CN109204420B - Electric wheel type stair climbing vehicle - Google Patents
Electric wheel type stair climbing vehicle Download PDFInfo
- Publication number
- CN109204420B CN109204420B CN201811193660.0A CN201811193660A CN109204420B CN 109204420 B CN109204420 B CN 109204420B CN 201811193660 A CN201811193660 A CN 201811193660A CN 109204420 B CN109204420 B CN 109204420B
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- China
- Prior art keywords
- wheel
- rotating shaft
- front wheel
- electromagnetic clutch
- wheel frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000009194 climbing Effects 0.000 title claims abstract description 14
- 230000007704 transition Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract 1
- 230000002493 climbing effect Effects 0.000 description 4
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
- B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
Abstract
The electric wheel type stair climbing vehicle comprises a chassis (1), wherein a front rotating shaft (3) is movably connected to the front part of the chassis, the front rotating shaft is driven by a motor, star-shaped front wheel frames (8) are movably connected to the two ends of the front rotating shaft, a planet wheel (9) and front wheels (10) are arranged at the tops of all spokes of the front wheel frames, the planet wheel is meshed with a sun wheel (12) through a intermediate wheel (11), the sun wheel is fixedly connected with the rotating shaft, an electromagnetic clutch is arranged between the front wheel frames and the rotating shaft, a rear wheel frame (16) is movably connected to the rear part of the chassis, and the rear wheel frames and the front wheel frames synchronously rotate; the electromagnetic clutch is controlled by a controller, and the controller comprises a singlechip, a detection angle sensor and a travel switch; the electromagnetic clutch is controlled, so that the wheel drop point can be automatically compensated, the device can be suitable for various stairs, the length of spokes is not required to be adjusted, and the device is convenient to use; the landing points of the front wheel and the rear wheel are all at the plane part of the step, the rolling friction is adopted for the step, and the step is not easy to damage.
Description
Technical Field
The invention relates to a stair climbing device which is used for carrying cargoes upstairs.
Background
The structure of the electric stair climbing vehicle generally comprises a rotating shaft, the rotating shaft is driven by a motor, a wheel frame is arranged at the top end of the rotating shaft, the wheel frame is formed by a plurality of spokes, the shape of the wheel frame is star-shaped, and the wheel frame rolls on stairs when the rotating shaft rotates, so that stair climbing action is realized. The size of the stair has a certain range, for example, for a certain stair, the size of the stair is at the lower limit of the range, the wheel frame rotates by a specified angle, the adjacent spokes can rest on the planes of the adjacent steps, but for another stair, the size of the stair is at the upper limit of the range, the wheel frame rotates by a specified angle, the adjacent spokes are most likely to rest on the planes of the same steps, the wheel frame rotates again and can be blocked by the vertical surfaces of the steps, and the stair climbing action can not be completed; to solve this problem, the length of the spokes needs to be adjusted according to the specific size of the stairs before use, which brings inconvenience to use.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an electric wheel type stair climbing vehicle which can automatically adapt to stairs with various sizes, does not need to adjust a wheel frame and is convenient to use.
The technical scheme of the invention is that the electric wheel type stair climbing vehicle comprises a chassis 1, a front rotating shaft 3 is movably connected to the front part of the chassis, the front rotating shaft is driven by a motor, star-shaped front wheel frames 8 are movably connected to the two ends of the front rotating shaft, each front wheel frame consists of a plurality of spokes, a planet wheel 9 and a front wheel 10 are arranged at the top of each spoke, the planet wheel is fixedly connected with the front wheel, the diameter of the planet wheel is smaller than that of the front wheel, the circumference of the front wheel is smaller than the height of a step, intermediate wheels 11 are arranged in the middle of each spoke, a sun wheel 12 is arranged at the central part of the front wheel frame, the planet wheel is meshed with the sun wheel through the intermediate wheels, and the planet wheel, the intermediate wheels and the sun wheel are positioned at the outer sides of the front wheel frames and are fixedly connected with the rotating shaft; the electromagnetic clutch is characterized in that a driving gear 7 is fixedly connected to the inner side of a front wheel frame, an electromagnetic clutch is arranged between the driving gear and a rotating shaft, a driving end 5 of the electromagnetic clutch is fixedly connected with the rotating shaft, a driven end 6 of the electromagnetic clutch is fixedly connected with the driving gear, a rear rotating shaft 20 is movably connected to the