RU2200526C2 - Vehicle and method for overcoming flights of stairs by vehicle (versions) - Google Patents

Abstract

FIELD: vehicles for ascending stair flights. SUBSTANCE: according to first version, method involves setting average value of wheeled chair wheel base within the range of from L1 to L2, with telescopic frame being fixed, for providing optimal conditions for development of required draft by meshing of one pair of wheels sufficient for lifting other pair of wheels to subsequent stair; rotating all the wheels upon fixing of telescopic frame. According to second version, method of ascending vehicle with movable telescopic frame within the range of from L1 to L2 involves expanding frame, when rear wheels 5 are within their friction angles on stair and front wheels are rotating, until front wheels 4 are introduced within angle (α) of friction with subsequent stair; drawing together frame, with front wheels being within angles of friction until rear movable wheels are introduced within angles of friction with subsequent stair. Frame may be expanded to maximum extent for providing high-speed movement on open road. EFFECT: intensified ascending of wheeled chair on stairs and wider operational capabilities. 19 cl, 28 dwg

Description

 The group of inventions relates to the field of land rail transport, and more specifically to a double-track personal wheeled vehicles with electric drive and to methods of their movement with overcoming flights of stairs.

 Known double-track personal vehicles, such as wheelchairs, personal electric cars (permobiles) and electric scooters, are usually not versatile enough.

 Known personal vehicle Chairman Mini Stander, containing a frame, front driven swivel wheels, rear fixed wheels with a larger diameter, a chair with a seat, backrest, leg supports with lever and thrust bearings, a lever-articulated device for fixing and changing the position of the chair by means of independent tilt drives and moving the seat, backrest and lever of the foot supports in a longitudinal vertical plane. The known vehicle is also equipped with a drive control system with controls, while the device for fixing and changing the position of the chair is arranged to be installed in one of the fixed positions, in which the seat, backrest and lever of the leg supports are located within the same vertical plane ( with correction for ergonomic requirements and physiological characteristics of the user of the vehicle) and additional fixators are provided for the body of the user [1].

 The design of the well-known vehicle is transformable, which allows it to be used for movement both in the street and at home, in particular, by moving the user in an upright position (for communicating with others at the eye level of the interlocutor, for working with books on shelves, for joint loads, etc.). However, the vehicle is slow, does not differ in high maneuverability and passability, and most importantly, it is not able to independently overcome staircases.

 A multifunctional convertible vehicle is known that contains a frame ("module") in the form of articulated interconnected parts ("clusters") with blocks of steered fixed wheels equipped with elastic tires, a support for supporting the load, in particular a chair with a seat, a back, leg supports with lever and thrust bearings, electric wheel rotation and drive control system with controls and a gyroscopic stabilizer for the position of the support (chair), as well as an autonomous energy source. In a known vehicle, the frame is made in the form of developed balancers located on the left and right, on which the wheels are mounted in pairs and symmetrically without the possibility of changing the distance between their axles. An electric drive for rotating the balancers is provided, providing either the vehicle's support on all wheels (including two unmanaged swivel wheels of small diameter) for moving in light conditions, or on four steered wheels with suspended small diameter wheels to move on sand and overcome the curb, or only two coaxial steered wheels (zero wheelbase, two-point support). In the latter case, the equilibrium of the vehicle is ensured by gyroscopic stabilizers with sensors in conjunction with the drives. The seat is rigidly connected with the back and with the lever of the leg supports without the possibility of transforming the chair. The drives together with the control system provide, in particular, the chair is lifted (without its transformation) to a height at which the eye level of the user sitting in the chair is equal to or close to the level of the eyes of people standing nearby. The control system includes a joystick type control panel mounted on the arm of the chair, and a gyroscopic stabilizer for the vehicle with sensors. An autonomous energy source is installed on the inner frame part [2].

 A well-known vehicle due to its layout features, geometry, speed characteristics, lack of steering with a steering wheel has insufficiently wide functionality. It does not allow you to put the user's body in a vertical position at the level of others (interlocutors). A sitting posture based on two wheels does not provide load joints, psychologically uncomfortable in communication. The vehicle is not suitable for compact placement in place of a car seat while driving a car, for use in gaming and sports events and on the beach.

 There is a method of overcoming staircases by a vehicle by rotating balancers, on which steered wheels are mounted in pairs, while ensuring equilibrium of the vehicle by a gyroscopic stabilizer with sensors in conjunction with drives [3].

 Overcoming staircases and other profile obstacles in a known manner due to the short wheelbase with a very high level of seat location causes the user to be unsure of their safety, dictates the need to keep the railing secure with their hands. In addition, the possibilities of overcoming staircases of various sizes have been narrowed.

 A self-propelled wheelchair is known that contains two half-frames, one of which has a seat and each of which is equipped with a corresponding pipe, which are telescopically connected to each other and each of which is connected to a pair of supporting elements. On each of the pairs of supporting elements fixed wheels with independent drives for their control. The pipes are made with the possibility of fixing one relative to the other. Each wheel is equipped with lugging rollers, and each control drive is made in the form of an electromechanical drive with a brake with the formation of a motor wheel [4].

 The known device is not universal enough, has low speed capabilities. The constancy of the clearance and the inability to ensure a low landing of the user in the chair makes it difficult to place the device in the car.

 A known method of moving a self-propelled wheelchair on flights of stairs, in which the movement is carried out by alternating (alternating) rotation and braking of the front and rear wheels and changing the distance between the front and rear wheels due to the rotation of the corresponding wheels [4].

 The disadvantages of this method are the low speed of movement along the flights of stairs due to the rotation of the front and rear wheels; increased dimensions due to the use of only zones of their static stability for the driving mode of the wheels; low reliability of overcoming staircases of various sizes due to an insufficiently wide range of changes in the center of mass (non-optimal weight distribution along the axes of the front and rear wheels: the vertical load on the axis of the higher wheels is less than half the vehicle’s gravity).

 A self-propelled wheelchair is known containing pairwise mounted front and rear wheels and a device for continuously changing the wheelbase when overcoming flights of stairs. The front and rear wheels are mounted on the frame, and the device for continuously changing the wheelbase includes an electric drive connected to the control system, which includes at least two position sensors for the front and rear wheels relative to the steps of the flight of stairs. The sensors are made with moving parts installed with the possibility of contact with the nearest stage [5].

 The disadvantages of the known device are the increased dimensions due to the use for the driving mode of the wheels only zones of their static stability; the increased cost of the control system and the device as a whole; severe working conditions of sensors in contact with the steps.

 There is a method of moving a self-propelled wheelchair on flights of stairs, in which the movement is carried out by alternately rotating and braking the front and rear wheels and changing the wheelbase from minimum to maximum values, and with a stable position of the front wheels along the upper step of the flight of stairs synchronously rotate the front and the rear wheels, with the wheelbase unchanged, at least until the rear wheels are steadily raised to the upper stage. In this case, the synchronous rotation of the front and rear wheels when moving a self-propelled seat above the upper step of the flight of stairs begins, having previously reduced the wheelbase to a minimum when the front wheels are braked in the direction of travel in a stable position on the upper stage [6].

 A disadvantage of the known method of moving a self-propelled seat on flights of stairs is the increased dimensions for the reason mentioned above twice. At the same time, it is mainly the final stage of overcoming the flight of stairs that is considered (the transition from the flight of stairs to the upper platform).

где L₁ - минимальная величина колесной базы, см;
L₂ - максимальная величина колесной базы, см;
l, h - соответственно длина и высота ступени лестницы, см;
R - радиус колеса, см.The closest analogue of the claimed vehicle, matching it according to the largest number of essential features and adopted as a prototype, is a vehicle containing a frame of two telescopically interconnected parts with front and rear steered wheels in pairs with elastic, mainly pneumatic, tires, drives wheel rotation, a device for changing and fixing the wheelbase while maintaining support on all wheels, equipped with a drive, a chair with a seat and a back, lever-hinges a different device for fixing and changing the position of the chair relative to the wheelbase with a chair tilt drive, a drive control system with controls, as well as an autonomous energy source. In it, the minimum range of changes in the wheelbase L is determined (with a margin and in terms of smooth wheels) by the condition of the static stability of the wheels in the driving mode on the flight of stairs

where L ₁ - the minimum value of the wheelbase, cm;
L ₂ - the maximum value of the wheelbase, cm;
l, h - respectively the length and height of the stairs, cm;
R is the radius of the wheel, see

 The fixation of the wheelbase is provided by a manual lock. In a variant of the device, the change in the wheelbase is provided only by the linear displacement drive over the entire range of L, while the movable drive link is permanently rigidly connected to the frame part. In another embodiment of the device, such a drive is absent and a change with pulsation L is performed when the lock is off (that is, with a free wheelbase) by rotating the wheels by means of their rotation drives in different speed modes [7].

