CN109771164B - Stair climbing device - Google Patents
Stair climbing device Download PDFInfo
- Publication number
- CN109771164B CN109771164B CN201910174413.4A CN201910174413A CN109771164B CN 109771164 B CN109771164 B CN 109771164B CN 201910174413 A CN201910174413 A CN 201910174413A CN 109771164 B CN109771164 B CN 109771164B
- Authority
- CN
- China
- Prior art keywords
- stair climbing
- wheel
- wheels
- spoke
- revolving 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.)
- Active
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 164
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000009193 crawling Effects 0.000 claims description 22
- 229920001971 elastomer Polymers 0.000 claims description 14
- 239000000806 elastomer Substances 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000013016 damping Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000002493 climbing effect Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Landscapes
- Handcart (AREA)
Abstract
The invention discloses a stair climbing device, which comprises a chassis, wherein a revolving frame is hinged at the first end of the chassis, a hinge shaft is arranged along the horizontal direction and is perpendicular to the movement direction of the stair climbing device, and the stair climbing device further comprises a running wheel, stair climbing wheels, a push-pull mechanism with two ends respectively hinged on the chassis and the revolving frame, and a driving mechanism, wherein the movable end of the driving mechanism is connected to the running wheel, the driving mechanism corresponds to the running wheels one by one, and the running wheels and the stair climbing wheels are transmitted through a transmission mechanism; the travelling wheels are arranged on the revolving frame, and the stair climbing wheels are arranged on the chassis; or the running wheels and the stair climbing wheels are all arranged on the revolving frame; or the running wheels are arranged on the chassis, and the stair climbing wheels are arranged on the revolving frame; under the push-pull action of the push-pull mechanism, the revolving frame swings, so that the alternate landing of the running wheels and the stair climbing wheels can be realized; the rotary wheel is parallel to the hinge shaft of the revolving frame. The invention has the advantages that: the structure and principle are simpler, and the movement is flexible and reliable.
Description
Technical Field
The invention relates to the field of stair climbing equipment, in particular to a stair climbing device.
Background
Along with population aging and industry upgrading, the demand of the electric wheelchair is increased year by year, and the traditional electric wheelchair does not have the obstacle-surmounting stair climbing function, is not suitable for outdoor complex road conditions, and limits the travel of users. In recent years, a stair climbing wheelchair is launched in domestic and foreign markets, whether in a crawler type or planetary type, and the wheelchair is provided with a stair climbing motor and a corresponding speed reducing mechanism besides a pair of motors for walking on the flat ground. Not only has increased the cost, when adopting alone to climb building motor, because climb building reduction gears transmission form is fixed, does not possess the turning function when climbing the building, climb building device and remove inflexibly.
Disclosure of Invention
The invention aims to solve the technical problems that: the stair climbing device in the prior art has the problems of complex structure and inflexible movement.
In order to solve the technical problems, the invention adopts the following technical scheme: the first end of the chassis is hinged with a revolving frame, the hinge shaft is in the horizontal direction and perpendicular to the movement direction of the stair climbing device, the stair climbing device further comprises at least two coaxially arranged traveling wheels, at least two coaxially arranged stair climbing wheels, a push-pull mechanism and a driving mechanism, wherein the two ends of the push-pull mechanism and the driving mechanism are respectively hinged on the chassis and the revolving frame, the stair climbing wheels comprise at least three spokes, the first ends of all the spokes are fixedly connected together, and all the spokes are uniformly distributed in an array according to a circular track;
at least one running wheel and one stair climbing wheel are respectively arranged on two sides of the running direction of the stair climbing device, the movable end of the driving mechanism is connected to the running wheels, the driving mechanism corresponds to the running wheels one by one, and the running wheels and the stair climbing wheels are transmitted through the transmission mechanism;
the travelling wheels are arranged on the revolving frame, and the stair climbing wheels are arranged on the chassis; or the running wheels and the stair climbing wheels are all arranged on the revolving frame; or the running wheels are arranged on the chassis, and the stair climbing wheels are arranged on the revolving frame;
Under the push-pull action of the push-pull mechanism, the revolving frame swings, so that the alternate landing of the running wheels and the stair climbing wheels can be realized;
The rotating wheel is arranged at the second end of the chassis, the rotating shaft of the rotating wheel is parallel to the hinge shaft of the revolving frame, the rotating wheel comprises at least three rollers, all the rollers are uniformly arrayed along a virtual circle positioned in a vertical plane, and the rotating shafts of all the rollers are parallel to the rotating shaft of the rotating wheel.