rear part of a chassis, rear wheel frames 16 are fixedly connected to the two ends of the rear rotating shaft, the rear wheel frames are the same as the front wheel frames in structure, driven gears 17 are fixedly arranged on the inner sides of the rear wheel frames, the driving gears are meshed with the driven gears through transition gears 13, the diameters of the driving gears and the driven gears are equal, rear wheels 14 are arranged at the tops of spokes on the rear wheel frames, and the rear wheels are positioned on the outer sides of the rear wheel frames; after each time the front wheel frame or the rear wheel frame rotates by a prescribed angle (prescribed angle=360°/the number of spokes), the moving distance of the front wheel on the step plane is about 1/3 of the step depth (lower limit value of the stair design specification);
the spokes of the front wheel frame and the rear wheel frame or the rear wheel frame are respectively provided with a travel switch, and the contact acts when the travel switch is contacted with the step; the electromagnetic clutch is controlled by a controller, the controller comprises a single-chip microcomputer, a rotation angle sensor for detecting the rotation angle of the front rotating shaft or the rear rotating shaft and a travel switch, a rotation angle signal of the rotation angle sensor is connected with one input end of the single-chip microcomputer, an action signal of the travel switch is connected with the other input end of the single-chip microcomputer, and when the rotation angle signal is equal to a set value, the single-chip microcomputer outputs a control signal according to the action signal of the travel switch, so that the electromagnetic clutch is separated or closed.
The invention relates to a stair climbing process, which comprises the steps that when an electromagnetic clutch is in a closed state, a front wheel frame and a sun wheel rotate along with a rotating shaft, a planet wheel drives wheels to roll forwards, a motion track of the front wheel frame is a combination of rolling and moving, when the size of a stair is matched with the wheel frame, each time the rotating shaft rotates for a specified angle, adjacent front wheels can be placed on adjacent steps, each time the rotating shaft rotates, the front wheels can go up a step, and the motion of a rear wheel frame is synchronous with the front wheel frame.
When the size of the stair is not suitable for the wheel frame (the height or/and the depth of the step is larger), each falling point of the front wheel on the step moves backward gradually when the rotating shaft rotates for a specified angle, the falling points of the adjacent front wheels are on the same step due to accumulation of multiple backward movements, and the rotation of the wheel frame is blocked.
The compensation principle of the controller is that after the rotating shaft rotates for a specified angle, if a travel switch is not contacted with a step (the height or/and the depth of the step are larger), the controller enables the electromagnetic clutch to be separated, at the moment, the front wheel rotates but the front wheel frame does not rotate, and the front wheel frame only moves forwards to compensate a falling point; when the travel switch is in contact with the steps, the compensation is completed, the controller enables the electromagnetic clutch to be closed, the front wheels and the front wheel frames rotate, and the stair climbing action is continued.
When going downstairs, the rotating shaft rotates reversely, and after the rotating shaft rotates for a specified angle, if the travel switch contacts with a step, the controller enables the electromagnetic clutch to be separated, and the front wheel frame only moves backwards to compensate a falling point; when the compensation is completed when the travel switch is in no contact with the steps, the controller enables the electromagnetic clutch to be closed, the front wheels and the front wheel frames rotate, and the movement of going downstairs is continued.
The invention has the characteristics of automatic compensation of wheel drop points, adaptability to various stairs, no need of adjusting the length of spokes and convenient use; the rear wheel frame moves synchronously with the front wheel frame, the inclination angle of the chassis is not changed when the vehicle goes upstairs and downstairs, and the chassis is not bumpy; the landing points of the front wheel and the rear wheel are all at the plane part of the step, the rolling friction is adopted for the step, and the step is not easy to be damaged
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a view in the direction B of fig. 1.
Fig. 3 is a schematic block diagram of a controller.
The reference numerals respectively denote: the device comprises a 1-chassis, a 2-shaft sleeve, a 3-front rotating shaft, a 4-motor, a driving end of a 5-electromagnetic clutch, a driven end of a 6-electromagnetic clutch, a 7-driving gear, an 8-front wheel carrier, a 9-planet wheel, a 10-front wheel, an 11-intermediate wheel, a 12-sun wheel, a 13-transition gear, a 14-rear wheel, a 15-travel switch, a 16-rear wheel carrier, a 17-driven gear, an 18-rotation angle sensor, a 19-sensing disc, a 20-rear rotating shaft, a 21-carriage and a 22-handle.