 A well-known vehicle has a narrow functional purpose, is characterized by low speed capabilities, large required moves of the movable link of the linear drive, not wide enough for optimal weight distribution along the axes of the front and rear wheels (on the flight of stairs) by the range of the center of mass position. Changing the geometry of the chair implies, at best, only the ability to manually adjust the backrest in a narrow range. The constancy of clearance and the impossibility of a low landing of the user in the chair make it difficult to place in the car and other carriers. Automation of movement along staircases requires the organization of a rather complex control system based on an onboard processor.

The closest analogue of the claimed methods for the combination of essential features adopted for the prototype is a method of overcoming flights of stairs by the vehicle described above by means of front and rear wheels rotation drives with constant support on all wheels with a wheelbase L adapted to the profile of the flight of stairs within the range from L ₁ to L ₂ . If the minimum possible L value for maneuverable movement in cramped conditions is set outside the flight of stairs, then to overcome the flight of stairs the L value is preliminarily increased by means of wheel rotation drives or a wheelbase pulsation drive, and then it is changed (pulsed) by the same drive, but according to a cosine law subject to the constant alignment of the axles of the same wheels with the middle band of the zone of their stability without taking into account the angle (cone) of friction. The range (doubled amplitude) of the pulsation of the wheelbase L corresponds to a range from L ₁ to L ₂ . In this case, conditions (1), (2) [7] are used.

 The “automatic” shift of the center of mass of the vehicle towards the rise of the flight of stairs due to an increase in the wheelbase during the transition from the operation mode outside the flight of stairs (when folded) to the mode of movement along the flight of stairs is also limited when peripheral elastic elements in the form of transverse rollers are replaced by elastic ones tires (and they are preferable for smooth, less noisy movement on a flat surface) does not provide the possibility of developing the necessary front traction force upward (h dnih along the bottom) of the wheel adhesion even within the zone of stability.

 In the known prototype method, the neglect of the angle (cone) of friction in determining the zone of stability of the wheels leads to not always justified overestimation of the pulsation range of the wheelbase. This worsens the overall mass characteristics of self-propelled seats, reduces the average speed of movement along flights of stairs, increases the speed requirements of the wheelbase pulsation drive and, in general, the wheelbase change device, and increases the dynamic load on the driver-user. As a rule, the insufficiency and, in any case, the non-optimal distribution of the dynamic vertical load on the front and rear wheels (underload of higher wheels) in the mode of movement along the flights of stairs either makes it impossible to overcome this profile obstacle, or leads to instability of movement, slipping and stalling of wheels with steps. In addition, the relatively high seating position of the driver-user in the chair psychologically interferes with operation and increases the likelihood of emergency situations.

 The task was to develop such a design of a personal vehicle and a way to overcome flights of stairs that would expand the technical and operational capabilities of personal vehicles, mainly scooters and self-propelled seats, by quickly transforming them (with minimal labor of the driver-user) with a concomitant increase in safety maneuverability and cross-country ability, including the possibility of independent movement along staircases Foot size.

 The solution to this problem is achieved by a group of inventions, united by a single inventive concept, namely the fact that in a vehicle containing a frame in the form of telescopically interconnected parts with front and rear wheels with elastic tires mounted in pairs on them, wheel rotation drives, a wheel change and fixation device base while maintaining the support on all wheels, equipped with a drive, a chair with a seat and a back, a lever-hinged device for fixing and changing the position of the chair relative to the wheel PS with a seat seat tilt drive, a drive control system with controls and an autonomous energy source, at least one pair of the said wheels is rotatable and connected to a steering drive equipped with a steering column with a steering wheel mounted in front of the seat with the possibility of changing and fixing its length and position along the angle of inclination in the longitudinal vertical plane, including its folded inoperative position, and the device for fixing and changing the position of the chair is equipped with a drive for moving it to the longitudinal vertical second plane. The frame part with the front wheels forming the front wheel axle and the frame part with the rear wheels forming the rear wheel axle can be telescopically integrated into the third part of the frame located between the said axles, with the possibility of independent longitudinal reciprocating movement. The frame parts of the said bridges can be installed in the third part of the frame coaxially with partial mutual overlap. The rear wheels can be mounted with the possibility of vertical reciprocating movement and fixing relative to their frame part in the raised position by means of a controlled suspension, for example, equipped with transversely spaced apart reciprocating drives. All wheels (front and rear) can be made rotatable and in this case the steering gear must be made with the possibility of selective rotation of the axles of the front and rear wheels. The device for changing and fixing the wheelbase can be made with a drive of its pulsation, the body of which is mounted on the frame part that carries the chair, and the movable link of the drive is installed via a disconnectable latch on the other frame part, telescopically connected with the first. A disconnectable latch connecting the movable link of the drive of the pulsation of the wheel base with the frame part can be made with a gap in the direction of mutual mobility of the parts of the frame and with an electric switch, for example, an end switch, with the possibility of reversing the movement of the movable link of the drive of the pulsation when changing the gap so that the gap in the direction of increasing the wheelbase L, the pulsation drive reduces the value of L, and when sampling the gap in the opposite direction increases it.

где l, h - соответственно длина и высота ступени лестничного марша, см;
R - радиус колеса, см;
α≤arctgφ - угол трения как функция коэффициента сцепления φ колеса со ступенью.It is advisable to carry out the frame, the device for changing and fixing the wheelbase and the drive control system with controls with the possibility of fixing and pulsating the wheelbase L in the range from L ₁ to L ₂ defined by the relations

where l, h - respectively the length and height of the stairs, cm;
R is the radius of the wheel, cm;
α≤arctgφ is the friction angle as a function of the friction coefficient φ of the wheel with the step.

 The chair seat tilt drive can be made in the form of a rotation drive, the body of which is fixed in the front zone of the seat, the movable link is fixed at one end of the lever of the lever-hinge device, and the second end of the lever is fixedly rigidly connected to the movable link of the additional rotation drive, the body of which is fixed to frame. The chair can be equipped with leg supports in the form of a lever and thrust bearings and is made with a hinged joint of the seat, back and lever of the leg supports, while the back and lever of the leg supports are equipped with tilt drives. The backrest tilt drive can be made in the form of a reciprocating drive, which is pivotally attached to the back of the housing with a housing and pivotally connected to the rear edge of the seat with a movable link. The leg support lever tilt drive can be made in the form of a reciprocating drive, the body of which is pivotally mounted in the rear zone of the seat, and the movable link is pivotally connected to the upper shoulder of the two-shouldered lever, the lower shoulder of which is rigidly attached to the leg support lever. The lever of the foot supports can be made in the form of a reciprocating drive, the movable link of which is attached to the thrust bearings. In the vehicle, the control system can be equipped with a gyroscopic stabilizer for the position of the chair in the longitudinal and transverse planes. An autonomous energy source can be installed on the back of the seat, and is also equipped with a drive for changing the angular position of the energy source relative to the seat.

The solution to this problem is also achieved by the fact that in the method of overcoming flights of stairs by a vehicle, characterized by the above set of basic design features, due to front and rear wheels rotation drives with constant support on all wheels and a wheelbase L adapted to the profile of the flight of stairs within the range from L ₁ to L ₂ , shift the center of mass of the vehicle by means of devices for changing and fixing the wheelbase and the position of the chair in the direction of lifting the flight of stairs to the pre equal to the vertical load on the axle of the wheels with the possibility of developing the necessary traction on the clutch of one of the same named wheels within the friction angles sufficient to lift the other of the same named wheels to the next stage, set the average wheel base value L * in the range from L ₁ to L ₂ rotation of the front and rear wheels in different speed modes with the wheelbase unblocked, after which the wheelbase is fixed and all the wheels rotate in the given speed modes.