The invention relates to a stair climbing device, which mainly comprises two working modes, wherein the first mode is a flat ground movement mode, when the stair climbing device moves in a flat ground, a push-pull mechanism drives a revolving frame to swing, the traveling wheels land, the stair climbing wheels are suspended, meanwhile, the rotating wheels are also landed, the flat first movement of the stair climbing device can be realized under the driving of a driving mechanism, the turning of the stair climbing device can be realized through the different output speeds of the driving mechanisms corresponding to each traveling wheel, the movement is more flexible, the second mode is a stair climbing mode, at the moment, the push-pull mechanism drives the revolving frame to swing, the stair climbing wheels land, the traveling wheels are suspended, meanwhile, the rotating wheels land, under the driving of the driving mechanism, power is transmitted to the traveling wheels through the driving mechanism, the power is transmitted to the stair climbing wheels through the driving mechanism, the stair climbing action is realized, the random switching of the stair climbing device can be realized through the different output speeds of the driving mechanism corresponding to each traveling wheel, and the stair climbing device can realize the random switching of the flat ground and the stair climbing mode.
Further, the second end of spoke slides and is provided with the slider, and the slip direction of slider is on a parallel with the spoke, and is provided with the elastomer between the first end of slider and the spoke, and the second end hinge of slider is provided with the sole of crawling, and the articulated shaft of sole of crawling is on a parallel with the axis of rotation of stair climbing wheel.
Under the drive of actuating mechanism, the climbing wheel rotates, the bottommost climbing sole contacts the stair this moment, under the action of the gravity of climbing device, the elastomer is compressed, the slider slides to the direction at climbing wheel center, and then play the absorbing effect, prevent jolting, when going on climbing, because the climbing sole articulates on the slider, under the action of gravity, the climbing sole in its place can hang down from the slider, consequently the climbing sole can contact ground at first, then under the action of the gravity of climbing device, the elastomer is compressed, the slider slides to the direction at climbing wheel center, and then play the absorbing effect, simultaneously, the spoke at the rear of this climbing sole is lifted gradually, the elastomer is recovered the original form gradually, until the climbing sole lifts up, this in-process, this climbing wheel can overcome the polygon effect that star wheel formula structure self exists effectively, the operation is relatively steady, in-process is difficult for jolting at the building, this damping climbing wheel structure is comparatively simple simultaneously, the cost is low.
Further, the second end of spoke is provided with the spoke through-hole that the axis is on a parallel with the spoke, is provided with on the first end of slider with spoke through-hole sliding fit's slide bar, the elastomer cover is established on the slide bar, and still is provided with the slot hole on the slider, the slot hole is a through-hole, and the length direction of slot hole is on a parallel with the spoke, still be provided with the pin on the spoke, the pin passes the slot hole, and when the elastomer extension, the baffle keeps off on the inner wall of slot hole, and still has a part slide bar to be located the spoke through-hole.
When the sole of crawling does not contact ground, the elastomer is stretched naturally, and the slider is pushed to the tip of spoke, still has a part slide bar to be located the spoke through-hole under the blocking of pin, when the sole of crawling contacts ground, the slider then slides to the direction of stair climbing wheel center under the cooperation of slide bar and spoke through-hole and the cooperation of pin and slot hole to realize the absorbing function, its structural principle is comparatively simple, and the cost is low and the operation is reliable.
Further, the stop lever is perpendicular to the spokes.
Furthermore, the contact part of the stop lever and the inner wall of the long hole is a polished rod, so that the operation is more stable and reliable.
Furthermore, the elastic body is a spring or rubber, the installation structure and principle of the spring or rubber are simple and reliable, and the shock absorption effect is good.
Further, the first end of the crawling sole is hinged to the sliding block, the second end of the crawling sole is provided with a buffering elastic block, and elastic contact between the crawling sole and the ground can be guaranteed through the buffering elastic block, so that the damping function is further achieved.
Further, the one side that buffering elastic block and ground contact is provided with anti-skidding texture, and the setting of anti-skidding texture can prevent to climb the building wheel and produce the slip in the operation in-process to do not influence the normal clear of climbing the building.
