CN103356346A - Suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center - Google Patents
Suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center Download PDFInfo
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- CN103356346A CN103356346A CN2012100846406A CN201210084640A CN103356346A CN 103356346 A CN103356346 A CN 103356346A CN 2012100846406 A CN2012100846406 A CN 2012100846406A CN 201210084640 A CN201210084640 A CN 201210084640A CN 103356346 A CN103356346 A CN 103356346A
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Abstract
A suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center comprises three parts: a travelling part consisting of pieces such as a frame, a front wheel, a rear wheel, a crawler belt and a crawler belt forward-falling preventing device; a gravitational equilibrium part consisting of pieces such as a suspending hanging bracket, a sliding sleeve and a battery and self weight of a person; and a seat moving part consisting of pieces such as a sliding seat, a sliding bar and a connection rod. The suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center has the advantages that in the processes of facing the front to go upstairs and go downstairs, the suspending hanging bracket is mounted in a center hole of the frame, and gravity is utilized to equilibrate. An angle formed in the processes of going upstairs and going downstairs is utilized to pull an eccentric shaft on the frame, the eccentric shaft is connected with one end of the connection rod, the other end of the connection rod pulls the seat on the sliding bar, and the gravity center is moved forwards in the process of going upstairs and is moved backwards in the process of going downstairs to keep the gravity center of the seat being at the center of the vehicle. The suspension type stair climbing vehicle is simple in structure, low in cost, small in turning radius and capable of being controlled via remote control and programs and rotating by 360 degrees in situ. By the aid of the suspension type stair climbing vehicle, the problem that part of riders need companies is solved, and a company can go together by means of operating on an auxiliary seat. In addition, a vehicular basket can carry goods.
Description
Technical field
The present invention is a kind of car of electronic speeling stairway, and specifically, it is controlled by people with disability, patient's entourage with bi-motor can stair activity, the original place rotation, turns and a kind of vehicle of personnel of portability and a small amount of goods.
Background technology
Existing stair climbing vehicle generally all is only to be ensconced under the car by planetary gear structure or crawler belt to use when the stair activity, dilatory lower positive going downstairs the paraprofessional personnel, then be the back side upstairs, it is very inconvenient that the paraprofessional personnel is falling upstairs also will constantly to see backward, and electric motor car also is easy to hurt sb.'s feelings in walking upwards as very not falling.Turning all needs the paraprofessional personnel to assist with level walking, and electronic of so-called electric stair climbing tower wagon is played a kind of assosting effect, and must have the professional to accompany and attend to, and can only take a people.Complex structure, the shortcoming such as manufacture difficulty is large.
Summary of the invention
The purpose of this invention is to provide a kind of real use driven by power, compare with existing electric stair climbing tower wagon and have the following advantages, realized positively upstairs going downstairs with the front, as lower limb disability just need only one man operation just can, saved a large amount of paraprofessional personnel.Can be sitting in the enterprising line operate retinue of counter-base chair as can not oneself operating the paraprofessional personnel.Often upper ground downstairs can adopt programme-control.The car load volume is little, (long 1.05 meters wide 0.67 meter X of X are high 0.9 meter) easy operating, and radius of turn is little, can be in (1.2 meters X1.2 rice) square original place 360 degree rotations.Maximum stair climbing angle 45 degree.Simple in structure, the complex parts such as gearless, sprocket wheel, casing are easy to make, and are with low cost.
Its technical scheme is:
1. utilize on the main car frame and hang axle centered by the suspension bracket connecting hole, utilize with the pull bar connecting hole and be eccentric shaft, utilize the living angle of showing no increases in output over the ground when going downstairs on the vehicle, the pulling eccentric shaft, eccentric shaft pulling pull bar, the sliding seat that the pull bar pulling is connected with the slip thick stick, the slip thick stick slides in the sliding sleeve that hangs suspension bracket, make seat reach upstairs the time, move to change focus point after in the time of downstairs.
2. utilize the centre bore on the main car frame to be connected with the suspension suspension bracket, utilization is located at the accumulator and the body weight and the ground keeping parallelism that are sitting on the sliding seat below the suspension suspension bracket.Because of gravity motion, hang suspension bracket and can produce and lean forward and swing back during stair activity, at this moment before and after stop will hang suspension bracket and hold up, the suspension suspension bracket still keeps parallel with the earth.Vehicle frame will hang suspension bracket and hold up (inclination angle is less than 5 degree) when the stair angle is spent less than 45 greater than 40 degree.