The solution to this problem is also achieved by the fact that in the method of overcoming flights of stairs by a vehicle, characterized by the above-mentioned set of basic design features and the presence of a wheelbase ripple drive, including the rotation of the front and rear wheels with constant support on all wheels and the wheelbase adapted to the profile of the flight of stairs L within the range of L ₁ to L _2, the offset center of mass of the vehicle by the fixing device change and wheel base and a chair position thoron lifting flight of stairs to preferably equal to the vertical load on the axle of the wheels to enable the development of the necessary thrust linkage some identically named wheels within the angles of friction sufficient for lifting other identically named wheels to the next step, intermediate setting in the range of L ₁ to L ₂ wheelbase values L * by rotating the front and rear wheels in unequal speed modes with the wheelbase unblocked, when the rear wheels in the direction of the vehicle are within the limit Their friction angles on the flight of stairs and the rotation of the front wheels of the vehicle increase the wheelbase by means of a wheelbase pulsation drive until the axles move to the next step of the front wheels within their new friction angles, then reduce the wheelbase by means of a wheelbase pulsation when finding the axles of the front wheels in the mentioned friction angles before entering the axles moving to the next stage of the rear wheels within the limits of their new friction angles, after which the indicated sequence is repeated nness of operations up to the complete overcoming of the flight of stairs.

The values of L ₁ and L ₂ in the implementation of both variants of the method can be selected from relations (3) and (4).

 Among the known devices and methods, no such combination of essential features would coincide with the declared one. At the same time, it is due to the latter that a new technical result is achieved in accordance with the task: expanding the technical and operational capabilities of personal vehicles, mainly scooters and self-propelled seats, due to their rapid transformation with a concomitant increase in safety, maneuverability and profile cross-country ability, including the possibility independent movement along the flights of stairs of various sizes.

General main distinguishing features for two embodiments of the method are as follows:
- operational change in the position of the center of mass by transforming the vehicle to approximately equal vertical load on the axis of the front and rear wheels (weight distribution on the axes);
- with a free wheelbase (that is, with a “telescope” unblocked), a different speed mode of rotation of the front and rear wheels (motor wheels) is set, thereby changing the wheelbase to a value L * equal to the arithmetic mean of the values L ₁ and L ₂ (this operation can be carried out simultaneously with the first and even anticipation, depending on specific situations);
- rotate all the wheels (motor-wheels), setting them to high-speed modes, the same (with the inevitable slipping) or different (taking into account the peculiarities of the movement of their axes on the flight of stairs - non-linearity and out-of-phase for the front and rear wheels).

When implementing the first variant of the proposed method, overcoming flights of stairs occurs as a movement with a constant base L * = const, and in the second embodiment, the movement is carried out with ripple in the range from L ₁ to L ₂ with an average value of L *.

 With a fixed value of the wheelbase, average speeds are significantly increased. The choice of the L * value is a universal recommendation for a wide range of possible operating conditions and is, accordingly, of greatest interest in organizing large-scale and mass production.

 If the constant L * value is insufficient, for example, on a non-standard and / or defective ladder, in other difficult conditions (with a low coefficient of adhesion, etc.), the wheelbase pulsation drive is regularly operated, while the wheelbase is increased by a pulsation drive with speed, exceeding the speed of movement of the axles of the wheels, contributes to the rolling up of a pair of wheels ascending to the next step (outside the friction angles) by another pair of wheels in the leading mode (in a dynamically stable position within the limits of the friction angles).

The inventive vehicle is shown in the drawings, where:
figure 1 shows a vehicle in the case of an elongated wheelbase (for driving in street conditions), side view;
in FIG. 2 shows a vehicle in the case of a shortened wheelbase (for driving indoors), side view;
figure 3 is a view of the vehicle in plan;
in FIG. 4 - kinematic diagram of the relationship of the frame parts with one "telescope";
in FIG. 5 is a kinematic diagram of the relationship of the frame parts with two oppositely directed parallel "telescopes";
in FIG. 6 is a kinematic diagram of the relationship of the frame parts with two coaxial (opposed) "telescopes";
in FIG. 7 is a kinematic diagram of the relationship of the frame parts with two oppositely directed, "telescopes" coaxially integrated into each other;
on Fig - scheme of the suspension of the rear wheels, rear view, combined with the scheme of gyroscopic stabilization of the position of the chair;
in FIG. 9 is a steering diagram, a plan view, with an extended wheelbase;
figure 10 is a diagram of the steering, plan view, with a shortened wheelbase;
figure 11 - layout of electrical equipment;
on Fig - layout of the drives;
on Fig - layout of the latches;
on Fig - an example of the relationship of the drive pulsation of the wheelbase with the frame parts (fragment), where D is the diameter of the hole in the frame part; d is the diameter of the retainer finger;
in FIG. 15, 16 - nomograms for selecting wheelbase values when overcoming flights of stairs;
in FIG. 17 schematically depicts a vehicle with a driver-user in overcoming flights of stairs (in the case of upward movement with an extended wheelbase);
in Fig.18 - the same (in the case of downward movement with an extended wheelbase);
on Fig schematically shows a vehicle with a vertical arrangement of the driver-user (in the case of a shortened wheelbase);
in Fig.20 - the placement of the vehicle in the driver's seat in the car;
on Fig - placement of the vehicle in a motor vehicle;
in Fig.22 is a diagram of the movement of the vehicle on the flight of stairs with an indication of the maximum permissible (minimum) value of the wheelbase L ₁ by the condition of the clutch of the upper wheels (G ₁ , G ₂ - the vertical load, respectively, of the upper and lower wheels);
in FIG. 23 - the same, indicating the maximum permissible (maximum) value of the wheelbase L ₂ under the condition of adhesion of the lower wheels;
in FIG. 24 is a diagram of an interaction of a wheel with a pneumatic ultra-low pressure tire with a step edge;
in FIG. 25 - 28 is a diagram of the transfer of the gap in the latch of the drive pulsation of the wheelbase with automatic lift control on the flight of stairs.

The claimed device is a vehicle named by the authors "TRANSSCOOTER"("transformablescooter"), in the preferred (optimal) design contains (see Fig.1-3) a frame consisting of parts 1, 2, 3. On the front frame part 2 a pair of steered (driving) wheels 4 is installed, and on the rear frame part 3 a pair of steered (driving) wheels 5. All wheels are equipped with pneumatic or other elastic tires 6. Drives 7, 8 of independent rotation of all (or in pairs) wheels are provided 4 and 5, respectively (motor-k is recommended oles). Thus, the frame part 2 with steered wheels 4 forms a front wheel axle, and the frame part 3 with steered wheels 5 forms a rear wheel axle. On the frame part 1, a chair is installed by means of a fixation device and a change in its position in the longitudinal vertical plane (the chair and the device are indicated by the positions element by element), adjustable for ergonomic adaptation of the user. The chair includes a seat 9, a backrest 10 and leg supports with a lever 11 and two thrust bearings 12. On the back of the seat 9 there is an autonomous energy source 13 in the form of transverse spaced blocks of accumulator, capacitor or other batteries (see Fig. 11 ) On the frame 1-3 there is also a device for changing and fixing the wheelbase L (indicated by the elements by elements) in a wide range of required values from L _min to L _max .

 A steering drive 14 is provided (see Fig. 7), made with the possibility of selective rotation of either wheels 4 or wheels 5 (variants with turning only the front wheels 4 or with the possibility of simultaneously turning the wheels 4, 5 to reduce the radius of the kinematic rotation are not excluded if rotation is not provided onboard). The steering gear is equipped with a steering column 15 with a steering wheel 16 of a motorcycle or other type. The steering column 15 is installed in front of the seat 9-12 on the frame part 2 (on the front wheel axle) with the possibility of changing and fixing the position according to the tilt angle in the longitudinal vertical plane and the level of the steering wheel 16, including the folded position (hinge 17 in Fig.1, 2 and latches 18, 19 in FIG. 3). In addition, it is installed with the possibility of tilting and fixing in working condition in any longitudinal direction (back and forth) relative to its vertical position.

 The structure of the vehicle includes a control system for all drives, which includes controls (steering wheel 16 and control panel 20 on column 15, duplication from a hand-held remote control of the joystick type or similar systems is not excluded).