Further, the drive mechanism is including setting up the first band pulley on driving wheel, setting up the second band pulley on climbing the building wheel, the belt that links together first band pulley and second band pulley adopts belt drive to carry out the transmission, and structure, principle are simple, and the transmission is reliable, and when the output runs into the resistance that can not cross, band pulley and belt automatic slip, and then play overload protection's effect, prevent damage device.
Further, a clutch is arranged between the running wheel and the transmission mechanism, when in the land leveling mode, the running wheel and the transmission mechanism are separated through the clutch, power is further concentrated to the running wheel to run, and in the stair climbing mode, the running wheel and the transmission mechanism are combined through the clutch, power is further transmitted to the stair climbing wheel, so that the power of the driving mechanism is fully utilized, the driving mechanism corresponding to the running wheel and the stair climbing wheel is prevented from being arranged at the same time, and the structure is simplified.
The invention has the beneficial effects that:
1. The invention relates to a stair climbing device, which is mainly divided into two working modes in the actual use process, wherein the first mode is a flat ground movement mode, when the stair climbing device moves flatly, a push-pull mechanism drives a revolving frame to swing, the traveling wheels land, the stair climbing wheels are suspended, meanwhile, the rotating wheels are also landed, the flat first movement of the stair climbing device can be realized under the driving of a driving mechanism, the turning of the stair climbing device can be realized through the different output speeds of the driving mechanisms corresponding to each traveling wheel, the movement is more flexible, the second mode is a stair climbing mode, at the moment, the push-pull mechanism drives the revolving frame to swing, the stair climbing wheels land, the traveling wheels are suspended, meanwhile, the rotating wheels land, under the driving of the driving mechanism, the power is transmitted to the traveling wheels through the driving mechanism, and then the power is transmitted to the stair climbing wheels, so that the stair climbing action is realized, the random switching of the stair climbing device and the turning of the stair climbing device can be realized through the different output speeds of the driving mechanisms corresponding to each traveling wheels, and the stair climbing device has wider application range, simple, flexible and reliable principle of movement;
2. Under the drive of the driving mechanism, the bottommost climbing sole contacts with stairs, the elastic body is compressed under the gravity action of the climbing device, the sliding block slides towards the center of the climbing wheel, so that the damping effect is achieved, jolting is prevented, when climbing is continued, the climbing sole is hinged on the sliding block, under the gravity action, the front climbing sole can hang down from the sliding block, so that the climbing sole can firstly contact with the ground, then under the gravity action of the climbing device, the elastic body is compressed, the sliding block slides towards the center of the climbing wheel, so that the damping effect is achieved, meanwhile, the spokes behind the climbing sole are gradually lifted, the elastic body gradually returns to the original state until the climbing sole is lifted, the star wheel type structure can effectively overcome the polygonal effect existing in the star wheel type structure, the operation is relatively stable, the jolting is difficult in the climbing process, and meanwhile, the damping climbing wheel structure is relatively simple and low in cost;
3. When the crawling sole does not contact the ground, the elastic body is naturally stretched, the sliding block is pushed to the end part of the spoke, a part of sliding rod is still positioned in the spoke through hole under the blocking of the stop lever, when the crawling sole contacts the ground, the sliding block slides in the direction of the center of the stair climbing wheel under the matching of the sliding rod and the spoke through hole and the matching of the stop lever and the long hole, so that the shock absorption function is realized, the structure principle is simpler, the manufacturing cost is low, and the operation is reliable;
4. The polish rod runs more stably and reliably;
5. The spring or rubber mounting structure and principle are simple and reliable, and the damping effect is good;
6. The elastic contact between the crawling sole and the ground can be ensured by the arrangement of the buffer elastic block, so that the function of shock absorption is further realized;
7. the anti-skid texture can prevent the stair climbing wheel from sliding in the running process so as not to influence the normal operation of the stair climbing;
8. The belt transmission is adopted for transmission, the structure and the principle are simple, the transmission is reliable, and when the output end encounters resistance which cannot be passed, the belt wheel and the belt automatically slip, so that the overload protection function is realized, and the damage to the device is prevented;
9. in the stair climbing mode, the driving wheels and the transmission mechanism are combined through the clutch, so that power is transmitted to the stair climbing wheels, the power of the driving mechanism is fully utilized, the driving mechanisms corresponding to the driving wheels and the stair climbing wheels are prevented from being arranged at the same time, and the structure is simplified.
