 sets up two supporting component, is provided with four supporting component in total to climb the building machine promptly to correspond and be provided with four wheels 22, be four corners distribution, guarantee the stability of climbing the building machine, and can more nimble cooperation when climbing the building and going downstairs, guarantee the efficiency of going downstairs and climbing the building.
In some preferred embodiments of the present invention, the linkage 2 at the rear end of the frame 1 further comprises a first drive motor, which is coupled to the wheels 22. In this way, the wheels 22 at the rear end of the frame 1 are connected with a first driving motor, namely, the rear wheels of the stair climbing machine are connected with the first driving motor, the first driving motor can drive the rear wheels to rotate so as to drive the stair climbing machine to run, driving force is supplemented for stair climbing and downstairs of the stair climbing machine, the burden of the crawler belt structure 3 is lightened, when some mud or pits are encountered, the crawler belt structure 3 cannot run, the wheels 22 can be stretched out, the wheels 22 can be driven to drive the stair climbing machine to run through rear wheel driving, and the driving of the crawler belt structure 3 and the driving of the wheels 22 are flexibly switched to meet various terrains.
In some preferred embodiments of the invention, the front end of the track structure 3 is located on an axial projection of the rotation trajectory of the wheel 22 of the first support assembly at the end remote from the frame 21, and the rear end of the track structure 3 is located on an axial projection of the rotation trajectory of the wheel 22 of the second support assembly at the end remote from the frame 21. Specifically, the wheels at the front end of the frame 1 are arranged at the front end flush level of the crawler belt structure 3, the first electric control telescopic rod 24 drives the front wheel to do circular arc track motion, and the tangent point of the circular arc track is just located at the front end of the crawler belt 32, so that the wheels 22 do not excessively protrude and easily exceed the crawler belt 32 when moving, the frame 1 is further supported outside the crawler belt 32, and the movement is estimated to be circular arc, so that the forward moving distance of the stair climbing machine is excessively large, potential safety hazards exist, the front wheel is aligned with the front end of the crawler belt 32, the front wheel can rapidly stretch out and draw in, the front wheel only plays a supporting role, the traveling of the stair climbing machine is not interfered, and the safety factor is higher.
Referring to fig. 6, in some preferred embodiments of the present invention, a first rotating shaft 26 is located at the bottom end of the frame 1, and a first electrically controlled telescopic rod 24 is tangential to the rotation track of the end of the support 21 away from the wheels 22. So, first pivot 26 is located the bottom of frame 1, and when wheel 22 stretched out, wheel 22 state of stretching out and the position of retrieving the state in the horizontal direction can not change very much, mainly change to vertical direction, so, can avoid leading to the excessive movement of stair climbing machine when wheel 22 stretches out, improves stair climbing machine's factor of safety. Meanwhile, the first electric control telescopic rod 24 is tangent to the rotating track of one end, far away from the wheels 22, of the support 21, so that the optimal force of the first electric control telescopic rod 24 can be ensured to act on the support 21, and the power of the first electric control telescopic rod 24 is saved.
Referring to fig. 4, in some preferred embodiments of the present invention, the stair climbing machine further includes a track structure 3, the track structure 3 includes a mounting frame 31, a track, a driving wheel 33, a driven wheel 34, and a second driving motor 35, the mounting frame 31 is mounted to the frame 1, the driving wheel 33 and the driven wheel 34 are mounted to the mounting frame 31, the track connects the driving wheel 33 and the driven wheel 34, and the second driving motor 35 is connected to the driving wheel 33. Specifically, the second driving motor 35 drives the driving wheel 33 to rotate, and the driving wheel 33 drives the driven wheel 34 to rotate through the crawler belt, so that the crawler belt is driven to rotate, and the stair climbing machine is driven to run through the crawler belt.
In some preferred embodiments of the invention, two track structures 3 are provided, the two track structures 3 being symmetrically arranged on both sides of the frame 1. Therefore, the two crawler belt structures 3 are arranged on two sides of the frame 1, the independent control of the two crawler belt structures 3 can be realized, namely, the speed difference of the two crawler belt structures is allowed, the turning of the stair climbing machine can be realized by controlling the speed difference of the two crawler belt structures, particularly, when the stair climbing machine climbs to a half and needs to turn around temporarily or turn around, the turning can be realized by the differential control of the two crawler belt structures, and in addition, more terrains can be met by matching with four wheels 22, more actions are allowed to be completed simultaneously, and the stair climbing machine is suitable for various conditions.
In some preferred embodiments of the invention, the linkage 2 is provided between two track structures 3. Specifically, when link mechanism 2 sets up in track structure 3 outside, because part link mechanism 2 is provided with the motor, the motor can occupy a part of position, consequently link mechanism 2 and track structure 3 need keep certain distance, so will increase the volume of whole stair climbing machine, but set up link mechanism 2 between two track structures 3, can set up link mechanism 2's motor in frame 1's inside, avoid taking outside space, reduce the volume of stair climbing machine.