3. be provided with the length that spring can be regulated car between main car frame and the subframe, be provided with damping device between vehicle frame and the car fork.
4. left and right sides front-wheel is that two motor can drive respectively and are convenient to turn to and original place rotation, and front-wheel is connected with crawler belt with trailing wheel, is provided with to pounce on device before anti-, for upper more steady and prolongation crawler belt downstairs also is provided with follower wheel device service life.
5. servo-actuated pedal is installed on the sliding seat, along with seat is mobile forward or backward, and upwards lifting or descend and rise or keep in the center along with front-wheel.
6. be furnished with dismountable counter-base chair, the time spent is not placed on the hook after the seat back, at level land counter-base chair two kinds of installation forms can be arranged, and can operate such as the people on the main seat, and personnel are opposing to sit with taking advantage of below the counter-base chair was placed in.Cannot operate such as the people on the main seat, but the counter-base chair be placed in above with taking advantage of personnel's face forward remote manipulation.But be furnished with the bicycle basket lade, and be furnished with seat belt.
Description of drawings
Fig. 1-the 5th, counter-base chair of the present invention upper master, bow, face upward, left and right view.
Fig. 6-the 7th, upper state diagram downstairs of the present invention.
Fig. 8-the 9th, counter-base chair of the present invention the next with unload after state diagram.
Figure 10 is axonometric chart of the present invention.
Figure 11-the 12nd, stair activity schematic diagram of the present invention
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
In the drawings, the frame tube of subframe 20 inserts in the sleeve pipe of main car frame 11, Compress Spring 19 is housed in the pipe can regulates the length of vehicle body, the left and right sides car fork of main car frame 11 respectively be equipped with can rotating motor wheel 8, handle left and right sides handle 6, under the driving of motor wheel 8, drive trailing wheel 21 walkings by crawler belt 10.As motor wheel outage just can realize car about turn, such as motor wheel one forward, a counter-rotating can realize 360 degree original places rotations.
Main car frame 11 is pounced on track takeup 4 before being provided with and preventing, when just having begun downstairs to loosen with will arrive platform upstairs the time, car pounces on track takeup 4 before anti-, the tension bottom, top of crawler belt 10 is loosened, motor wheel 8 beginnings are walked downwards with stair, at this moment supporting roller 15 is opened to both sides, servo-actuated wheel carrier contacts with crawler belt 10 under the restriction of stop 18, to play cushioning effect, increase the pulling force of crawler belt 10, can not produce the service life of dog leg prolongation crawler belt 10, before can not produced downwards, pounces on motor wheel 8, at this moment the spring 24 of pouncing on track takeup 4 before preventing forces crawler belt 10 and motor wheel 8 trailing wheels 21 to be close to, tension is pounced on track takeup 4 before preventing after the car body that surpasses 1/2 enters the ramp of stair, making the top of crawler belt 10 compress the bottom downwards evens up, supporting roller 15 spring 16 effect under reposition, make car load smooth running on stair especially walk the level land, can not produce jump.The diameter of supporting roller 15 can change according to angle and the shape of different stair with setting angle in addition.
Central shaft hole 3 on the main car frame 11 is installed with and hangs suspension bracket 2, eccentric pivot hole 5 is installed with an end axis hole of connecting rod 13, the other end axis hole of connecting rod 13 is connected with axis hole 22 on the slip thick stick 26, slip thick stick 26 is installed in the sliding sleeve 8 that hangs suspension bracket 2, and slip thick stick 26 is installed together with sliding seat 1.As adjust slip thick stick 26 and can obtain different focus points from the mounting distance of sliding seat 1, adjust slip thick stick 26 and also can obtain same effect with axis hole 22.Axle centered by the axis hole 3 that the suspension suspension bracket is installed, take the axis hole 5 of installing connecting rods as eccentric shaft, the angle that when utilizing main car frame 11 and subframe 20 stair activity ground is formed swings eccentric pivot hole 5, utilize connecting rod 13 pullings to be installed in and hang the axis hole 22 on the slip thick stick 26 in the sliding sleeve 8 on the suspension bracket 2, make sliding seat 1 center of gravity reach upstairs the time, move after the center of gravity in the time of downstairs, the center of gravity when making the vehicle stair activity remains on vehicle center substantially.Can obtain different shift motions and focus point by adjusting central shaft hole 3 from distance and the angle of eccentric pivot hole 5 in addition.Main car frame 11 is provided with the stop 12 and 17 that spring is housed, so that it is more steady by Elastic Contact to hang suspension bracket.When spending less than 45 greater than 40 degree such as the stair angle, the limit that is urged to stop 12 and 17 spring will hang suspension bracket 2 and follow vehicle frame and hold up, lean forward when seat is gone downstairs (inclination angle is less than 5 degree), layback in the time of upstairs (inclination angle is less than 5 degree) has increased the scope of application.