Drawings
FIG. 1 is a perspective view of a stair climbing device according to a first embodiment of the present invention;
FIG. 2 is a perspective view of a stair climbing apparatus according to another aspect of the present disclosure;
FIG. 3 is a schematic view of a stair climbing apparatus according to a first embodiment of the present invention when traveling on a flat ground;
FIG. 4 is a schematic view of a stair climbing device according to a first embodiment of the present invention;
FIG. 5 is a schematic view of a turret according to a first embodiment of the invention;
FIG. 6 is a perspective view of a stair climbing wheel according to a second embodiment of the invention;
FIG. 7 is a front view of a stair climbing wheel according to a second embodiment of the invention;
FIG. 8 is a schematic diagram of a slider in a second embodiment of the present invention;
FIG. 9 is a schematic illustration of a crawling ball of the foot in a second embodiment of the present invention;
FIG. 10 is a schematic view of a stair climbing wheel according to a second embodiment of the present invention;
The chassis-1, the revolving frame-2, the driving wheel-3, the stair climbing wheel-4, the push-pull mechanism-5, the driving mechanism-6, the transmission mechanism-7, the rotating wheel-8, the clutch-9, the revolving frame hinge hole-21, the driving wheel mounting hole-22, the third belt wheel mounting hole-23, the push-pull mechanism hinge hole-24, the spoke-41, the sliding block-42, the elastic body-43, the crawling sole-44, the first belt wheel-71, the second belt wheel-72, the belt-73, the third belt wheel-74, the fourth belt wheel-75, the roller-81, the stop lever-411, the sliding rod-421, the long hole-422 and the buffer elastic block-441.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Embodiment one:
As shown in fig. 1 and 2, a stair climbing device comprises a chassis 1, a revolving frame 2, a travelling wheel 3, a stair climbing wheel 4, a push-pull mechanism 5, a driving mechanism 6, a transmission mechanism 7, a rotating wheel 8, a clutch 9, spokes 41, a first belt wheel 71, a second belt wheel 72, a belt 73 and rollers 81.
As shown in fig. 1 and 2, the chassis 1 is a bracket, which provides attachment points for other parts of the stair climbing device, the rear end of the chassis is provided with a hinge hole of the turret 2, the front end of the chassis is provided with a shaft for installing the rotating wheel 8 and a hinge hole for hinging the push-pull mechanism 5, and the first end of the chassis 1 is hinged with the turret 2.
In this embodiment, the revolving frame 2 is hinged at the rear end of the chassis 1, as shown in fig. 5, which is a perspective view of the revolving frame 2, the revolving frame 2 is provided with a revolving frame hinge hole 21, a driving wheel mounting hole 22, a third belt wheel mounting hole 23, and a push-pull mechanism hinge hole 24, the revolving frame hinge hole 21, the driving wheel mounting hole 22, and the third belt wheel mounting hole 23 are all two, and are symmetrical with respect to the position of the revolving frame 2, and the connection line between the revolving frame hinge hole 21 and the driving wheel mounting hole 22 on each side and the connection line between the revolving frame hinge hole 21 and the third belt wheel mounting hole 23 are 90 °, and during actual installation, the driving wheel mounting hole 22 is located below the revolving frame hinge hole 21, the third belt wheel mounting hole 23 is located in front of the revolving frame hinge hole 21, and the push-pull mechanism hinge hole 24 is located between the revolving frame hinge hole 21 and the driving wheel mounting hole 22, and the hinge shaft of the revolving frame 2 is along the horizontal direction and is perpendicular to the movement direction of the stair climbing device.
The stair climbing device comprises a chassis 1, a revolving frame 2, a driving mechanism 6 arranged on the revolving frame 2, two coaxially arranged traveling wheels 3, two coaxially arranged stair climbing wheels 4, a push-pull mechanism 5 with two ends respectively hinged to the chassis 1 and the revolving frame 2, wherein the traveling wheels 3 are arranged on the revolving frame 2, the stair climbing wheels 4 are arranged on the chassis 1, namely the traveling wheels 3 are arranged on traveling wheel mounting holes 22, the stair climbing wheels 4 and the hinging shaft of the revolving frame 2 are coaxially arranged on two sides of the stair climbing device, the stair climbing wheels 4 comprise six spokes 41, the first ends of all the spokes 41 are fixedly connected together, all the spokes 41 are uniformly distributed according to a circular track, the push-pull mechanism 5 is an electric push rod, and the driving mechanism 6 is a motor.