Referring to fig. 5, in some preferred embodiments of the present invention, the mounting frame 31 has a first end 311 and a second end 312 connected in sequence, the second end 312 is inclined in a direction away from the ground, the driving wheel 33 is mounted to the second end 312, and the driven wheel 34 is mounted to the first end 311. In this way, the second end 312 of the mounting frame 31 is located at the rear end of the frame 1, the second end 312 adopts an inclined structure far away from the ground direction, so that the second end 312 can be supported on a stair surface during stair climbing, the beginning of stair climbing is facilitated, the first-stage stairs with various heights are met, meanwhile, when the height of the second end 312 is insufficient to be abutted against the stair surface of the first stairs, the second end 312 can be matched with the wheels 22 to extend out, the height is improved, particularly the rear wheels are extended, and the height of the second end 312 is improved.
In some preferred embodiments of the invention, the stair climbing machine further comprises a seat 4, the seat 4 being mounted to the frame 1. In this way, the seat 4 can facilitate the stability of the occupant to the stair climbing machine.
In some preferred embodiments of the present invention, the seat 4 is hinged to the frame 1, the stair climbing machine further comprises a second electrically controlled telescopic rod 5, the second electrically controlled telescopic rod 5 is mounted to the frame 1, and the second electrically controlled telescopic rod 5 is connected to the seat 4. So, seat 4 is articulated with frame 1, specifically, one side of seat 4 is articulated through pivot and the top of frame 1, the second telescopic link is installed in the inside of frame 1, and the second telescopic link can be connected with the opposite side of seat 4, the telescopic link of second telescopic link control is flexible, and then drive the opposite side activity of seat 4, seat 4 uses the pivot to rotate as the axle, and then adjust the angle of seat 4, can be at the stair climbing machine in-process of traveling, adjust the angle of seat 4 according to topography or other circumstances, and cooperate the lift of four wheels 22, guarantee that the focus of seat 4 is stable, also guarantee the stability that the stair climbing machine was gone.
The rear end of the seat 4 is hinged to the frame 1, and the seat 4 may be rotated from front to back or from back to front.
In some preferred embodiments of the present invention, the seat 4 includes a seat cushion 41, a backrest 42, and armrests 43, the seat cushion 41 being hinged to the vehicle frame 1, the backrest 42 being mounted to the seat cushion 41, and the armrests 43 being mounted to the backrest 42. Thus, the seat 4 is provided with the cushion 41, which can ensure more comfortable experience for passengers, and the backrest 42 and the armrests 43 are provided, which can improve the riding stability for passengers.
Referring to fig. 7, the seat cushion has a first connection end and a second connection end, the first connection end is hinged with the frame, the distance from the second electric control telescopic rod 5 to the first connection end is G, and the distance from the second electric control telescopic rod 5 to the second connection end is F, wherein G: f=1:1-5. The first connecting end and the second electric control telescopic rod are small in distance, the telescopic rod can be guaranteed to stretch out and draw back at a small distance, namely, the large-angle rotation of the seat is controlled, the high-power second electric control telescopic rod is needed, the large-power second electric control telescopic rod is large in size, the whole size of the stair climbing machine is increased, if the first connecting end and the second electric control telescopic rod are too large in distance, the second electric control telescopic rod with larger travel is needed, the whole size of the stair climbing machine is increased, therefore, the distance ratio of G to F can be set according to actual needs, the G to F is adopted to meet the requirements of 1 to 5, the two conditions can be balanced, the space of the stair climbing machine is fully utilized, and the size of the stair climbing machine is reduced.
Further, in some preferred embodiments of the present invention, G: f=1:5.
In some preferred embodiments of the invention, the stair climbing machine further comprises a foot pedal mounted to the frame 1. Therefore, the foot pedal can facilitate the support of the legs of the person when the person sits, and the comfort and stability are improved.
In some preferred embodiments of the present invention, the footrest includes a connection plate 44 and a support plate 45, one end of the connection plate 44 is hinged with the frame 1, and the support plate 45 is connected with the other end of the connection plate 44. Thus, the connecting plate 44 can rotate relative to the seat cushion 41, and the supporting plate 45 can rotate relative to the connecting plate 44, so that the legs of the occupant can flexibly move, and the comfort of the occupant is improved.
In some preferred embodiments of the invention, the stair climbing machine further comprises a tool box 6, the tool box 6 being mounted to the frame 1. Thus, the tool box 6 is arranged on the frame 1, and the tool box 6 can be used for containing tools or daily necessities, so that the portable tool box is convenient to carry.