 Frame 1-3 is made in the form of a telescopic device (with two "telescopes") with the possibility of independent longitudinal movement of its rods - frame parts 2 and 3 relative to the body of the "telescope" - frame part 1. In other words (in relation to the prototype) , the frame parts 1 and 2, as well as the frame parts 1 and 3 are telescopically interconnected with the possibility of changing and fixing the distance L between the axles of the wheels 4 and 5 in the range of the required wheelbase values while maintaining the support on all wheels 4, 5. In general, devices are allowed options: with one " telescope "(the frame part 3 is absent, the wheels 5 and the chair 9-11 are mounted on the frame part 1 - see Fig. 4); with two oppositely directed, parallel, and with offset in the horizontal or vertical planes, “telescopes” or coaxial (opposite) “telescopes” (see figure 5, 6); with two "telescopes" oppositely directed, coaxially integrated into each other (see Fig. 7).

 In the optimal design, the latter option is used (in Fig. 7): the frame part 2 (front wheel axle) and the frame part 3 (rear wheel axle) are partially integrated into the longitudinal tubular (or other cross-section) beam 21 coaxially with partial mutual overlap (mutual overlapping parts-rods 2, 3 in the beam 21).

 In any case, the indicated “telescopes” and wheels 4, 5 with drives of their independent rotation 7, 8 are included in the device for changing and fixing the wheelbase. In the simplest implementation, the “telescopes” are equipped with clamps (stops) 22, 23 (see Fig. 1, 2, 13), also included in the device for changing and fixing the wheelbase. In this design, they are made remotely controlled. In a more advanced embodiment, the device for changing and fixing the wheelbase is made with a pulsation drive of the wheelbase, preferably in the form of an electromechanical rotation drive with a housing 24, a gear 25 and a gear rack 26 engaged with it as an output moving link (see Fig. 1 , 2, 12). The housing 24 is vertically mounted on the frame part 1 (or directly on the beam 21), and the movable link (gear rack) 26 is installed by means of a detachable latch 27 on the frame part 3 (on the wheel axle). The vertical arrangement of the 24-25 rotation drive instead of the simpler possible arrangement with a horizontal linear drive is due to significant layout limitations.

 A feature of the proposed relationship of the latch 27 with the frame part 3 and with the control system is as follows. The latch 27 includes a finger 28 with a diameter d, mounted on-off with the possibility of input-output in one of the holes 29 in the frame part 3, having a diameter D preferably larger than the diameter d by the maximum gap δ (see Fig. 14, 25-28) .

 To automate the process of moving a vehicle on flights of stairs (forward) with pulsation of the wheelbase, the following variant of the device with a “clearance switch” is proposed (see Figs. 14, 25-28).

 The latch 27 (specifically, its finger 28) is connected to the contactor of the electric switch 30, which is movable relative to the frame part 3, and the spring-loaded fixed contactor of the switch 30 (not counting the deformation of the spring) is connected to the frame part 3. For example, a limit switch 30 can be used. the gap δ = Dd between the frame part 3 and the finger 28 in the direction of mutual mobility of the parts 1 and 3 of the frame, which can be conditionally negative (see Fig. 25, 28) and positive (see Fig. 26, 27) depending on the distribution longitudinal forces in the system 1-5, contactor Switch 30 is closed (switch on) at minus δ and open (switch 30 off) at + δ (see Figs. 25-28). In other words, the position of the contactors of the switch 30 depends on the shift of the gap δ (minus - to the left or plus - to the right).

 Another possible variant of the device with a “gap transfer sensor” (without illustrations) is the organization of the gap δ not between the finger 28 and the hole 29 in the frame part 3, but between the finger 29 and the movable link 25, 26, i.e. inside the "head" of the latch 27.

 The switch 30 is electrically connected to the vehicle control system with the possibility of reversing the operation of the wheelbase pulsation drive when shifting the gap δ in such a way that when sampling the gap in the direction of increasing L (formation + δ - see Figs. 26, 27), the pulsation drive reduces the value of L , and when sampling the gap in the opposite direction (formation minus δ - see Fig.25, 28) increases the value of L.

The vehicle control system is made primarily with the possibility of pulsation of the wheelbase, at least in the range from L ₁ to L ₂ . The values of the latter values are recommended to be determined by relations (3), (4).

Graphical representations of these dependencies (nomograms) are illustrated by an example for the wheel diameter R = 0.18 m and step sizes l = 0.3 m, h = 0.15 m (see Fig. 15, 16). The value of L ₁ (see Fig. 15, 22) is the maximum permissible (minimum on the flight of stairs) by the condition of coupling of the upper wheels with the steps of the stairs, and the value of L ₂ (see Fig. 15, 23) is the maximum permissible (maximum on the stairs March) according to the clutch of the lower wheels with the steps. Accordingly, the negative value of the difference L ₂ - L ₁ (the area between the curves L ₁ and L _{2 to the} left of point K in Fig. 15) is a range of L values in which movement along the flight of stairs is impossible. Thus, this is a “forbidden” zone and should be overcome by the pulsation of the base. The “forbidden” zone determines the minimum necessary stroke of the frame part 3 relative to the frame part 1 (and therefore the course of the link 25 and the rack 26), the average speed, etc. With the above numerical values of R, l, h, the required stroke of link 25 (rail 26), which determines the pulsation of the base L ₂ - L ₁ , should not be less than 0.89-0.79 = 0.10 m. Positive difference L ₂ - L ₁ (the shaded area between the curves L ₁ and L _{2 to the} right of point K) is the range of L values in which movement along the flight of stairs is possible. It is possible even with a constant value of L at any point in this zone. Thus, the shaded area is a "valid" area, i.e. such, at each point of which it is ensured (guaranteed) that the axes of the upper and lower wheels alternately hit the angles (cones) of friction.

With an increase in the diameter of the wheels 4, 5, the point K, ceteris paribus, shifts to the right on the nomogram (see Fig. 15), narrowing the shaded area and, accordingly, narrowing the possibilities of overcoming flights of stairs. At the same time, the radius of the wheels 4, 5 should not be less than the value of R _min = h from the conditions of profile passability. Thus, it is recommended that the authors establish the optimal value of the diameter of the wheels 4, 5 (from 0.36 to 0.38 m) for the accepted range of possible sizes of flights of stairs.

The case φ = 0 (α = 0) gives a geometric coincidence of L ₁ and L ₂ for the claimed method and the analogs with "telescopes" taken into account.

If the “telescope” cannot be locked (locked) in the 24-27 drive, then the latch (stop) 23 can be saved, which provides a rigid interconnection of parts 1, 3 at certain values of L, in particular (in one of the recommended options) for the arithmetic mean the wheelbase value for any calculated value of the coefficient of adhesion φ: L * = 0.5 (L ₁ + L ₂ ).

In general, the range of variation of L (according to the possibilities of interconnection between the “telescopes” 1, 2 and 1, 3) includes the maximum value of the base L _max (the frame is completely expanded by the rotation of the wheels 4, 5 with unlocked “telescopes”), the minimum value of L _min (the frame is completely folded by the rotation of the wheels 4, 5 with the "telescopes" unlocked) and the range from L ₁ to L _{2 of the} base pulsation due to the base pulsation drive (s). Moreover, the value of L _{min is} significantly remote from the specified range. The value of L _max either coincides with the value of L ₂ , or less than it. In principle, the variant with the excess of the value of L _max over the value of L _{2 is} not excluded. With the above numerical values of the quantities R, l, h, (L ₂ -L ₁ ), in particular, the values L _min = 0.49 m, L _max = 0.89 ... 0.73 m are recommended.

 The rear wheels 5 are mounted on the frame part 3 (and in the variant with one "telescope" on the frame part 1) by means of a controlled suspension 31 with the possibility of vertical movement and fixing relative to the frame part 3 (1) in the raised position, in which the vehicle acquires trim on the rear axle and the frame part 3 is lowered to the supporting surface based on the layout of the vehicle together with the user at the seat when driving a serial car (see Fig. 20).

 The suspension 31 is equipped with spaced apart in the transverse direction linear, mainly electromechanical drives 32, 33 (see figures 1, 2, 8, 12) with the possibility of independent control.

 Included in the control system is a gyroscopic stabilizer 34 of the position of the chair 9-12 made with the possibility of stabilization of the latter in the transverse plane through the suspension 31 (drives 32, 33).

 The gyroscopic stabilizer is also configured to stabilize the seat 9-12 in the longitudinal plane by means of a chair tilt drive.

 The chair 9-12 is made with the articulation of the seat 9 with the backrest 10 (hinge 35) and the seat 9 with the lever 11 (hinge 36) with the possibility of their installation in various positions. One of the characteristic positions of the seat 9, backrest 10 and lever 11 is within the same vertical plane common to them (with correction for ergonomic requirements and physiological characteristics of the user, taking into account the shape and deformation of the seat cushions 9 and backrest 10, etc.) .

 The possibility of longitudinal movement of the chair in a wide range and such a significant transformation is provided by the design of the device for fixing and changing the position of the chair, in particular the seat tilt 9, equipped with a seat tilt drive in the longitudinal vertical plane (indicated by the elements stepwise) and the presence of independent tilt drives of its other elements - the backrest 10 and the lever 11, made in the form of linear, mainly electromechanical drives associated with the vehicle control system a. The device for fixing and changing the position of the chair includes a lever 37, its upper end connected with the movable link 38 of the rotation drive, and the lower end with the movable link 39 of the same drive (the movable links are shown in figures 1, 2 in the form of disks). In this case, the housing 40 of the first drive is fixed in the front zone of the seat 9, and the housing 41 of the second drive is mounted on the frame part 1 (see figures 1, 2, 12).

 Linear drives 42, 43 of the inclination of the backrest 10 relative to the seat 9 with their bodies are pivotally attached to the backrest 10 from its rear side and the movable links are pivotally connected to the rear edge of the seat 9 (see figures 1, 2, 12).

 The linear actuators 44, 45 of the tilt of the lever 11 with their bodies are pivotally mounted in the rear area of the seat 9 and the movable links are pivotally connected to the upper shoulder of the two shoulders of the lever 46, pivotally mounted in the front area of the seat 9 (see Fig.1, 2, 12).

 The lever 46 and the movable link 38 of the rotation drive are mounted coaxially (see figures 1, 2).

 The lever 11 is made in the form of linear, mainly electromechanical drives 47, 48, the housing of which is rigidly attached to the lower arm of the lever 46, and the movable links to the thrust bearings 12 (see figures 1, 2, 12).

 In principle, a variant with single (i.e., not in pairs) tilt drives of the main elements of the chair: the backrest 10 and the lever 11 is not excluded.

The range of possible tilt of the chair 9-12 generally corresponds to a stable position of the user in the mode of movement on the staircases of various sizes: it is equal to or greater than the angle of inclination of the flight of stairs (the most common angle is 30 ^o ).

где С - продольное смещение центра масс от положения равного удаления от осей колес (в направлении подъема по лестничному машу), см;
k_i=h_i/l_i;
h,l - соответственно высота и длина ступени лестничного марша, см;
i - индекс, относящий параметры к определенному типоразмеру ступени лестничного марша;
Н - высота центра масс транспортного средства, см.Given the "automatic" change in the weight of the vehicle when changing the value of L and changing the tilt of the vehicle in various operating modes, the drive for fixing and changing the position of the seat is made possible to develop traction on the clutch of wheels 4, 5, at least in their driving mode, including staircases. Approximately the same vertical load on the front and rear wheels (i.e., approximately equal weight distribution along the axes of the upper and lower wheels 4, 5) is required for any operational tilt angles of the vehicle up to the maximum possible (corresponds to the maximum tilt angle of the flight of stairs), and dynamics, i.e. taking into account reactive moments on a vehicle moving along a flight of stairs, or with a different ascent. This is best realized if, in the vehicle, at least part of the possible values of the displacement of the center of mass of the vehicle in the longitudinal vertical plane is determined by the relation (5)

where C is the longitudinal displacement of the center of mass from the position of equal distance from the axles of the wheels (in the direction of elevation along the staircase), cm;
k _i = h _i / l _i ;
h, l - respectively the height and length of the stairs, cm;
i is an index relating parameters to a certain standard size of a flight of stairs;
N is the height of the center of mass of the vehicle, see

 It is recommended that the drives 7, 8 rotate the wheels 4, 5 with the possibility of self-braking due to the use of worm gears and / or clamps (brakes) 49, 50 (see Fig. 13), excluding spontaneous rolling downhill (on a slope or flight of stairs ) It is also recommended that drives 7, 8 be made with at least two forward speed ranges, including the first (lowest) range common to all wheels. This can be achieved (the most realistic solution for the existing level of technology) by the presence of a two-speed gearbox (with electromagnetic shifting) in the drive: first gear for all-wheel drive with high torques at low speed on the flight of stairs and in difficult conditions outside the flights of stairs, second gear - for the implementation of the speed mode "scooter" on level ground. In the latter case, the device may allow the shutdown of part of the wheel drives, for example wheels 4, with the transfer of these wheels to the driven mode.

 It is advisable to use pneumatic tires 6 with a pressure control device in them (conventional nipple valves or, if possible, a device for remote pressure control). It is important to note that tires 6 can be standard, for example, of an automobile type with a conventional tread or with an increased coefficient of friction. An increase in the coefficient of friction can be achieved by using closed-cell rubber or other similar technical means. However, it is not excluded that the use of wheels of analog vehicles with transverse rollers as peripheral elastic elements.

 To optimize the layout, weight distribution and ease of transformation into various options, as well as in cases where it is not recommended to significantly tilt the energy source 13, the latter can be connected to the seat 9 through the actuator 51 changing the position of the energy source 13 with the possibility of at least turning in the opposite direction from the seat 9 (see figures 1, 2, 8, 12, 17-19). In the above example, a rotation drive is used, the body of which is fixed on the back of the seat 9 (similar to drives 38, 40).

 The control system "transcooter" can be placed in several blocks distributed throughout the structure (see Fig. 11): in the presented example, from the back of the backrest 10, between the drives 42, 43, the blocks 52 for controlling the drives 7, 8 of wheel rotation are fixed, beneath them there is an electrical connector 53, to the left and right of the seat 9, above the spaced apart blocks of the energy source 13, the drive control units 54 and the monitoring means of the source 13 with a diagnostic connector are located (not highlighted).

 The above design examples do not exclude other possible options within the claimed combination of essential design features.

 The claimed vehicle "TRANSSCOOTER" works as follows. To operate the vehicle in any of the twelve possible modes, it is first transformed accordingly.

When using a vehicle for high-speed traffic in street conditions (see Fig. 1), an increased fixed value of L is set up to the maximum (L _max ) or close to the maximum (i.e., use a long frame base). For this, the frame part 2 with the wheels 4 is pushed to the corresponding position by means of drives 7, 8 (multidirectional rotation of the wheels 4, 5) with the lock 22 turned off and the locks 23, 27 turned on, after which the lock 22 is turned on again (see Fig. 1, thirteen). To set L values close to L _max , in addition to this, the frame part 3 is also pulled out in the same way with the latches 23, 27 disconnected and then again locking them. At the same time, it remains possible to quickly correct the wheelbase by operating the drive 24-27 with the latch 27 turned on and temporarily disconnect the latch 27. In particular, when the movable link 26 is initially set to its middle position, a symmetric maximum adjustment of half the travel of the link 26 is possible. 9-12 are installed, in the General case, through the actuators 38-48 in a user-friendly position with the orientation towards the steering column 15. The latter is installed with the detent 18 turned off in a convenient floor the user working fixed angular position, include the latch 18, the steering wheel 16 is also set to a convenient height with the latch 19 turned off and the latch 19 is turned on. After that, the second (highest) range (transmission in the gearbox) in the traction drives 7, 8 of all or any or equally named wheels (rear 5 or front 4) depending on the embodiment of the device. In the latter case, part of the wheels is left driven.

 In the described position, the vehicle in its technical and operational characteristics corresponds to a high-speed personal vehicle of the "scooter" class ("electric scooter") and moves in the usual way for scooters. This, as a rule, is a high-speed mode of movement with a "long-base" frame 1-3 outside flights of stairs and overcoming slopes at any speeds. At the same time, the user performs a kinematic rotation due to the rotation of the front wheels 4 by the steering wheel 16.