Detailed Description
Specific embodiments of the present invention will now be described with reference to the accompanying drawings.
The electric wheel type stair climbing vehicle comprises a chassis 1, the front part of the chassis is connected with a front rotating shaft 3 through a shaft sleeve 2, the front rotating shaft is driven by a motor 4, the motor is arranged on the chassis, two ends of the front rotating shaft are movably connected with a star-shaped front wheel frame 8, the front wheel frame consists of 3-5 spokes, a planet wheel 9 and a front wheel 10 are arranged at the top of each spoke, the planet wheel is fixedly connected with the front wheel, the diameter of the planet wheel is smaller than that of the front wheel, the circumference of the front wheel is smaller than the height of a step, intermediate wheels 11 are arranged in the middle of each spoke, a sun wheel 12 is arranged at the center part of the front wheel frame, the planet wheel is meshed with the sun wheel through the intermediate wheels, and the planet wheel, the intermediate wheels and the sun wheel are positioned at the outer side of the front wheel frame and are fixedly connected with the rotating shaft; the inner side of the front wheel frame is fixedly connected with a driving gear 7, an electromagnetic clutch is arranged between the driving gear and the rotating shaft, a driving end 5 of the electromagnetic clutch is fixedly connected with the rotating shaft, and a driven end 6 of the electromagnetic clutch is fixedly connected with the driving gear.
The rear part of the chassis is movably connected with a rear rotating shaft 20, two ends of the rear rotating shaft are fixedly connected with a rear wheel frame 16, the structure of the rear wheel frame is the same as that of the front wheel frame, the inner side of the rear wheel frame is fixedly provided with a driven gear 17, the driving gear is meshed with the driven gear through a transition gear 13, the number of teeth of the driving gear is equal to that of the driven gear, and the top of each spoke on the rear wheel frame is movably provided with a rear wheel 14.
A compartment 21 for carrying objects is mounted above the chassis, and a handle 22 is connected to the compartment.
When the electromagnetic clutch is powered on, the driving end and the driven end of the electromagnetic clutch are closed, the sun wheel and the front wheel frame rotate together with the rotating shaft, and when the electromagnetic clutch is powered off, the driving end and the driven end of the electromagnetic clutch are separated, and only the sun wheel rotates along with the rotating shaft. The front wheel frame and the rear wheel frame synchronously rotate.
Travel switches 15 are respectively arranged on spokes of the rear wheel frame, the travel switches are close to rear wheels, and normally open contacts of the travel switches are closed when rotating wheels of top rod ends of the travel switches are contacted with steps.
The electromagnetic clutch is controlled by a controller, the controller comprises a singlechip, a corner sensor 18 for detecting the rotation angle of the front rotating shaft or the rear rotating shaft, and a travel switch, the corner sensor is arranged on the chassis, the corner sensor is a Hall type or photoelectric type sensing disc 19 matched with the Hall type, magnetic steel is uniformly distributed at the edge part of the sensing disc, and a gap is uniformly distributed at the edge part of the sensing disc 19 matched with the photoelectric type; the induction disc is arranged on the front rotating shaft or the rear rotating shaft; the front rotating shaft or the rear rotating shaft rotates for one circle, and the rotation angle sensor outputs a plurality of pulse signals.
The pulse signal output by the rotation angle sensor is connected with one input end of the singlechip, normally open contacts of all the travel switches are connected in parallel, one parallel point of the normally open contacts is connected with the positive electrode of the battery, the other parallel point of the normally open contacts is connected with the negative electrode of the battery through the generator, the battery and the transmitter are also arranged on the rear wheel frame, when the normally open contact of any travel switch is closed, the transmitter transmits a wireless signal, a wireless signal received by the receiver is transmitted to the other input end of the singlechip through the amplifier, and the output end of the singlechip is connected with the electromagnetic clutch through the electronic switch; the lead wire device of the electromagnetic clutch is of a conducting ring and electric brush structure, and the lead wire device of the travel switch can also be of a conducting ring and electric brush structure, so that the emitter, the receiver and the amplifier are omitted.
The travel switch, the transmitter and the battery can also be arranged on the front wheel frame,
the singlechip is provided with a stair climbing control program and a stair descending control program, and the stair ascending control program comprises the following operation steps:
A. closing the electromagnetic clutch;
B. counting pulse signals (the number of the pulse signals corresponds to the rotation angle of the rotating shaft), and when the pulse number is equal to a set value (the set value corresponds to a set angle of each rotation of the front wheel frame), if a normally open contact of the travel switch is not closed, separating the electromagnetic clutch; if the normally open contact of the travel switch is closed, the pulse signal is recounting, and the step A is switched.