In some preferred embodiments of the present invention, the stand comprises a stand body and a triangle 25, one end of the stand body is hinged with the first electrically controlled telescopic rod 24, the other end of the stand body is hinged with the triangle 25, and the wheel 22 is rotatably mounted on the triangle 25.
In some preferred embodiments of the present invention, the triangle has a first vertex connecting end 251, a second vertex connecting end 252 and a third vertex connecting end 253, the first vertex connecting end is rotatably connected with the axle center of the wheel, the second vertex connecting end 252 is hinged with the bracket main body, one end of the shock absorber 23 is hinged with the third vertex connecting end 253, and the other end of the shock absorber 23 is hinged with the bracket main body. Specifically, when the wheel 22 is stressed, the wheel 22 drives the triangle 25 to rotate by taking the second vertex angle connecting end 252 as an axis, and then the third vertex angle connecting end 253 can compress or pull the shock absorber 23 to realize shock absorption, so that the wheel 22 can be fully shock-absorbed when being stressed by the front or bottom surface, and the force is fully decomposed, and the shock absorption effect is better. Meanwhile, the shock absorber is arranged, the support is further damped through the shock absorber, the joint can be further protected, and vibration to passengers can be reduced.
Referring to fig. 8, in some preferred embodiments of the invention, the second corner connection ends are located below the first corner connection ends. Therefore, the rotation axis of the triangle is always lower than the axis of the wheel, so that when the wheel is stressed, the reaction of the triangle is more sensitive, the triangle rotates fully, and the triangle is matched with the shock absorber to absorb shock fully.
In some preferred embodiments of the invention, the wheel 22 is an omni wheel 221. The wheel 22 of the existing stair climbing machine mostly adopts universal wheels, in particular to the front wheel of the stair climbing machine, wherein the universal wheels are wheels which can rotate around a vertical shaft, uncontrollable factors are very large, when the stair climbing machine climbs and downstairs, the stability of the wheel 22 and importance thereof are realized, the sudden rotation of the universal wheels can cause the change of the whole gravity center of the stair climbing machine, serious potential safety hazards exist, the direction of the universal wheels is uncontrollable, and the first electric control telescopic rod 24 is not easy to accurately store the stair climbing machine into the frame 1. The omnidirectional wheel 221 has higher overall controllability and strong safety, is more suitable for a stair climbing machine, and can play a better role in shock absorption by matching with the shock absorber 23.
Further, the wheel 22 is a Mecanum wheel.
The preferred embodiment of the invention provides a stair climbing machine, which is compared with the prior art:
(1) According to the first electric control telescopic rod of the stair climbing machine, the support is hinged with the frame, so that one end of the support is driven to make an arc track through the telescopic action of the first electric control telescopic rod, the wheel at the other end of the support is driven to make an arc track to lift, the inclination angle of the stair climbing machine is changed through the wheel, the gravity center of the stair climbing machine is changed, and the stair climbing machine is matched with a crawler structure, so that automatic stair climbing and downstairs of the stair climbing machine are achieved, manual pushing is not needed, and the stair climbing machine is compact in structure, safe and reliable.
(2) The wheel of the stair climbing machine rotates by taking the first rotating shaft as an axis, the support is in an inclined state when the wheel extends out of the frame, the support in the inclined state can decompose the received force when the wheel receives the force on the front surface or the bottom surface and transmits the force to the support, so that the force transmitted to the frame is decomposed in multiple directions, the burden of the connection part of the support and the frame is reduced, the connection part is prevented from being broken, and meanwhile, the shock absorber is arranged to further absorb shock of the support through the shock absorber, the connection part can be further protected, and the shock to passengers can be reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.

Claims (17)

1. The stair climbing machine comprises a frame (1), a first electric control telescopic rod (24), a connecting rod mechanism (2) and a crawler structure (3), wherein the crawler structure (3) and the first electric control telescopic rod (24) are both arranged on the frame (1);
the linkage (2) comprises a support assembly comprising:
the bracket (21) is hinged with the frame (1) through a first rotating shaft;
-a wheel (22), said wheel (22) being connected to said support (21);
The first electric control telescopic rod (24) is hinged with the bracket (21), the first electric control telescopic rod (24) drives the bracket (21) to rotate around the first rotating shaft (26) and extend out of the frame (1), and the first rotating shaft (26) is parallel to the axis of the wheel (22);
The first rotating shaft (26) is positioned at the bottom end of the frame (1), and the first electric control telescopic rod (24) is tangent to the rotating track of one end, far away from the wheels (22), of the bracket (21);
When the bracket (21) rotates, two ends of the bracket (21) respectively do circular arc track movement, a first through hole is formed in the middle of the bracket (21), and one end of the first rotating shaft (26) is inserted into the first through hole;
The two groups of the connecting rod mechanisms (2) are respectively a first connecting rod mechanism and a second connecting rod mechanism, wherein the first connecting rod mechanism is arranged at the front end of the frame (1), and the second connecting rod mechanism is arranged at the rear end of the frame (1);
The first connecting rod mechanism comprises two groups of first supporting components, the second connecting rod mechanism comprises two groups of second supporting components, and the two groups of first supporting components and the two groups of second supporting components are symmetrically arranged on two sides of the frame (1) respectively;
the front end of the crawler belt structure (3) is located on the axial projection of the rotation track of the wheel (22) of the first support assembly, which is far away from one end of the bracket (21), and the rear end of the crawler belt structure (3) is located on the axial projection of the rotation track of the wheel (22) of the second support assembly, which is far away from one end of the bracket (21).