Main car frame 11 is being equipped with damping device 14 with subframe 20 with car fork junction.
Servo-actuated pedal 7 is installed on the sliding seat 1, and servo-actuated pedal 7 moves forward synchronously with sliding seat 1 upstairs the time, and while main car frame 11 front ends lift, and servo-actuated pedal 7 lifts under the connection thick stick ground effect of main car frame 11 simultaneously, avoids colliding with stair.The downward servo-actuated pedal 7 of main car frame 11 front ends returns to the normal position in the time of downstairs.
Electric motor car of the present invention is provided with removable counter-base chair 27, and counter-base chair 27 has three kinds to lay state; (1) the time spent can not unloaded counter-base chair 27, is placed on the folding hook 28.The personnel that (2) can oneself handle, counter-base chair 27 is oppositely installed, and the connection tube on top is installed together with the sliding sleeve 8 that hangs suspension bracket 2, and the connection tube of bottom contacts with the thick stick that is connected of subframe 20, and support bar 25 effect at this moment is pedal.(3) cannot handle such as oneself, the connection tube of counter-base chair 27 bottoms can be installed together with the sliding sleeve 8 that hangs suspension bracket 2, support bar 25 contacts with the thick stick that is connected of subframe 20.Can be sitting in counter-base chair 27 enterprising line operates the level land entourage together accompanies.Be provided with bicycle basket portability goods below the counter-base chair 27.
Claims (10)
- A Dual-motors Driving people with disability use can stair climbing car (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), comprise moved seat (1), hang suspension bracket (2), motor wheel (9), trailing wheel (21), main car frame (11), subframe (20), slip thick stick (26), pounce on track takeup (4), follower wheel device (15), servo-actuated foot-treadle device (7), detachable counter-base chair (27) before anti-.
- 2. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspension type center of gravity), it is characterized in that, the central shaft hole (3) of described main car frame (11) is installed with suspending frame (2) bottom and is provided with counter weight device accumulator (23) and makes its center of gravity in lower suspension suspension bracket (2) maintenance level.
- 3. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), it is characterized in that, described sliding seat (1) bottom is equipped with ball-type slip thick stick (26).
- 4. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance gravitational equilibrium center of gravity), it is characterized in that, described main car frame (11) is provided with central shaft hole (3) and eccentric pivot hole (5), utilizes the angle swinging eccentric pivot hole (5) that when main car frame (11) subframe (20) is upper goes downstairs Horizon is formed.
- 5. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), it is characterized in that, described main car frame (11), subframe are provided with spring in (20), scalable car body length.
- 6. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), it is characterized in that, one end of described connecting rod (13) cooperates with axis hole (5), and the other end and the axis hole (22) on the slip thick stick (26) cooperate to spur the slip thick stick (26) of sliding seat (1) bottom.
- Dual-motors Driving people with disability according to claim 1 use can stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), it is characterized in that, describedly pounce on track takeup (4) before anti-.
- 8. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspension type center of gravity), it is characterized in that described crawler belt follower wheel device (15).
- 9. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), it is characterized in that described servo-actuated foot-treadle device (7).
- 10. Dual-motors Driving people with disability according to claim 1 uses energy stair climbing vehicle (the removable stair climbing vehicle of suspended type heavy truck dynamic balance center of gravity), it is characterized in that described dismountable counter-base chair (27) device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100846406A CN103356346A (en) | 2012-03-28 | 2012-03-28 | Suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100846406A CN103356346A (en) | 2012-03-28 | 2012-03-28 | Suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center |
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| CN103356346A true CN103356346A (en) | 2013-10-23 |
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| CN2012100846406A Pending CN103356346A (en) | 2012-03-28 | 2012-03-28 | Suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948476A (en) * | 2014-05-05 | 2014-07-30 | 北京理工大学 | Two-wheeled wheelchair with multi-degree-of-freedom gravity center adjusting function |
| CN107307950A (en) * | 2017-07-28 | 2017-11-03 | 嘉兴川页奇精密自动化机电有限公司 | A kind of wheel type barrier-crossing robot |
| WO2018161443A1 (en) * | 2017-03-06 | 2018-09-13 | Yin Chuanfeng | Electric wheelchair |
| CN108557094A (en) * | 2018-04-08 | 2018-09-21 | 中博宇图信息科技有限公司 | A kind of multi-functional unmanned plane |
| CN109381302A (en) * | 2017-08-03 | 2019-02-26 | 株式会社艾科赛迪 | Mobile device |
| CN110522572A (en) * | 2019-09-21 | 2019-12-03 | 浙江大学台州研究院 | One kind having multi-functional deformation wheelchair |
| CN110916917A (en) * | 2019-12-06 | 2020-03-27 | 四川轻化工大学 | Electric wheelchair capable of going up and down steps |
| CN111516791A (en) * | 2019-02-01 | 2020-08-11 | 杨文飚 | Intelligent bicycle |
| CN112741741A (en) * | 2019-10-31 | 2021-05-04 | 张效琪 | Automatic balance seat suspension frame body technology of wheelchair |
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| US4411330A (en) * | 1980-08-21 | 1983-10-25 | J. De Reus B.V. | Stair-climbing apparatus for a wheel chair or similar mobile transport means |
| CN2034558U (en) * | 1989-01-22 | 1989-03-22 | 章荣辉 | Caterpillar handcar for travelling up stairs |
| CN2286123Y (en) * | 1997-01-30 | 1998-07-15 | 张瑞钧 | Multi-function electric up-down stairs cart |
| CN2577813Y (en) * | 2002-10-24 | 2003-10-08 | 王学勇 | Walking tool |
| CN201692189U (en) * | 2010-01-18 | 2011-01-05 | 张瑞钧 | Pedrail-type motive power transmission mechanism of scooter for going upstairs and downstairs |
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2012
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4411330A (en) * | 1980-08-21 | 1983-10-25 | J. De Reus B.V. | Stair-climbing apparatus for a wheel chair or similar mobile transport means |
| CN2034558U (en) * | 1989-01-22 | 1989-03-22 | 章荣辉 | Caterpillar handcar for travelling up stairs |
| CN2286123Y (en) * | 1997-01-30 | 1998-07-15 | 张瑞钧 | Multi-function electric up-down stairs cart |
| CN2577813Y (en) * | 2002-10-24 | 2003-10-08 | 王学勇 | Walking tool |
| CN201692189U (en) * | 2010-01-18 | 2011-01-05 | 张瑞钧 | Pedrail-type motive power transmission mechanism of scooter for going upstairs and downstairs |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948476A (en) * | 2014-05-05 | 2014-07-30 | 北京理工大学 | Two-wheeled wheelchair with multi-degree-of-freedom gravity center adjusting function |
| CN103948476B (en) * | 2014-05-05 | 2016-04-20 | 北京理工大学 | There is the two-wheeled wheelchair of multiple degrees of freedom center-of-gravity regulating function |
| WO2018161443A1 (en) * | 2017-03-06 | 2018-09-13 | Yin Chuanfeng | Electric wheelchair |
| CN107307950A (en) * | 2017-07-28 | 2017-11-03 | 嘉兴川页奇精密自动化机电有限公司 | A kind of wheel type barrier-crossing robot |
| CN109381302A (en) * | 2017-08-03 | 2019-02-26 | 株式会社艾科赛迪 | Mobile device |
| CN108557094A (en) * | 2018-04-08 | 2018-09-21 | 中博宇图信息科技有限公司 | A kind of multi-functional unmanned plane |
| CN108557094B (en) * | 2018-04-08 | 2021-08-13 | 河南省豫石地质勘查技术有限公司 | Multifunctional unmanned aerial vehicle |
| CN111516791A (en) * | 2019-02-01 | 2020-08-11 | 杨文飚 | Intelligent bicycle |
| CN110522572A (en) * | 2019-09-21 | 2019-12-03 | 浙江大学台州研究院 | One kind having multi-functional deformation wheelchair |
| CN110522572B (en) * | 2019-09-21 | 2020-12-15 | 浙江大学台州研究院 | Multifunctional deformable wheelchair |
| CN112741741A (en) * | 2019-10-31 | 2021-05-04 | 张效琪 | Automatic balance seat suspension frame body technology of wheelchair |
| CN110916917A (en) * | 2019-12-06 | 2020-03-27 | 四川轻化工大学 | Electric wheelchair capable of going up and down steps |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| DD01 | Delivery of document by public notice |
Addressee: Wang Qingyuan Document name: Notification that Application Deemed to be Withdrawn |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20131023 |