The running steps of the downstairs control program are as follows:
C. closing the electromagnetic clutch;
D. counting pulse signals, and when the pulse number is equal to a set value, if a normally open contact of a travel switch is closed, separating the electromagnetic clutch; if the normally open contact of the travel switch is opened, the pulse signal is recounted, and the step C is switched.
The upstairs control program and the downstairs control program can be manually switched, the forward and reverse rotation of the motor can be manually switched, the motor rotates forward when upstairs, the motor rotates reversely when downstairs, and the motor is a low-speed motor.
The compensation principle of the controller is as follows: after each time the front wheel frame or the rear wheel frame rotates by a preset angle (preset angle=360 degrees/the number of spokes), if a travel switch is not contacted with a step (the height or/and the depth of the step are larger), the controller enables the electromagnetic clutch to be separated, at the moment, the front wheel frame does not rotate, the front wheel frame only moves forward, and the falling point is compensated; when the travel switch is in contact with the steps, the compensation is completed, the controller enables the electromagnetic clutch to be closed, the front wheels and the front wheel frames rotate, and the stair climbing action is continued.
When going downstairs, the rotating shaft rotates reversely, and after the rotating shaft rotates for a specified angle, if the travel switch contacts with a step, the controller enables the electromagnetic clutch to be separated, and the front wheel frame only moves backwards to compensate a falling point; when the compensation is completed when the travel switch is in no contact with the steps, the controller enables the electromagnetic clutch to be closed, the front wheels and the front wheel frames rotate, and the movement of going downstairs is continued.
By selecting the diameter of the front wheel, the tooth ratio of the planet wheel and the sun wheel and the length of the spoke, when the front wheel carrier or the rear wheel carrier rotates to a specified angle (specified angle=360 degrees/the number of spokes), the moving distance of the front wheel on the step plane is about 1/3 of the step depth (the lower limit value of the stair design specification), and the front wheel has larger moving allowance on the step plane, so that the stairs in a residence or a public place can be compensated, the heights of the steps of the two stairs are relatively close, but the difference of the depths is larger.
When the clutch moves on the flat ground, the clutch is separated.
Claims (2)
1. An electric wheel type stair climbing vehicle comprises a chassis (1), a carriage (21) for carrying objects is arranged above the chassis, a front rotating shaft (3) is movably connected to the front part of the chassis, the front rotating shaft is driven by a motor, star-shaped front wheel frames (8) are movably connected to the two ends of the front rotating shaft, each front wheel frame consists of a plurality of spokes, a planet wheel (9) and a front wheel (10) are arranged at the top of each spoke, the planet wheel is fixedly connected with the front wheel, the planet wheel is meshed with a sun wheel (12) arranged at the center part of the front wheel frame through a scale wheel (11), the planet wheel, the scale wheel and the sun wheel are positioned on the outer side of the front wheel frame, and the sun wheel is fixedly connected with the rotating shaft; the front wheel frame or the rear wheel frame rotates for a specified angle, the moving distance of the front wheel on the step plane is 1/3 of the step depth, the specified angle=360 degrees/the number of spokes, a driving gear (7) is fixedly connected to the inner side of the front wheel frame, an electromagnetic clutch is arranged between the driving gear and a rotating shaft, a rear rotating shaft (20) is movably connected to the rear part of a chassis, rear wheel frames (16) are fixedly connected to the two ends of the rear rotating shaft, the structure of the rear wheel frames is the same as that of the front wheel frames, driven gears (17) are fixedly arranged on the inner sides of the rear wheel frames, the driving gear is meshed with the driven gears through transition gears (13), the number of teeth of the driving gear is equal to that of the driven gears, rear wheels (14) are arranged on the tops of the spokes on the rear wheel frames, and the rear wheels are positioned on the outer sides of the rear wheel frames; travel switches are respectively arranged on spokes of the front wheel frame or the rear wheel frame, and the contacts act when the travel switches are contacted with the steps; the electromagnetic clutch is controlled by a controller, the controller comprises a single-chip microcomputer, a rotation angle sensor for detecting the rotation angle of the front rotating shaft or the rear rotating shaft and a travel switch, a rotation angle signal of the rotation angle sensor is connected with one input end of the single-chip microcomputer, an action signal of the travel switch is connected with the other input end of the single-chip microcomputer, and when the rotation angle signal is equal to a set value, the single-chip microcomputer outputs a control signal according to the action signal of the travel switch, so that the electromagnetic clutch is separated or closed.
2. The electric wheel type stair climbing vehicle according to claim 1, wherein a stair climbing control program and a stair descending control program are arranged in the singlechip, and the operation of the stair climbing control program and the stair descending control program is manually switched according to the requirement; the operation steps of the upstairs control program are as follows:
A. closing the electromagnetic clutch;
B. counting pulse signals, and when the pulse number is equal to a set value, if a normally open contact of a travel switch is not closed, separating the electromagnetic clutch; if the normally open contact of the travel switch is closed, the pulse signal is recounted, and the step A is switched;
the running steps of the downstairs control program are as follows:
C. closing the electromagnetic clutch;
D. counting pulse signals, and when the pulse number is equal to a set value, if a normally open contact of a travel switch is closed, separating the electromagnetic clutch; if the normally open contact of the travel switch is opened, the pulse signal is recounted, and the step C is switched;
the set value corresponds to a specified angle of each rotation of the front wheel frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811193660.0A CN109204420B (en) | 2018-10-15 | 2018-10-15 | Electric wheel type stair climbing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811193660.0A CN109204420B (en) | 2018-10-15 | 2018-10-15 | Electric wheel type stair climbing vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204420A CN109204420A (en) | 2019-01-15 |
| CN109204420B true CN109204420B (en) | 2024-03-12 |
Family
ID=64980288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811193660.0A Active CN109204420B (en) | 2018-10-15 | 2018-10-15 | Electric wheel type stair climbing vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109204420B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155136A (en) * | 2019-05-10 | 2019-08-23 | 广东汉威城建有限公司 | The electronic auxiliary conveying device of stair |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2498147A1 (en) * | 1981-01-16 | 1982-07-23 | Lacour Jean Luc | Trolley for mounting stairs - includes wheels mounted on arms which can rotate about common axis |
| CN201914350U (en) * | 2010-12-06 | 2011-08-03 | 滨州学院 | Intelligent stair and flat ground dual purpose freight trolley |
| KR20110099202A (en) * | 2011-07-28 | 2011-09-07 | 이상범 | Transportation system to move stairs |
| CN202345805U (en) * | 2011-12-06 | 2012-07-25 | 华中农业大学 | Star and planet wheel type dual-purpose carrier capable of being used on stairs and ground |
| CN106218680A (en) * | 2016-07-20 | 2016-12-14 | 西安科技大学 | Wheel turns over formula electric stair climbing van |
| CN107640204A (en) * | 2017-09-22 | 2018-01-30 | 重庆雷步特科技有限责任公司 | A kind of transmission control method of Multifunctional carrying dolly |
| CN209008642U (en) * | 2018-10-15 | 2019-06-21 | 潘秀兰 | Electric wheeled stairs-mover |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130184917A1 (en) * | 2006-03-06 | 2013-07-18 | Sterraclimb Llc | Stair-climbing wheeled vehicle |
-
2018
- 2018-10-15 CN CN201811193660.0A patent/CN109204420B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2498147A1 (en) * | 1981-01-16 | 1982-07-23 | Lacour Jean Luc | Trolley for mounting stairs - includes wheels mounted on arms which can rotate about common axis |
| CN201914350U (en) * | 2010-12-06 | 2011-08-03 | 滨州学院 | Intelligent stair and flat ground dual purpose freight trolley |
| KR20110099202A (en) * | 2011-07-28 | 2011-09-07 | 이상범 | Transportation system to move stairs |
| CN202345805U (en) * | 2011-12-06 | 2012-07-25 | 华中农业大学 | Star and planet wheel type dual-purpose carrier capable of being used on stairs and ground |
| CN106218680A (en) * | 2016-07-20 | 2016-12-14 | 西安科技大学 | Wheel turns over formula electric stair climbing van |
| CN107640204A (en) * | 2017-09-22 | 2018-01-30 | 重庆雷步特科技有限责任公司 | A kind of transmission control method of Multifunctional carrying dolly |
| CN209008642U (en) * | 2018-10-15 | 2019-06-21 | 潘秀兰 | Electric wheeled stairs-mover |
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| CN109204420A (en) | 2019-01-15 |
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