The two sides of the running direction of the stair climbing device are respectively provided with a running wheel 3 and a stair climbing wheel 4, the movable ends of a driving mechanism 6 are connected to the running wheels 3, the driving mechanism 6 corresponds to the running wheels 3 one by one, the running wheels 3 and the stair climbing wheels 4 are in transmission through a transmission mechanism 7, the transmission mechanism 7 comprises a first belt pulley 71 arranged on the running wheels 3, a second belt pulley 72 arranged on the stair climbing wheels 4, a belt 73, a third belt pulley 74 arranged on a third belt pulley mounting hole 23 and a fourth belt pulley 75 coaxially arranged with the third belt pulley 74, the belt 73 connects the first belt pulley 71, the third belt pulley 74 and the fourth belt pulley 75 with the second belt pulley 72 for transmission, belt transmission is adopted for transmission, the structure and the principle are simple, the transmission is reliable, and when the output end encounters non-surmountable resistance, the belt pulley and the belt automatically skid, so that the overload protection effect is achieved, and the damage device is prevented.
The clutch 9 is arranged between the running wheel 3 and the first belt wheel 71, the clutch 9 is an electromagnetic clutch, when in the flat ground mode, the running wheel 3 and the transmission mechanism 7 are separated through the clutch 9, power is concentrated to the running wheel 3 to run, in the stair climbing mode, the running wheel 3 and the transmission mechanism 7 are combined through the clutch 9, power is further transmitted to the stair climbing wheel 4, the power of the driving mechanism 6 is fully utilized, the driving mechanism corresponding to the running wheel 3 and the stair climbing wheel 4 is prevented from being arranged at the same time, and the structure is simplified.
The rotary wheel 8 is arranged at the second end of the chassis 1, the rotating shaft of the rotary wheel 8 is parallel to the hinge shaft of the revolving frame 2, the rotary wheel 8 comprises three rollers 81, all the rollers 81 are uniformly arrayed along a virtual circle positioned in a vertical plane, and the rotating shafts of all the rollers 81 are parallel to the rotating shaft of the rotary wheel 8.
Under the push-pull action of the push-pull mechanism 5, the revolving frame 2 swings, so that the running wheels 3 and the stair climbing wheels 4 can alternately land, specifically, as shown in fig. 3, the push-pull mechanism 5 pushes the revolving frame 2 to the running wheels 3 to land, the stair climbing wheels 4 are in a suspended state, at the moment, the stair climbing wheels 4 can move in a flat ground, as shown in fig. 4, under the pulling of the push-pull mechanism 5, the stair climbing wheels 4 land, and the running wheels 3 are in a suspended state, so that stair climbing can be carried out.
Embodiment two:
The difference between this embodiment and the first embodiment is that:
the stair climbing wheels 4 are installed on the revolving frame 2 (not shown in the figure), specifically, the stair climbing wheels 4 are installed on the revolving frame 2 at positions close to the hinge shafts of the revolving frame 2, so that the alternate landing of the traveling wheels 3 and the stair climbing wheels 4 can be realized.
As shown in fig. 6 and 7, the stair climbing wheel 4 comprises spokes 41, a sliding block 42, an elastic body 43 and a crawling sole 44.
The second end of the spoke 41 is slidably provided with a slider 42, the sliding direction of the slider 42 is parallel to the spoke 41, an elastic body 43 is arranged between the first end of the slider 42 and the spoke 41, the elastic body 43 in the embodiment is a compression spring, the elastic body 43 can be also arranged into rubber according to the requirement, the second end of the slider 42 is hinged with a crawling sole 44, and the hinge shaft of the crawling sole 44 is parallel to the rotation axis of the stair climbing wheel 4.