To use the vehicle in room conditions (see Fig. 2), a minimum (L _min ) or close to the minimum fixed value of L is set. For this, the frame part 2 with wheels 4 is pushed into the corresponding position by means of drives 7, 8 with the latch 22 turned off and include the latch 22. The chair 9-12 is shifted slightly forward by the actuators 38-41 to a user-friendly position with optimal weight distribution along the axles of the wheels 4 and 5. The steering column 15 is set with the latch 18 turned off in a vertical or close to vertical, user-friendly working fixed angular position, turn on the latch 18, adjust the position of the rudder 16 when the latch 19 is turned off and turn on the latch 19 (in the case of using a joystick hand transmitter, the column 15 with the rudder 16 can be put into a folded inoperative position, if this puts the control system in command steering mode). In traction drives 7, 8 include, as a rule, the first (lowest) range (transmission in the gearbox). The steering drive 14 is switched from the control mode of the front wheels 4 to the control mode of the rear wheels 5 (see Fig. 10) or, if necessary and possible, to the mode of simultaneous control of the rotation of the wheels 4 and 5.

 In the described transformed state, the vehicle, according to its technical and operational characteristics, corresponds to the maneuverable personal vehicles "self-propelled seat", "Permobile" and moves in the usual way for such cars, and with the possibility of turning not only kinematic, but also on-board with zero radius.

To work at the table, the front axle 2, 4 is advanced as described above to an L value less than L _max . The chair 9-12 is moved forward and downward through the drives 38-41. The steering column 15 with the steering wheel 16 is moved to the folded inoperative position with an inclination towards the seat 9. In this position, the vehicle is partially (front axled) entered by the user under the table cover to place the user at the table for working, for example, with a personal computer, for receiving food, to participate in games, etc. In this case, the chair 9-12 is at a lower level than in the first two cases, and the user's legs pass freely under the table top. Wheel 16 is between the thighs of the user and also does not prevent entry under the table. If desired, the user can adjust the angle of the body by tilting the seat 9 due to the drives 38, 40 and / or tilting the frame 1-3 (trim on the rear axle) due to the drives 32, 33 of the suspension of the rear wheels 5.

 When using a recreational vehicle, the pose necessary to give the user's body a relaxed position, for example on the beach, involves, firstly, increasing the value of L up to the maximum due to the operation of the traction drives 8 with idle traction drives 7 and temporarily disabled latches 23, 27 In other words, by extending (rolling out) the rear axle 3, 5.

To lift the “transcooter” onto the flight of stairs under its own power according to the first variant of the method (for example, by lifting in front), immediately before overcoming, the wheelbase value determined in each specific case (depending on operating conditions) is set due to the operation of drives 7, 8 at various high-speed modes with an unblocked wheelbase: with a temporarily disengaged lock 23 or (depending on the design of the "transcooter") temporarily disengaged locks 22, 23, 27 (in Fig. 14, finger 28 is pulled out of hole 29) the first phase and the second phase (if necessary, the actuator and 24-27 as adjustment) - drive means 24-27 when the latch 27 (in Figure 14 the finger 28 inserted into the hole 29) within a range of L ₁ to L ₂ from the condition of providing alternate hits of the axes of the upper and lower wheels 4, 5, at least in the sectors of the angles (cones) of friction α (see FIGS. 22, 23 and 25-28) of the edges of the corresponding steps of the flight of stairs that are closest along their course. According to geometric calculations, to align the axis of the upper wheels 4 with the lower wheels 5 abutted on the end (edge) of the stage (see FIG. 22), inserted into the angle (cone) of friction α at the next stage, with the nearest boundary of the angle (cone) of friction α to ensure the value of the wheelbase L ₁ calculated by the formula (3), and to align the axis of the lower wheels 5 with the upper wheels 4 (see FIG. 23) inserted into the corner (cone) of friction α, of the next stage with the nearest boundary of the angle (cone) of friction α, it is necessary to ensure the value of the wheelbase s L ₂ calculated by the formula (4).

 The driving mode of the wheels 4, 5 is possible, as was emphasized above, only within the limits of the angles (cones) of friction α, starting from the indicated nearest boundary.

However, there is another second condition for the implementation of the traction force (hereinafter simply referred to as “traction”) - the sufficiency of the pressure force in the contact spot “wheel-stage”. Therefore, at the same time, or with some time delay or, on the contrary, by anticipating the installation of the wheelbase, the center of mass of the vehicle is shifted towards raising the flight of stairs to a predominantly equal vertical load on the axles (weight distribution on the axes) of the lower and upper wheels 4, 5 (G ₁ , G ₂ in FIGS. 22, 23), thereby providing the possibility of developing traction on the clutch of one of the same named wheels (upper - in this case 4 or lower - in this case 5) within the angles α, sufficient to lift the other equally named wheels to the next step of the flight of stairs. To do this, in addition to the "automatic" redistribution of the vertical load on the axis (weight distribution on the axes) of the wheels 4, 5, due to a change in the relative position of the frame parts 1-3, the position of the chair 9-12 is changed by means of a locking drive and a change in its position (drives 39, 41 and 38, 40), tilting and / or shifting it to the side of the upper wheels 4. According to the calculation results, the conditions of dynamic equilibrium of the vehicle when moving along the flight of stairs, to ensure approximately equal vertical load on the axle (weight distribution) full-time, as a rule, of the above ratio (5).

 The greatest maneuverability on flights of stairs takes place with reduced tire stiffness of 6 wheels 4, 5, in particular with ultra-low air pressure in the tires - in the range from 20 to 30 kPa (experimentally established by the authors). This is explained by a sharp increase in the coefficient of adhesion φ of the deformable tire 6 when "overwhelmed" through the edge of the step (see Fig. 24). Therefore, movement along the flight of stairs is carried out, if possible and necessary (such a need arises, first of all, at low values of φ under severe operating conditions - wet marble, ice on the steps), after reducing air pressure to the indicated range by bleeding air through nipple valves or by remote pressure control devices.

Thus, the main conditions of movement of the vehicle in the claimed way are:
- ensuring that the axes of the upper and lower wheels 4, 5 hit alternately, at least in the sectors of the angles (cones) of friction α of the edges of the steps that are closest to them along the course, i.e. immediately after the nearest boundary of the angle α, even before reaching the boundary of the static equilibrium of the wheel, which coincides with the zero value of α at the edge of the step;
- equal (identical) or close to equal (identical) vertical load G ₁ , G ₂ on the axis (weight distribution on the axes) of the upper and lower wheels.

 And finally, the last characteristic feature when moving up the stairs: the working position of the steering column 15 with an inclination forward from the vertical, with a relatively low level of the location of the steering wheel 16 (see Fig. 17). In this case, use a much lower (and therefore safe, ergonomic) position of the chair 9-12.

Actually movement on the flight of stairs (regular mode of overcoming it) is carried out by rotation of wheels 4, 5 due to drives 7, 8, respectively, with constant support on all wheels (in contrast to the prototype device) with adapted (as described above) to the profile of a specific the flight of stairs of the wheelbase L within the range from L ₁ to L ₂ , with the latch 23 turned on (the latches 22, 23 or 22, 23, 27 turned on, depending on the design of the “transcooter" design) of the wheel base, i.e. with a fixed wheelbase, in other words, with a fixed frame 1-3.

 The second version of the method of overcoming flights of stairs (still with an illustration of upward movement) can be carried out both with braked wheels within their angles (cones) of friction, and with rotating wheels.

In the first particular case, when the wheels 5 (in this case, the lower ones) are stopped (braked) and have the rear wheels 5 (in this case, the lower ones) within the range of their angles (cones) of friction, the drive 24-27 is turned on (see Figs. The rail 26 extends, carrying the frame part 3. The drive 24-27 is turned off when the latter is extended to the wheelbase value L ₁ (see Fig. 22). Thus, the axes of the front wheels (in this case, the upper) wheels 4 are introduced into the limits of their new friction angles α even before the wheels 4 reach the state of static equilibrium. From this moment, under conditions of approximately equal vertical load on the axle (weight distribution) along the axes of the wheels 4 and 5, the wheels 4 are coupled to a stage sufficient to hold the vehicle while “lifting” (raising) the wheels 5 (outside friction angles α). The second, last, cycle operation (the indicated “pull-up”) consists in stopping (braking) the wheels 4 and switching the drive 24-27 to the wheelbase reduction mode. The rail 26 moves in, dragging along the frame part 3 to enter the axles of the wheels 5 within the limits of their new friction angles (cones) α (see Fig. 23). After stopping (braking) the wheels 5 reproduce the specified sequence of operations as many times as necessary until the flight of stairs is completely overcome.

 The described pulsation of the wheelbase is characterized by a symmetric amplitude relative to the average value previously set (see the transformation process above) by rotating the wheels 4, 5 with the wheelbase unlocked, in other words, with the frame unlocked 1-3 (for automation of the pulsation process, see below).

In the second particular case of the second variant of the method, with continuous rotation of the rear wheels of the vehicle 5 (in this case, the lower wheels) within their friction angles α and the continuous rotation of the front wheels of the vehicle 4 (in this case, the upper wheels), drive 24 -27. The rack 26 extends, taking the frame part 3 behind it. The extension speed of the rack 26 exceeds the speed of the translational motion of the axles of the wheels 5, so that during their movement until they stop at the end (edge) of the next stage, the wheel base is thus increased from L ₁ to L ₂ and the axles of the wheels 4 are introduced within the limits of their new friction angles (cones) α even before they reach the position of static equilibrium at the edge of the step. From this moment, under conditions of approximately equal vertical load on the axis of the wheels 4, 5 (weight distribution), traction is provided for the traction of the wheels 4, sufficient to lift the wheels 5 (outside the friction angles) to the next stage. The next operation of the cycle is to reverse the drive 24-27 in the mode of reducing the wheelbase. The rail 26 moves in, dragging along the frame part 3 to enter the axles of the wheels 5 within the limits of their new friction angles (cones) α. Without stopping the wheels 4, 5, they reproduce the indicated sequence of operations with the pulsation of the base from L ₁ to L _{2 the} required number of times until the flight of stairs is completely overcome.

 Here, as in the first embodiment of the method, the remarks about the average value of the wheelbase set at the stage of transformation are valid.

 The pulsation of the wheelbase in automatic mode is as follows (when lifting a vehicle on a flight of stairs in a way with constantly rotating wheels 4, 5).

 When the traction force of the clutch on the lower wheels 5 is realized, the extension of the rail 26 of the drive 24-27 causes an increase in the base L with the force stop of the finger 28 in the left part of the wall of the hole 29, i.e. with a gap minus δ (see Figs. 14, 25). The drives 8 of the lower wheels 5, together with the drive 24-27, push the axles of the upper wheels 4 in the case of impossibility of realizing the traction forces on them (as long as they are outside the friction angle α at the edge of the next stage).

 At the moment of entry (hit) of the axles of the wheels 4 into the friction angle α at the edge of the step (see Fig. 26), their traction force in adhesion begins to be realized with constantly operating drives 7. This causes the longitudinal forces to be redistributed in system 1-5 and the clearance δ to be shifted from minus to plus. All wheels 4, 5 from this moment work in the leading mode and the need for "help" of the drive 24-27 disappears.

 However, by this time or with a certain delay in time, the wheels 5 reach the stop in the next step, lose their grip and cannot rise on their own (see Fig. 26).

 Opened when shifting the gap δ, the contactors of the switch 30 through the control system reverse the drive 24-27. Rail 26 begins to move in, dragging along the frame part 3 with wheels 5 in their passive mode. The drives 7 of the upper wheels 4 together with the drive 24-27 pull the axis of the lower wheels 5 (see Fig.27).

 At the moment of entry (hit) of the axles of the wheels 5 into the angle of friction α at the edge of the step (see Fig. 28), the implementation of their traction forces in adhesion begins with continuously operating drives 8. This again causes a redistribution of the longitudinal forces in the system 1-5 and the clearance δ from plus to minus. Again, all wheels 4, 5 begin to work in the driving mode.

 Further, the process is repeated until the flight of stairs.

In the above-described cases of the implementation of the second variant of the method, movement can be carried out at any fixed value L * of the wheelbase from the range from L ₁ to L ₂ corresponding to the shaded area in Fig. 15. The choice of a specific value (points within the specified "permissible" zone) is determined by the operating conditions in specific cases.

In particular, the frame part 1 is fixed at an arithmetic mean value L * = 0.5 (L ₁ + L ₂ ) for any calculated value of the adhesion coefficient φ. The average position of the point in the "permissible" range guarantees patency on flights of stairs with the widest possible range
possible changes in operating conditions (primarily for φ). By changing the position (position) of the latch 27 relative to the frame part 3 (in Fig. 14, by introducing the finger 28 into one or another hole 29), the constant component L is changed (selected) while maintaining the maximum possible range (according to the characteristic of the drive 24-27) of the base pulsation range L ₂ -L ₁ . In other words, shift the range L ₂ -L ₁ = const in one direction or another.

 Overcoming the back flight with a "transcooter" is done in the same way, but the "transcooter" is transformed in the same way as for moving down the stairs. To move down the flight of stairs, the front and rear wheel axles are extended similarly to the rear and front axles when moving up, respectively, as a result of which the center of mass "automatically" moves closer to the upper (rear) wheels 5. The operation of the drives 39, 41 and 38, 40 chair 9 -12 set horizontally and at the same time even more shifted back. This ensures approximately equal vertical load on the axis of the wheels 4, 5 (weight distribution). The steering column 15 is set this time with an inclination to the seat 9-12 from its vertical position and extend the steering wheel 16 to an ergonomic level.

 The process of interaction of the wheels 4, 5 with the steps of the flight of stairs during the descent (see Fig. 18) does not cause special problems, unlike the ascent.

 It is quite possible to realize (especially with a gyroscopic stabilizer 34) the additional function of overcoming the flight of stairs down with a "short" wheelbase. This can be useful, for example, on stairs with short and narrow marches. In this case, the minimum wheelbase is set at the vertical (or almost vertical) position of the steering column 15 and at a lower level of the steering wheel 16. The process of moving in a regular mode differs from the previous one by simultaneously “covering” the wheelbase with a smaller number of steps and preferably by the operation of the gyroscopic stabilizer 34.

To give the user's body a vertical position (see Fig. 19), the minimum wheelbase L _min is set by sliding the frame parts 2 and 3 into the beam 21 due to the operation of the traction drives 7 and 8 in different speed modes with the clamps 22, 23, 27 temporarily disabled The steering column 15 is turned forward - from the seat 9-12 and fixed with a latch 18 in a position with a deviation from the vertical. The steering wheel 16 is lifted and fixed by the latch 19 at a height convenient for support by hands during the translation and stay of the user in an upright position. In the presence of additional fixators of the user's body (not shown) they are brought into working condition (fixing legs, belts, etc.). The body is moved to a vertical position, transforming the chair 9-12 into a vertically oriented platform due to the simultaneous operation of all the drives of the independent inclination of the chair elements (38-43, 47, 48). Moreover, in a device with a movably mounted energy source 13, the latter automatically, tracking the angle of rotation of the seat 9, rotates in the opposite direction (clockwise) due to the operation of the actuator 51. As a result, the seat 9, the backrest 10 and the lever 11 (actuators 47, 48 ) occupy a position within one common vertical plane with correction for ergonomic requirements and physiological characteristics of the user (taking into account the shape of the seat cushions 9 and backrest 10, their deformation, etc.). After that, the control system is transferred to the gyroscopic stabilization mode of the chair 9-12 (using the gyroscopic stabilizer 34). In this case, the user is in a vertical position of the body and rests with his hands on the steering wheel 16, and his face is located at the level of the faces of the interlocutors (at the level of books on library shelves, at the level of products selected in the store, etc.). Knee and other joints are under load (if additional body fixators do not exclude this). The static and dynamic stability of the platform chair 9-12 is provided by two-plane gyroscopic stabilization (see Fig. 8) due to the automatic working out of the deflection angles by the drives 38, 40, 39, 41 (in the longitudinal direction, similar to the analog device [3]) and drives 32 , 33 suspensions 31 wheels 5 (in the transverse direction). The level of the body position is regulated (up and down) due to the operation of the drives 47, 48 of the foot supports: the movable links of these drives carry the thrust bearings 12. In this case, the vehicle can be in a static position (as a rule) or in motion on relatively flat terrain. When driving, use the increased wheelbase L and change the position of the steering column 15 with the steering wheel 16. The front axle 2, 4 is pushed (rolled out) from the beam 21, and the platform chair 9-12 is moved back due to the operation of the drives 38-41. Column 15 is turned in the same direction, closer to the vertical. Correct the position of the steering wheel 16. This mode (function) assumes mainly movement, for example, in a store, movement and stops on relatively uneven terrain, etc.

 To place the inventive vehicle in a car (see Fig. 20), increase the L value to the maximum due to the operation of the traction drives 7, 8 with the clips 22, 23, 27 temporarily disabled. In other words, by pulling out (rolling out) both wheel axles. Lower the rear part of the frame 1-3 almost to the supporting surface (ie, set the trim on the rear axle) due to the synchronous operation of the drives 32, 33. Lower ("sink") the seat 9-12 to the lowest position between the wheel bridges due to the operation of the drive fixing and changing the position of the chair (mainly drives 39, 41). The steering column 15 with the steering wheel 16 is transferred to the folded inoperative position with a maximum inclination to the seat 9.

 The described transformation can be carried out near the car, after which the “transcooter” with the user sitting in it is placed on the seat behind the wheel of the car previously freed from the standard car seat (this can be done by the user himself). At the same time, it is recommended to use the device, in particular, as part of a car with a slight modernization. In principle, a complete or partial transformation is not excluded not nearby, but directly in the car. Thus, the "transcooter" begins to fulfill the function of a car seat.

 The inventive vehicle can be placed in a motor vehicle (see Fig.21).

Sources of information
1. Chairman Mini Stander (Permobil): Permobil, lnc., 6B Gill Street, Woburn, M 01801 1-888-PERMOBIL, Switzerland.

 2. US patent 5975225 to CL. In 62 D 06/12, published 02.11.1999.

3. Independence Technology, a Johnson and Johnson company - Home Page: http: // www. indetech. com / Call 1-888-IND-3000.-03.09.99;
Independence TM 3000-Product Information: http: // www. indetech. com / productfunction. html.- 03.09.99. RU, 2115401 C1, 07.20.98, A 61 G 5/06.

 4. RF patent 2058766 according to class A 61 G 5/06, published 04/27/1996.

 5. RF patent 2115401 according to class. A 61 G 5/06, published on July 20, 1998.

 6. RF patent 2116061 for class A 61 G 5/06, published July 27, 1998.

 7. Samoilov A.D., Semenov A.G., Elizov A.D. Development of the concept of a universal compact chassis with a high cross-country ability. // Proceedings of universities. Engineering, 1998, 1-3. - S. 88-94.

Claims (19)

1. A vehicle containing a frame in the form of telescopically interconnected parts with front and rear wheels with elastic tires mounted in pairs on them, wheel rotation drives, a wheel base changing and fixing device while maintaining all-wheel support, equipped with a drive, drive control system with bodies controls and an autonomous energy source, a chair with a seat and a backrest, characterized in that when climbing a flight of stairs, fixing the wheelbase in the range from L ₁ to L ₂ is determined by the front and rear wheels within the limits of the friction angles of the edges of the steps of the stairs, and it is also possible to shift the center of mass of the vehicle with the user on the flight of stairs forward to approximately equal vertical load on the axis of the lower and upper wheels, and providing the possibility of traction on the clutch of some equally named wheels within the angle of friction sufficient to lift other equally named wheels to the next step of the ladder, and

where l is the length of the stairs, cm;
h - the height of the stairs, cm;
R is the radius of the wheel, cm;
α≤arctgφ is the friction angle as a function of the friction coefficient φ of the wheel with the step.  2. The vehicle according to claim 1, characterized in that the frame part with the front wheels forming the front wheel axle and the frame part with the rear wheels forming the rear wheel axle are telescopically integrated in the third part of the frame located between the bridges, with the possibility independent of each other longitudinal reciprocating movement.  3. The vehicle according to claim 2, characterized in that the frame parts of the said bridges are installed in the third part of the frame coaxially, with partial mutual overlap.  4. The vehicle according to claim 1, characterized in that the rear wheels are mounted with the possibility of vertical reciprocating movement and fixation relative to their frame part in the raised position by means of a controlled suspension.  5. The vehicle according to claim 4, characterized in that the steered suspension of the rear wheels is provided with transverse spaced apart reciprocating drives.  6. The vehicle according to claim 1, characterized in that the front and rear wheels are made rotatable.  7. The vehicle according to claim 6, characterized in that the steering gear is capable of selectively turning the front and rear wheels.  8. The vehicle according to claim 1, characterized in that said device for changing and fixing the wheelbase is made with a drive of its pulsation, the body of which is mounted on the frame part that carries the chair, and the movable link of the drive is installed by means of a disconnectable latch on the other frame part, telescopically connected with the aforementioned first.  9. The vehicle according to claim 8, characterized in that the disconnectable latch connecting the movable link of the said pulsation drive with the frame part is made with a gap in the direction of mutual mobility of the frame parts and is equipped with an electric switch, for example an end switch, with the possibility of reversing the movement of the movable drive link ripple when shifting the gap so that when sampling the gap in the direction of increasing the wheelbase L, the ripple drive reduces the value of L, and when sampling the gap in the opposite direction, increases em him.  10. The vehicle according to any one of paragraphs. 1, 6 and 7, characterized in that in front of the seat there is a steering column with a steering wheel connected, at least with the steering drive of one of the pairs of the same wheels and made with the possibility of changing and fixing its length and position along the angle of inclination in the longitudinal vertical planes, including the folded inoperative position in front of the chair.  11. The vehicle according to claim 1, characterized in that the seat tilt drive is made in the form of a rotation drive, the body of which is fixed in the front area of the seat, the movable link is fixed at one end of the lever of the said lever-hinge device, and the second end of the lever is stationary, rigidly connected to the movable link of the additional rotation drive, the housing of which is mounted on the frame.  12. The vehicle according to claim 1, characterized in that the chair is equipped with leg supports in the form of a lever and thrusts and is made with the articulation of the seat, back and lever of the leg supports, while the back and lever of the leg supports are equipped with tilt drives.  13. The vehicle according to claim 11, characterized in that the backrest tilt drive is made in the form of a reciprocating drive, which is pivotally attached to the back of the vehicle with a housing and pivotally connected to the rear edge of the seat with a movable link, and the support lever tilt drive for the legs is made in the form of a reciprocating drive, the body of which is pivotally mounted in the rear zone of the seat, and the movable link is pivotally connected to the upper shoulder of the two-shouldered lever, the lower shoulder of which is rigidly attached to ychagu footrest.  14. The vehicle according to claim 12, characterized in that the leg support lever is made in the form of a reciprocating drive, the movable link of which is attached to the said thrust bearings.  15. The vehicle according to claim 1, characterized in that the said control system is equipped with a gyroscopic stabilizer for the position of the chair in the longitudinal and transverse planes.  16. The vehicle according to claim 1, characterized in that the autonomous energy source is installed on the back of the seat.  17. The vehicle according to claim 16, characterized in that the autonomous energy source is provided with a drive for changing the angular position of the energy source relative to the seat. 18. The way to overcome staircases by a vehicle according to claim 1, characterized in that when the front and rear wheels are rotated with constant support on all wheels and the wheelbase within the range from L ₁ to L _{2, the} center of mass of the vehicle is shifted by means of change devices and fixing the wheelbase and the position of the chair, in the direction of raising the flight of stairs to approximately equal vertical load on the axle of the wheels, providing the possibility of developing the necessary traction for the adhesion of the same named wheels within the angles of Nia sufficient for lifting other identically named wheels on the next stage set average in the range of L ₁ to L ₂ wheelbase L * rotation of the front and rear wheels under different speed modes when Unlock wheelbase then fixed wheelbase and rotated all wheels. 19. The way to overcome staircases by a vehicle according to claim 8, characterized in that when the front and rear wheels are rotated with constant support on all wheels with a wheelbase within the range from L ₁ to L ₂ , the center of mass of the vehicle is displaced by means of devices changes and fixation of the wheelbase and the position of the chair in the direction of raising the flight of stairs to approximately equal vertical load on the axis of the wheels with the provision of the possibility of developing the necessary traction for the adhesion of the same named wheels within the angle a friction sufficient to lift the other identically named wheels to the next step, setting the average in the range of L ₁ to L ₂ values wheelbase L * rotation of the front and rear wheels when Unlock wheelbase when the rear along the vehicle wheel means within their the friction angles on the flight of stairs and the rotation of the front wheels of the vehicle increase the wheelbase by means of a pulsation drive of the wheelbase, before entering the axles of the front wheels into the range of the friction angles of the wheels with the next step y, then the wheelbase is reduced by means of a wheelbase pulsation drive, when the axles of the front wheels are within the mentioned limits of the friction angles until the axles of the moving rear wheels are entered within the limits of the friction angles of the wheels with the next step, after which the above sequence of operations is repeated until the flight of stairs is completely overcome .

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