2. The stair climbing machine according to claim 1, wherein the second support assembly further comprises a first drive motor coupled to the wheel (22).
3. The stair climbing machine according to claim 1, wherein the crawler belt structure (3) comprises a mounting frame (31), a crawler belt (32), a driving wheel (33), a driven wheel (34) and a second driving motor (35), the mounting frame (31) is mounted on the frame (1), the driving wheel (33) and the driven wheel (34) are mounted on the mounting frame (31), the crawler belt is connected with the driving wheel (33) and the driven wheel (34), and the second driving motor (35) is connected with the driving wheel (33).
4. The stair climbing machine according to claim 3, wherein two crawler structures (3) are arranged, and the two crawler structures (3) are symmetrically arranged on two sides of the frame (1).
5. A stair climbing machine according to claim 3, wherein the mounting frame (31) has a first end (311) and a second end (312) connected in sequence, the second end (312) being inclined in a direction away from the ground, the driving wheel (33) being mounted to the second end (312), the driven wheel (34) being mounted to the first end (311).
6. The stair climbing machine according to claim 4, wherein the linkage (2) is arranged between two of the track structures (3).
7. The stair climbing machine according to claim 1, further comprising a seat (4), the seat (4) being mounted to the frame (1).
8. The stair climbing machine according to claim 7, wherein the seat (4) is hinged to the frame (1), the stair climbing machine further comprises a second electrically controlled telescopic rod (5), the second electrically controlled telescopic rod (5) is mounted to the frame (1), and the second electrically controlled telescopic rod (5) is connected to the seat (4).
9. The stair climbing machine according to claim 8, wherein the seat (4) comprises a seat cushion (41), a backrest (42) and an armrest (43), the seat cushion (41) is hinged with the frame (1), the backrest (42) is mounted on the seat cushion (41), the armrest (43) is mounted on the backrest (42), and the second electrically controlled telescopic rod (5) is hinged with the seat cushion.
10. The stair climbing machine according to claim 9, wherein the seat cushion (14) has a first connecting end and a second connecting end, the first connecting end is hinged with the frame (1), a distance from the second electric control telescopic rod (5) to the first connecting end is G, and a distance from the second electric control telescopic rod (5) to the second connecting end is F, wherein G: f=1:1-5.
11. The stair climbing machine according to claim 1, further comprising a foot pedal mounted to the frame (1).
12. The stair climbing machine according to claim 11, wherein the foot rest includes a connection plate (44) and a support plate (45), one end of the connection plate (44) is hinged with the frame (1), and the support plate (45) is connected with the other end of the connection plate (44).
13. The stair climbing machine according to claim 1, further comprising a tool box (6), the tool box (6) being mounted to the frame (1).
14. The stair climbing machine according to claim 1, wherein the bracket (21) comprises a bracket main body and a triangle (25), one end of the bracket main body is hinged with the first electric control telescopic rod (24), the other end of the bracket main body is hinged with the triangle (25), and the wheel (22) is rotatably mounted on the triangle (25).
15. The stair climbing machine according to claim 14, further comprising a shock absorber (23), wherein the shock absorber (23) is mounted to the bracket (21);
The triangle (25) is provided with a first vertex angle connecting end (251), a second vertex angle connecting end (252) and a third vertex angle connecting end (253), the first vertex angle connecting end (251) is rotatably connected with the axle center of the wheel (22), the second vertex angle connecting end (252) is hinged with the support main body, one end of the shock absorber (23) is hinged with the third vertex angle connecting end (253), and the other end of the shock absorber (23) is hinged with the support main body.
16. The stair climbing machine according to claim 15, wherein the second corner connection end (252) is located below the first corner connection end (251).
17. The stair climbing machine according to claim 1, wherein the wheel (22) is an omni-wheel (221).
CN202310155429.7A 2023-02-22 2023-02-22 stair climbing machine Active CN116158918B (en)

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