The second end of the spoke 41 is provided with a spoke through hole with an axis parallel to the spoke 41, as shown in fig. 8, the first end of the slider 42 is provided with a slide bar 421 in sliding fit with the spoke through hole, the elastic body 43 is sleeved on the slide bar 421, the slider 42 is further provided with a long hole 422, the long hole 422 is a through hole, the length direction of the long hole 422 is parallel to the spoke 41, the spoke 41 is further provided with a stop lever 411 perpendicular to the spoke 41, the stop lever 411 passes through the long hole 422, when the elastic body 43 extends, the stop lever 411 is blocked on the inner wall of the long hole 422, and a part of the slide bar 421 is positioned in the spoke through hole, the contact part of the stop lever 411 and the inner wall of the long hole 422 is a polished rod, and the operation is more stable and reliable.
As shown in fig. 9, the first end of the crawling sole 44 is hinged to the slider 42, the second end of the crawling sole 44 is provided with a buffer elastic block 441, and the buffer elastic block 441 can ensure elastic contact between the crawling sole 44 and the ground, so that a damping function is further realized, an anti-slip texture is arranged on one surface of the buffer elastic block 441, which is in contact with the ground, and the anti-slip texture is arranged to prevent the stair climbing wheel 4 from sliding in the running process, so that the normal running of the stair climbing is not affected.
Fig. 10 is a schematic diagram of the stair climbing wheel 4 according to the present embodiment.
Embodiment III:
The difference between this embodiment and the first embodiment is that:
In this embodiment, the running wheel 3 is mounted on the chassis 1 (not shown in the figure), the stair climbing wheel 4 is mounted on the revolving frame 2, and in this embodiment, in comparison with the first embodiment, the running wheel 3 and the stair climbing wheel 4 are only exchanged in position, and the diameters of the two are adaptively adjusted, so that the two can be alternately landed under the driving of the push-pull mechanism 5.
Working principle:
In the practical use process, the stair climbing device is mainly divided into two working modes, wherein the first mode is a flat ground movement mode, namely, in the state shown in fig. 3, when the stair climbing device moves in a flat ground, the push-pull mechanism 5 drives the revolving frame 2 to swing, the traveling wheels 3 land, the stair climbing wheels 4 are suspended, meanwhile, the rotating wheels 8 land, the stair climbing device can move in a flat first mode under the driving of the driving mechanism 6, and the stair climbing device can turn and move flexibly through the difference of the output speeds of the driving mechanisms 6 corresponding to the traveling wheels 3.
The second mode is a stair climbing mode, namely, a state shown in fig. 4, at the moment, the push-pull mechanism 5 drives the revolving frame 2 to swing, the stair climbing wheels 4 are grounded, the running wheels 3 are suspended, meanwhile, the rotating wheels 8 are grounded, under the driving of the driving mechanism 6, power is transmitted to the running wheels 3 through the driving mechanism 6, the running wheels 3 transmit the power to the stair climbing wheels 4 through the transmission mechanism 7, then the stair climbing action is realized, the turning of the stair climbing device can be realized through the difference of the output speeds of the driving mechanism 6 corresponding to each running wheel 3, the movement is flexible, the random switching between the flat ground and the stair climbing mode can be realized by the stair climbing device, the application range is wide, the structure and the principle are simple, and the stair climbing device is flexible and reliable in movement.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The utility model provides a climb building device, includes chassis (1), at least two coaxial driving wheel (3) that set up, at least two coaxial stair wheel (4) that set up, its characterized in that: the first end of the chassis (1) is hinged with a revolving frame (2), the hinge shaft is along the horizontal direction and is perpendicular to the movement direction of the stair climbing device, the stair climbing device further comprises a push-pull mechanism (5) and a driving mechanism (6), the two ends of the push-pull mechanism are respectively hinged on the chassis (1) and the revolving frame (2), the stair climbing wheel (4) comprises at least three spokes (41), the first ends of all the spokes (41) are fixedly connected together, and all the spokes (41) are uniformly distributed in an array according to a circular track;
At least one running wheel (3) and one stair climbing wheel (4) are respectively arranged on two sides of the running direction of the stair climbing device, the movable end of the driving mechanism (6) is connected to the running wheels (3), the driving mechanism (6) corresponds to the running wheels (3) one by one, and the running wheels (3) and the stair climbing wheels (4) are driven by the driving mechanism (7);
The travelling wheel (3) is arranged on the revolving frame (2), and the stair climbing wheel (4) is arranged on the chassis (1); or the running wheel (3) and the stair climbing wheel (4) are both arranged on the revolving frame (2); or the running wheel (3) is arranged on the chassis (1), and the stair climbing wheel (4) is arranged on the revolving frame (2);
Under the push-pull action of the push-pull mechanism (5), the revolving frame (2) swings, so that the alternate landing of the running wheels (3) and the stair climbing wheels (4) can be realized;
The stair climbing device comprises a chassis (1), and is characterized by further comprising a rotating wheel (8) arranged at the second end of the chassis (1), wherein the rotating shaft of the rotating wheel (8) is parallel to the hinge shaft of the revolving frame (2), the rotating wheel (8) comprises at least three rollers (81), all the rollers (81) are uniformly arrayed along a virtual circle positioned in a vertical plane, the rotating shafts of all the rollers (81) are parallel to the rotating shaft of the rotating wheel (8), and the output speeds of corresponding driving mechanisms of all the driving wheels are different so as to realize the turning of the stair climbing device; the second end of the spoke (41) is provided with a sliding block (42) in a sliding manner, the sliding direction of the sliding block (42) is parallel to the spoke (41), an elastic body (43) is arranged between the first end of the sliding block (42) and the spoke (41), the second end of the sliding block (42) is hinged with a crawling sole (44), and the hinge shaft of the crawling sole (44) is parallel to the rotation axis of the stair climbing wheel (4); the second end of spoke (41) is provided with the spoke through-hole that the axis is on a parallel with spoke (41), is provided with on the first end of slider (42) with spoke through-hole sliding fit's slide bar (421), elastomer (43) cover is established on slide bar (421), and still is provided with slot hole (422) on slider (42), slot hole (422) are a through-hole, and the length direction of slot hole (422) is on a parallel with spoke (41), still be provided with pin (411) on spoke (41), pin (411) pass slot hole (422), and when elastomer (43) were elongated, pin (411) kept off on the inner wall of slot hole (422), and still have a part slide bar (421) to be located spoke through-hole.
2. A stair climbing device according to claim 1, wherein: the stop lever (411) is perpendicular to the spoke (41).
3. A stair climbing device according to claim 1, wherein: the contact part of the stop lever (411) and the inner wall of the long hole (422) is a polish rod.
4. A stair climbing device according to claim 1, wherein: the elastic body (43) is a spring or rubber.
5. A stair climbing device according to claim 1, wherein: the first end of the crawling sole (44) is hinged to the sliding block (42), and the second end of the crawling sole (44) is provided with a buffering elastic block (441).
6. A stair climbing device according to claim 5, wherein: one surface of the buffering elastic block (441) contacted with the ground is provided with an anti-skid texture.
7. A stair climbing device according to claim 1, wherein: the transmission mechanism (7) comprises a first belt wheel (71) arranged on the running wheel (3), a second belt wheel (72) arranged on the stair climbing wheel (4), and a belt (73) connecting the first belt wheel (71) and the second belt wheel (72) together.
8. A stair climbing device according to claim 1, wherein: a clutch (9) is arranged between the running wheel (3) and the transmission mechanism (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174413.4A CN109771164B (en) | 2019-03-08 | 2019-03-08 | Stair climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174413.4A CN109771164B (en) | 2019-03-08 | 2019-03-08 | Stair climbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109771164A CN109771164A (en) | 2019-05-21 |
| CN109771164B true CN109771164B (en) | 2024-04-19 |
Family
ID=66487594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910174413.4A Active CN109771164B (en) | 2019-03-08 | 2019-03-08 | Stair climbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109771164B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274823A (en) * | 2020-10-26 | 2021-01-29 | 广州睿达信息科技有限公司 | Stair climbing fire truck for farm |
| CN113397847B (en) * | 2021-06-15 | 2022-12-16 | 上海工程技术大学 | Auxiliary wheelchair obstacle crossing device and obstacle crossing wheelchair |
| CN113460183B (en) * | 2021-07-05 | 2022-10-21 | 哈尔滨学院 | Robot chassis capable of crossing obstacles in large range |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2905580Y (en) * | 2006-06-06 | 2007-05-30 | 张乾 | Multifunctional luggage cart |
| CN201798860U (en) * | 2009-07-09 | 2011-04-20 | 格拉迪有限责任公司 | Multifunctional vehicle for disabled persons |
| CN203354790U (en) * | 2013-07-24 | 2013-12-25 | 翟汉国 | Multifunctional electric wheelchair |
| CN104382704A (en) * | 2014-11-25 | 2015-03-04 | 广西大学 | Variable wheel type stair climbing wheelchair |
| WO2016110317A1 (en) * | 2015-01-05 | 2016-07-14 | Jst Multidrive Ag | Traveling unit |
| CN108357293A (en) * | 2018-03-22 | 2018-08-03 | 安徽理工大学 | A kind of attached wheel of stair climbing with shock-absorbing function |
| CN210019983U (en) * | 2019-03-08 | 2020-02-07 | 哈工大机器人（合肥）国际创新研究院 | Stair climbing device |
-
2019
- 2019-03-08 CN CN201910174413.4A patent/CN109771164B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2905580Y (en) * | 2006-06-06 | 2007-05-30 | 张乾 | Multifunctional luggage cart |
| CN201798860U (en) * | 2009-07-09 | 2011-04-20 | 格拉迪有限责任公司 | Multifunctional vehicle for disabled persons |
| CN203354790U (en) * | 2013-07-24 | 2013-12-25 | 翟汉国 | Multifunctional electric wheelchair |
| CN104382704A (en) * | 2014-11-25 | 2015-03-04 | 广西大学 | Variable wheel type stair climbing wheelchair |
| WO2016110317A1 (en) * | 2015-01-05 | 2016-07-14 | Jst Multidrive Ag | Traveling unit |
| CN108357293A (en) * | 2018-03-22 | 2018-08-03 | 安徽理工大学 | A kind of attached wheel of stair climbing with shock-absorbing function |
| CN210019983U (en) * | 2019-03-08 | 2020-02-07 | 哈工大机器人（合肥）国际创新研究院 | Stair climbing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109771164A (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109771164B (en) | Stair climbing device | |
| CN106275113B (en) | The joint crawler belt mobile platform mutually compound with wheel and the fire-fighting robot with it | |
| WO2021082290A1 (en) | Cleaning robot chassis and cleaning robot | |
| CN105564170A (en) | Wheeled mobile robot suspension device | |
| CN109533056B (en) | Crawler-type stair climbing robot | |
| CA2545936A1 (en) | Toy vehicle | |
| CN108791548B (en) | A kind of compound mobile mechanism of two-wheeled-leg-crawler | |
| CN210019983U (en) | Stair climbing device | |
| CN211565871U (en) | Damping mechanism for robot | |
| CN206475960U (en) | A kind of crawler belt wheel assembly that creeper truck is plucked for field | |
| CN111572656B (en) | Suspension system with damping and buffering characteristics and crawler-type mobile platform | |
| CN211399004U (en) | Differential pipeline robot | |
| CN111776105A (en) | Novel climb building and hinder more device | |
| CN210592195U (en) | Multifunctional universal robot chassis | |
| CN209757305U (en) | Crawler-type stair climbing robot | |
| CN113941992B (en) | Wheel train mechanism with adjustable walking mode of robot | |
| CN205215141U (en) | Glass curtain wall wipes window machine | |
| CN212123309U (en) | A device and cycle racing robot of stepping on platform for wushu arena match | |
| CN211324764U (en) | Cleaning robot chassis and cleaning robot | |
| CN211155569U (en) | Wireless charging floor sweeping robot convenient for threshold crossing | |
| CN211844621U (en) | Cleaning robot | |
| CN104563039B (en) | Obstacle-surmounting mechanism for suckers of washing and sweeping vehicles and washing and sweeping vehicle | |
| CN208957997U (en) | Hoofing part mechanism and self-moving device with it | |
| CN206044861U (en) | A kind of wheelchair for climbing up and over step | |
| CN218870137U (en) | Rail-climbing device capable of climbing slope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221010 Address after: Room 406, Building 3, Block C, Intelligent Equipment Technology Park, No. 3963, Susong Road, Economic and Technological Development Zone, Hefei City, Anhui Province, 236000 Applicant after: Hefei Hagong cijian Intelligent Technology Co.,Ltd. Address before: Room 6012, Haiheng building, No.6 Cuiwei Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |