CN110126953B

CN110126953B - Electric large wheel type multifunctional stair vehicle

Info

Publication number: CN110126953B
Application number: CN201910444392.3A
Authority: CN
Inventors: 朱幕松
Original assignee: Individual
Current assignee: Shandong Zhongrui Information Technology Co ltd
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-12-25
Anticipated expiration: 2039-05-27
Also published as: CN110126953A

Abstract

A multifunctional electric large wheel type stair vehicle comprises a left rectangular frame, a middle rectangular frame and a right rectangular frame, wherein a left combined large wheel driving machine is arranged in the left rectangular frame, a right combined large wheel driving machine is arranged in the right rectangular frame, a self-balancing pedal machine is arranged in the middle rectangular frame, the left combined large wheel driving machine and the right combined large wheel driving machine are bilaterally symmetrical and have the same structure, the stair vehicle has the functions of going up and down stairs, turning a platform, automatically and horizontally adjusting a front horizontal pedal and the human body gravity center in a low-gear 4-wheel self-balancing mode, 4 points of 4 wheels support a balanced whole vehicle, the gravity center is supported on the front wheel step, and the front horizontal pedal is controlled by a gyro horizontal sensor to be always kept in a horizontal state; the stair car has a road-leveling running function in a high-speed gear 2-wheel self-balancing mode, the gravity center of a human body is arranged on wheel shafts of the left rear wheel and the right rear wheel, and the gyro level sensor controls the left rear wheel and the right rear wheel to move forwards or backwards so that the stair car is kept in a balanced state.

Description

Electric large wheel type multifunctional stair vehicle

Technical Field

The invention relates to an electric stair vehicle, in particular to an electric large wheel type multifunctional stair vehicle.

Background

At present, elevators are arranged in more than ten residential buildings in China, and a great number of six residential buildings have no elevators, so that the people in the six buildings are very hard to go upstairs and downstairs, and are very inconvenient, especially for the old, the weak, the sick and the disabled. Have an electronic wheelchair formula stair car of going up and down on market, it installs electronic crawler-type wheel additional below electronic wheelchair, and the people that can effectively help sit the wheelchair goes up and down stairs, and its shortcoming lies in: because it is wheelchair type, it has two sets of drive systems, so the structure is complex, the volume is large, and the cost is high. There is an invention patent with application number "201210484502.7" named "standing handrail type electric manned upstairs and downstairs vehicle", which has the disadvantages: the standing handrail type electric manned upstairs and downstairs vehicle has the advantages of complex structure, large volume, high cost, single function and inconvenient movement.

Disclosure of Invention

The invention discloses an electric large-wheel type multifunctional stair vehicle, which aims to overcome the technical defects of the conventional electric stair vehicle, not only solves the problem that people go upstairs and downstairs, but also has the advantages of simple structure, multifunction, low cost, safety and reliability.

The technical scheme of electronic bull wheel formula multi-functional stair car comprises mesh font frame, left combination bull wheel driving machine, right combination bull wheel driving machine, self-balancing footboard machine, top level sensor, hold up pole, handrail, control switch box, electrical apparatus box, lithium cell, controller, its characterized in that: the electric large wheel type multifunctional stair vehicle is provided with a grid-shaped vehicle frame, the grid-shaped vehicle frame is welded into a left rectangular frame, a middle rectangular frame and a right rectangular frame by iron square pipes, a left combined large wheel driving machine is arranged in the left rectangular frame, a right combined large wheel driving machine is arranged in the right rectangular frame, a self-balancing pedal machine is arranged in the middle rectangular frame, the left combined large wheel driving machine and the right combined large wheel driving machine are bilaterally symmetrical and have the same structure, the structural characteristics of the right combined large wheel driving machine are taken as an example for explanation, and the structural characteristics of the left combined large wheel driving machine are represented at the same time; the direction of going upstairs of the electric large wheel type multifunctional stair vehicle is the front, a front left connecting plate and a front right connecting plate are welded at the upper end of the right rectangular frame, shaft holes are formed in the front left connecting plate and the front right connecting plate, front crankshafts are installed in the shaft holes and are fastened by 4 front screw caps respectively, a front hub barrel is arranged on the right side of the front crankshafts, a plurality of spokes are arranged on the periphery of the front hub barrel and are connected with front wheels, and a front chain gear is installed at the left end of the front hub barrel; a rear left connecting plate and a rear right connecting plate are welded at the upper end of a right rectangular frame, shaft holes are formed in the rear left connecting plate and the rear right connecting plate, a rear crankshaft is installed in the shaft holes and is fastened by 4 rear screw caps respectively, a rear hub barrel is arranged on the right side of the rear crankshaft, a plurality of spokes are arranged on the periphery of the rear hub barrel and connected with a rear wheel, a rear chain gear is installed at the right end of the rear hub barrel, a large gear is installed at the left end of the rear hub barrel, a linkage chain is installed between the front chain gear and the rear chain gear, a driving motor is arranged at the rear upper end of the right rectangular frame, a worm gear reducer is arranged at the front end of the driving motor, a transmission is arranged at the right end of the worm gear reducer, a gear; the front wheels and the rear wheels are the same in size, 26-inch bicycle wheels are selected, the wheelbase between the front wheels and the rear wheels is short, the size of the wheelbase is equal to the width of a stair step plane, 2-mould-specification stair catching teeth are arranged on the circumferences of tires of the front wheels and the rear wheels, and the stair catching teeth are meshed with corner tips of the stair steps; the self-balancing pedal machine is characterized in that: a left drooping support and a right drooping support are arranged below the middle rectangular frame, shaft holes are formed in the lower ends of the left drooping support and the right drooping support, connecting shafts are mounted in the shaft holes and are fastened by 4 screw caps respectively, shaft sleeves are mounted in the middle of the connecting shafts, front horizontal pedals are welded at the rear ends of the shaft sleeves, vertical holding rods are welded in the middle of the upper ends of the shaft sleeves, a gyro horizontal sensor is arranged at the front ends of the vertical holding rods, a left connecting plate and a right connecting plate are welded at the front ends of the vertical holding rods, a middle connecting plate is arranged between the left connecting plate and the right connecting plate, shaft holes are formed in the left connecting plate, the right connecting plate and the middle connecting plate, short shafts are mounted in the shaft holes, a control motor is welded at the front end of the middle connecting plate, a driving screw rod is arranged at the, the distance between the nut plate and the control motor is shortened, the control motor rotates reversely, and the distance between the nut plate and the control motor is prolonged; the left lower end of the middle rectangular frame is welded with a left tripod, the right lower end is welded with a right tripod, supporting plates are arranged on the left tripod and the right tripod, shaft holes are arranged on the supporting plates, a long shaft is arranged in the shaft holes, a left horizontal pedal and a right horizontal pedal are arranged on the long shaft, the left horizontal pedal and the right horizontal pedal are both provided with center holes, the long shaft penetrates into the center holes of the left horizontal pedal and the right horizontal pedal to enable the left horizontal pedal and the right horizontal pedal to be arranged side by side, a left supporting plate groove is arranged on the left horizontal pedal, a right supporting plate groove is arranged on the right horizontal pedal, the left end of the left horizontal pedal is arranged in the left tripod, the right end of the right horizontal pedal is arranged in the right tripod, a front spring groove and a rear spring groove are arranged on the left lower end of the left horizontal pedal, a left front spring and a left rear spring are arranged in the front spring groove and, the balance states of the left horizontal pedal and the right horizontal pedal are on the same plane, a left Hall sensor is arranged at the left rear end of the left horizontal pedal, left permanent magnet particles are arranged at the left end of the middle rectangular frame, the left Hall sensor corresponds to the left permanent magnet particles when the left horizontal pedal is in the balance state, a right Hall sensor is arranged at the right rear end of the right horizontal pedal, right permanent magnet particles are arranged at the right end of the middle rectangular frame, and the right Hall sensor corresponds to the right permanent magnet particles when the right horizontal pedal is in the balance state; the upper end of a vertical holding rod is welded with a handrail, the upper end of the middle part of the handrail is provided with a control switch box, the rear end of a middle rectangular frame is provided with an electric box, the left side of the electric box is provided with a controller, the right side of the electric box is provided with a lithium battery, the back of the control switch box is provided with a power switch, 4 toggle switches are arranged on the control switch box and are respectively a mode conversion switch, a forward reversing switch, a home steering switch and a driving steering switch, the output ends of the 4 toggle switches and the output end of a gyro level sensor are respectively connected with the input ends of the controller, the output ends of the controller are respectively connected with a left driving motor, a right driving motor and a control motor, a mode conversion switch handle is toggled leftwards into a 4-wheel self-balancing mode and is toggled rightwards into a 2-wheel self-balancing mode, the stair vehicle works under the 4-, the stair car is shifted forwards to a forward gear and is shifted backwards to a reverse gear, the power supply of the pivot steering switch handle is turned off at the middle position, when the stair car is shifted leftwards, the front wheels and the rear wheels of the left combined large wheel driving machine are reversed, the front wheels and the rear wheels of the right combined large wheel driving machine are rotated forwards, and the stair car is shifted leftwards in a pivot manner; when the pivot steering switch handle is shifted to the right, the front wheel and the rear wheel of the right combined large wheel driving machine are reversed, the front wheel and the rear wheel of the left combined large wheel driving machine are rotated forward, the stair car is steered to the right in a pivot mode, the power supply is turned off at the middle position of the driving steering switch handle, and when the stair car normally runs, the driving steering switch handle shifts the stair car to the left to steer the stair car to the left and shifts the stair car to the right to steer the right; when the stair cart works in a 4-wheel self-balancing mode, the stair cart has the functions of going up and down stairs, turning a platform, automatically and horizontally adjusting a front horizontal pedal and automatically adjusting the gravity center of a human body, the stair cart runs from a flat road to a stair step, the plane of the frame in the shape of the Chinese character 'mu' is changed into an inclined plane, a gyro horizontal sensor sends a signal to the input end of a controller according to the change of the inclination angle of a vertical holding rod, the controller outputs voltage to a control motor, the control motor drives the vertical holding rod to be always kept in a vertical state in real time, and the front horizontal pedal is always kept in; stair car work has the level road function of traveling under 2 rounds of self-balancing modes, and top level sensor sends signal to the controller input according to the change of perpendicular rest bar inclination, and controller output voltage is to left driving motor and right driving motor, and left driving motor and right driving motor drive left rear wheel and right rear wheel in real time and advance or retreat, make stair car keep balanced state, and the balanced state of stair car when empty load is: the left rear wheel and the right rear wheel are grounded, the gravity center of the whole vehicle is located on wheel shafts of the left rear wheel and the right rear wheel, a lithium battery behind the wheel shaft is heavier than a left driving motor and a right driving motor, the lithium battery is close to the wheel shafts, a mechanism in front of the wheel shafts is lighter and far away from the wheel shafts, when the inclination angle of the herringbone frame is larger than that of ascending and descending stairs, the front and rear gravity of the wheel shafts are balanced, the vertical holding rod is always kept in a vertical state, the left horizontal pedal and the right horizontal pedal are always kept in a horizontal state, the inclination angle of the herringbone frame is automatically adjusted to enable the stair vehicle to be kept in a balanced state, the stair vehicle stands on the left horizontal pedal.

Electronic wheeled multi-functional stair car of big's beneficial effect lies in: although 4 wheels of the electric large wheel type multifunctional stair vehicle are large, the wheel base between the front wheel and the rear wheel is short, the front volume and the rear volume are small, the gravity centers of the front horizontal pedal and the left horizontal pedal and the right horizontal pedal are low, the load stability is good, the circumferences of the 4 large wheels are respectively and firmly placed on 4 supporting points on the corner points of stair steps, and the 4-point supporting is safe and reliable; the advantages of selecting a large wheel are as follows: the vertical lines of the gravity centers of the wheel shafts of the 4 big wheels are positioned behind the corner points of the steps, the stair climbing vehicle has even resistance for crossing the steps during climbing stairs, and runs stably, if small wheels are selected, the resistance of the wheels during climbing the steps is very small, and the resistance during climbing the steps is very large, so that the stair climbing vehicle has uneven resistance for crossing the steps during climbing the stairs, and runs unstably; the worm and gear reducer has a large reduction ratio, is reduced by the speed changer and is reduced by the chain large gear and the chain small gear, the requirement of low-speed large torque of the stair vehicle is met, the worm and gear reducer has a self-locking function, the parking position can be locked when the stair vehicle goes up and down, a reversing switch is used for controlling 4 large wheels to reverse at low speed and go down the stairs when the stair vehicle goes down, the downhill gravity of steps crossed in the stair going down process is uniform, the stair vehicle runs stably, the stair grabbing teeth of the large wheels are meshed with the corner tips of the stair steps, and the stair wheels run stably on the corner tips of the stair steps without slipping; the stair cart is provided with a left transmission and a right transmission, a left gear shifting handle is arranged at the upper end of the left transmission, a right gear shifting handle is arranged at the upper end of the right transmission, when the stair cart runs on a flat road, the left gear shifting handle and the right gear shifting handle are pulled out, the left transmission and the right transmission work at a high-speed gear, when the stair cart goes up and down stairs or turns on a platform, the left gear shifting handle and the right gear shifting handle are pushed in, and the left transmission and the; the stair car goes up and down stairs by means of 4 points of 4 wheels to support and balance the whole car, the center of gravity is supported on the front wheel steps, the center of gravity of a human body standing on a front horizontal pedal needs to move forwards when going up and down stairs, the center of gravity needs to move backwards when going to a platform, the front horizontal pedal automatically adjusts the position of the optimal center of gravity forwards and backwards along with the change of the angles of the left and right drooping supports and always keeps a horizontal state, a person stands on the front horizontal pedal to grasp handrails, and various switches of a switch box are manually controlled, so that the stair car goes up and down stairs or the platform turns; when the stair cart runs on a flat road, the gyro level sensor drives the left rear wheel and the right rear wheel to rotate forward and backward through the intelligent controller to realize automatic balance of the whole stair cart, when the gravity center of a human body is forward, the stair cart runs forward under the control of the gyro level sensor, the forward speed of the stair cart is adjusted by the forward inclination angle of the gravity center of the human body, when the gravity center of the human body is backward, the stair cart runs backward under the control of the gyro level sensor, and the backward speed of the stair cart is adjusted by the backward inclination angle of the gravity center of the human body; the front and back heights of the left horizontal pedal and the right horizontal pedal are respectively controlled by two feet, the corresponding positions of the left Hall sensor and the left permanent magnet particles are changed to change a voltage value signal output by the left Hall sensor, the speed change of the left rear wheel is controlled by the controller, the corresponding positions of the right Hall sensor and the right permanent magnet particles are changed to change a voltage value signal output by the right Hall sensor, and the speed change of the left rear wheel is controlled by the controller, so that the left-right steering or the in-situ left-right steering of the stair car during running is realized.

Drawings

Fig. 1 is a schematic top view of the electric large wheel type multifunctional stair car.

Fig. 2 is a structural schematic diagram of the four wheels of the electric large wheel type multifunctional stair vehicle viewed from the right on the platform.

Fig. 3 is a structural schematic diagram of the four wheels of the electric large wheel type multifunctional stair vehicle viewed from the right on the steps.

Fig. 4 is a right-view structural schematic diagram of two wheels of the electric large-wheel multifunctional stair vehicle for carrying people on a flat road.

Fig. 5 is a structural schematic diagram of the four wheels of the electric large wheel type multifunctional stair vehicle in the right view of manned operation on a platform.

Fig. 6 is a right-side view structural schematic diagram of four wheels of the electric large-wheel multifunctional stair vehicle for loading people on steps to go upstairs and downstairs.

Detailed Description

The following further description is made in conjunction with the accompanying drawings and examples.

In fig. 1, 2 and 3, the electric large-wheel multifunctional stair car is provided with a frame 1 shaped like a Chinese character 'mu', the frame shaped like a Chinese character 'mu' is welded into a left rectangular frame, a middle rectangular frame and a right rectangular frame by using square iron pipes, a left combined large-wheel driving machine is arranged in the left rectangular frame, a right combined large-wheel driving machine is arranged in the right rectangular frame, a self-balancing pedal machine is arranged in the middle rectangular frame, the left combined large-wheel driving machine and the right combined large-wheel driving machine are bilaterally symmetrical and have the same structure, and the structural characteristics of the right combined large-wheel driving machine are taken as an example for explanation, and the structural characteristics of the left combined large; the direction of going upstairs of the electric large wheel type multifunctional stair vehicle is the front, a front left connecting plate 2 and a front right connecting plate 3 are welded at the upper end of the right rectangular frame, shaft holes are formed in the front left connecting plate and the front right connecting plate, a front crankshaft 4 is installed in the shaft holes, the front crankshaft is fastened by 4 front screw caps 5 respectively, a front hub barrel 6 is arranged on the right side of the front crankshaft, a plurality of spokes are arranged on the periphery of the front hub barrel, the spokes are connected with a front wheel 7, and a front chain gear 8 is installed at the left end of the front hub barrel; a rear left connecting plate 9 and a rear right connecting plate 10 are welded at the upper end of the right rectangular frame, shaft holes are formed in the rear left connecting plate and the rear right connecting plate, a rear crankshaft 11 is installed in the shaft holes and is fastened by 4 rear screw caps 12 respectively, a rear hub barrel 13 is arranged on the right side of the rear crankshaft, a plurality of spokes are arranged on the periphery of the rear hub barrel and are connected with a rear wheel 14, a rear sprocket 15 is installed at the right end of the rear hub barrel, a large gear 16 is installed at the left end of the rear hub barrel, a linkage chain 17 is installed between the front sprocket and the rear sprocket, a driving motor 18 is arranged at the upper rear end of the right rectangular frame, a worm and gear reducer 19 is arranged at the front end of the driving motor, a transmission 20 is arranged at the right end of the worm and is provided with a shifting handle; the front wheels and the rear wheels are the same in size, 26-inch bicycle wheels are selected, the wheelbase between the front wheels and the rear wheels is short, the size of the wheelbase is equal to the width of a stair step plane, 2-mould-specification stair catching teeth are arranged on the circumferences of tires of the front wheels and the rear wheels, and the stair catching teeth are meshed with corner tips of the stair steps; the self-balancing pedal machine is characterized in that: a left drooping support and a right drooping support 23 are arranged below the middle rectangular frame, shaft holes are formed in the lower ends of the left drooping support and the right drooping support, a connecting shaft 24 is installed in each shaft hole and is fastened by 4 screw caps 25, a shaft sleeve 26 is installed in the middle of the connecting shaft, a front horizontal pedal 27 is welded at the rear end of the shaft sleeve, a vertical holding rod 28 is welded in the middle of the upper end of the shaft sleeve, a gyro level sensor 29 is arranged at the front end of the vertical holding rod, a left connecting plate and a right connecting plate 30 are welded at the front end of the vertical holding rod, a middle connecting plate 31 is arranged between the left connecting plate and the right connecting plate, shaft holes are formed in the left connecting plate, the right connecting plate and the middle connecting plate, a short shaft 32 is installed in each shaft hole, a control motor 33 is welded at the front end of the middle connecting plate, a driving screw rod 34, the distance between the nut plate and the control motor is shortened, the control motor rotates reversely, and the distance between the nut plate and the control motor is prolonged; a left tripod is welded at the left lower end of the middle rectangular frame, a right tripod 38 is welded at the right lower end, a supporting plate 39 is arranged on each of the left tripod and the right tripod, shaft holes are arranged on the supporting plates, a long shaft 40 is arranged in each shaft hole, a left horizontal pedal 41 and a right horizontal pedal 42 are arranged on each long shaft, central holes are arranged on each left horizontal pedal and each right horizontal pedal, the long shafts penetrate through the central holes of the left horizontal pedal and the right horizontal pedal to enable the left horizontal pedals and the right horizontal pedals to be arranged side by side, a left supporting plate groove 43 is arranged on each left horizontal pedal, a right supporting plate groove 44 is arranged on each right horizontal pedal, the left end of each left horizontal pedal is positioned in the left tripod, the right end of each right horizontal pedal is positioned in the right tripod, a front spring groove and a rear spring groove are arranged at the left lower end of each front horizontal pedal and the rear spring grooves, a front spring 45 and a, under the support of 4 springs, the balance states of the left horizontal pedal and the right horizontal pedal are in the same plane, the left rear end of the left horizontal pedal is provided with a left Hall sensor 47, the left end of the middle rectangular frame is provided with left permanent magnet particles 48, the left Hall sensor of the left horizontal pedal corresponds to the left permanent magnet particles in the balance state, the right rear end of the right horizontal pedal is provided with a right Hall sensor 49, the right end of the middle rectangular frame is provided with right permanent magnet particles 50, and the right Hall sensor of the right horizontal pedal corresponds to the right permanent magnet particles in the balance state; a handrail 51 is welded at the upper end of a vertical holding rod, a control switch box 52 is arranged at the upper end of the middle part of the handrail, an electric box 53 is arranged at the rear end of a middle rectangular frame, a controller 54 is arranged on the left side of the electric box, a lithium battery 55 is arranged on the right side of the electric box, a power switch 56 is arranged behind the control switch box, 4 toggle switches are arranged on the control switch box and are respectively a mode conversion switch 57, a forward and reverse switch 58, a home steering switch 59 and a driving steering switch 60, the output ends of the 4 toggle switches and the output end of a gyro level sensor are respectively connected with the input ends of the controller, the output ends of the controller are respectively connected with a left driving motor, a right driving motor and a control motor, a mode conversion switch handle is toggled leftwards into a 4-wheel self-balancing mode and is toggled rightwards into a 2-wheel self-balancing, the forward and reverse switch handle is powered off at the middle position, is toggled forward to be a forward gear and is toggled backward to be a reverse gear, the pivot steering switch handle is powered off at the middle position, when the pivot steering switch handle is toggled leftward, the front wheel and the rear wheel of the left combined large wheel driving machine are reversed, the front wheel and the rear wheel of the right combined large wheel driving machine are rotated forward, and the stair car pivots leftward; when the pivot steering switch handle is shifted to the right, the front wheel and the rear wheel of the right combined large wheel driving machine are reversed, the front wheel and the rear wheel of the left combined large wheel driving machine are rotated forward, the stair car is steered to the right in a pivot mode, the power supply is turned off at the middle position of the driving steering switch handle, and when the stair car normally runs, the driving steering switch handle shifts the stair car to the left to steer the stair car to the left and shifts the stair car to the right to steer the right; the stair cart works in a 4-wheel self-balancing mode and has the functions of going up and down stairs, turning a platform, automatically and horizontally adjusting a front horizontal pedal and automatically adjusting the center of gravity of a human body by the front horizontal pedal; the stair cart runs from a flat road to a stair step, the frame in the shape of the Chinese character 'mu' is changed from a plane to an inclined plane, the gyro level sensor sends a signal to the input end of the controller according to the change of the inclination angle of the vertical holding rod, the controller outputs voltage to the control motor, the control motor drives the vertical holding rod to be always in a vertical state in real time, and the front horizontal pedal is always in a horizontal state; stair car work has the level road function of traveling under 2 rounds of self-balancing modes, and top level sensor sends signal to the controller input according to the change of perpendicular rest bar inclination, and controller output voltage is to left driving motor and right driving motor, and left driving motor and right driving motor drive left rear wheel and right rear wheel in real time and advance or retreat, make stair car keep balanced state, and the balanced state of stair car when empty load is: the left rear wheel and the right rear wheel are grounded, the gravity center of the whole vehicle is located on the wheel shafts of the left rear wheel and the right rear wheel, the lithium battery behind the wheel shaft is heavier than the left driving motor and the right driving motor and is close to the wheel shafts, the mechanism in front of the wheel shafts is lighter and is far away from the wheel shafts, so when the inclination angle of the herringbone frame is larger than that of going upstairs and downstairs, the front and back gravity of the wheel shafts are balanced, the vertical holding rod is always kept in a vertical state, the left horizontal pedal and the right horizontal pedal are always kept in a horizontal state, the inclination angle of the herringbone frame is automatically adjusted to keep the stair vehicle in a balanced state, the stair vehicle stands on the left horizontal pedal and.

Although 4 wheels of the electric large wheel type multifunctional stair vehicle are large, the wheel base between the front wheel and the rear wheel is short, the front volume and the rear volume are small, the gravity centers of the front horizontal pedal and the left horizontal pedal and the right horizontal pedal are low, the load stability is good, the circumferences of the 4 large wheels are respectively and firmly placed on 4 supporting points on the corner points of stair steps, and the 4-point supporting is safe and reliable; the advantages of selecting a large wheel are as follows: the vertical lines of the gravity centers of the wheel shafts of the 4 big wheels are positioned behind the corner points of the steps, the stair climbing vehicle has even resistance for crossing the steps during climbing stairs, and runs stably, if small wheels are selected, the resistance of the wheels during climbing the steps is very small, and the resistance during climbing the steps is very large, so that the stair climbing vehicle has uneven resistance for crossing the steps during climbing the stairs, and runs unstably; the worm and gear reducer has a large reduction ratio, is reduced by the speed changer and is reduced by the chain large gear and the chain small gear, the requirement of low-speed large torque of the stair vehicle is met, the worm and gear reducer has a self-locking function, the parking position can be locked when the stair vehicle goes up and down, a reversing switch is used for controlling 4 large wheels to reverse at low speed and go down the stairs when the stair vehicle goes down, the downhill gravity of steps crossed in the stair going down process is uniform, the stair vehicle runs stably, the stair grabbing teeth of the large wheels are meshed with the corner tips of the stair steps, and the stair wheels run stably on the corner tips of the stair steps without slipping; the stair cart is provided with a left transmission and a right transmission, a left gear shifting handle is arranged at the upper end of the left transmission, a right gear shifting handle is arranged at the upper end of the right transmission, when the stair cart runs on a flat road, the left gear shifting handle and the right gear shifting handle are pulled out, the left transmission and the right transmission work at a high-speed gear, when the stair cart goes up and down stairs or turns on a platform, the left gear shifting handle and the right gear shifting handle are pushed in, and the left transmission and the; the stair car goes up and down stairs and supports and balances the whole car by means of 4 points of 4 wheels, the supporting gravity center is arranged between an upper step and a lower step, the gravity center of a human body standing on a front horizontal pedal needs to move forwards when going up and down stairs, the gravity center needs to move backwards when going to a platform, the front horizontal pedal automatically adjusts the position of the optimal gravity center forwards and backwards along with the change of the angles of a left drooping support and a right drooping support and always keeps a horizontal state, a person stands on the front horizontal pedal to grasp an armrest, and various switches of a switch box are manually controlled, so that the stair car goes up and down stairs or the platform turns; when the stair cart runs on a flat road, the gyro level sensor drives the left rear wheel and the right rear wheel to rotate forward and backward through the intelligent controller to realize automatic balance of the whole stair cart, when the gravity center of a human body is forward, the stair cart runs forward under the control of the gyro level sensor, the forward speed of the stair cart is adjusted by the forward inclination angle of the gravity center of the human body, when the gravity center of the human body is backward, the stair cart runs backward under the control of the gyro level sensor, and the backward speed of the stair cart is adjusted by the backward inclination angle of the gravity center of the human body; the front and back heights of the left horizontal pedal and the right horizontal pedal are respectively controlled by two feet, the corresponding positions of the left Hall sensor and the left permanent magnet particles are changed to change a voltage value signal output by the left Hall sensor, the speed change of the left rear wheel is controlled by the controller, the corresponding positions of the right Hall sensor and the right permanent magnet particles are changed to change a voltage value signal output by the right Hall sensor, and the speed change of the left rear wheel is controlled by the controller, so that the left-right steering or the in-situ left-right steering of the stair car during running is realized.

Claims

1. The utility model provides an electronic bull wheel formula multi-functional stair car, comprises mesh font frame, left combination bull wheel driving machine, right combination bull wheel driving machine, self-balancing footboard machine, top level sensor, holds up pole, handrail, control switch box, electrical apparatus box, lithium cell, controller, its characterized in that: the electric large-wheel multifunctional stair vehicle is provided with a frame (1) in a shape like a Chinese character 'mu', the frame in the shape like the Chinese character 'mu' is welded into a left rectangular frame, a middle rectangular frame and a right rectangular frame by iron square tubes, a left combined large-wheel driving machine is arranged in the left rectangular frame, a right combined large-wheel driving machine is arranged in the right rectangular frame, a self-balancing pedal machine is arranged in the middle rectangular frame, the left combined large-wheel driving machine and the right combined large-wheel driving machine are bilaterally symmetrical and have the same structure, the structural characteristics of the right combined large-wheel driving machine are taken as an example for explanation, and the structural characteristics; the direction of going upstairs of the electric large wheel type multifunctional stair lift vehicle is the front, the upper end of the right rectangular frame is welded with a front left connecting plate (2) and a front right connecting plate (3), the front left connecting plate and the front right connecting plate are both provided with shaft holes, a front crankshaft (4) is installed in the shaft holes, the front crankshaft is fastened by 4 front screw caps (5) respectively, the right side of the front crankshaft is provided with a front hub barrel (6), the periphery of the front hub barrel is provided with a plurality of spokes, the spokes are connected with front wheels (7), and the left end of the front hub barrel is provided with a front chain gear (8); a rear left connecting plate (9) and a rear right connecting plate (10) are welded at the upper end of the right rectangular frame, shaft holes are formed in the rear left connecting plate and the rear right connecting plate, a rear crankshaft (11) is installed in the shaft holes and is fastened by 4 rear screw caps (12) respectively, a rear hub barrel (13) is arranged on the right side of the rear crankshaft, a plurality of spokes are arranged on the circumference of the rear hub barrel and connected with rear wheels (14), a rear chain gear (15) is installed at the right end of the rear hub barrel, a large gear (16) is installed at the left end of the rear hub barrel, a linkage chain (17) is installed between the front chain gear and the rear chain, the rear upper end of the right rectangular frame is provided with a driving motor (18), the front end of the driving motor is provided with a worm and gear reducer (19), the right end of the worm and gear reducer is provided with a transmission (20), the upper end of the transmission is provided with a gear shifting handle (21), the right end of the transmission is provided with a driving pinion (22), and the driving pinion is meshed with the large gear; the front wheels and the rear wheels are the same in size, 26-inch bicycle wheels are selected, the wheelbase between the front wheels and the rear wheels is short, the size of the wheelbase is equal to the width of a stair step plane, 2-mould-specification stair catching teeth are arranged on the circumferences of tires of the front wheels and the rear wheels, and the stair catching teeth are meshed with corner tips of the stair steps; the self-balancing pedal machine is characterized in that: a left drooping support and a right drooping support (23) are arranged below the middle rectangular frame, shaft holes are formed in the lower ends of the left drooping support and the right drooping support, a connecting shaft (24) is installed in each shaft hole and is fastened by 4 screw caps (25) respectively, a shaft sleeve (26) is installed in the middle of the connecting shaft, a front horizontal pedal (27) is welded at the rear end of each shaft sleeve, a vertical holding rod (28) is welded in the middle of the upper end of each shaft sleeve, a gyro horizontal sensor (29) is arranged at the front end of each vertical holding rod, a left connecting plate and a right connecting plate (30) are welded at the front end of each vertical holding rod, a middle connecting plate (31) is arranged between the left connecting plate and the right connecting plate, each of the left connecting plate, the right connecting plate and the middle connecting plate is provided with a shaft, a sliding sleeve (36) is arranged in the middle of the round pipe, a nut plate (37) is welded at the upper end of the sliding sleeve, the screw rod is meshed with nut threads of the nut plate to control the motor to rotate forwards, the distance between the nut plate and the control motor is shortened, the control motor rotates backwards, and the distance between the nut plate and the control motor is prolonged; a left tripod is welded at the left lower end of the middle rectangular frame, a right tripod (38) is welded at the right lower end, supporting plates (39) are arranged on the left tripod and the right tripod, shaft holes are arranged on the supporting plates, a long shaft (40) is arranged in the shaft holes, a left horizontal pedal (41) and a right horizontal pedal (42) are arranged on the long shaft, central holes are arranged on the left horizontal pedal and the right horizontal pedal, the long shaft penetrates through the central holes of the left horizontal pedal and the right horizontal pedal to enable the left horizontal pedal and the right horizontal pedal to be arranged side by side, a left supporting plate groove (43) is arranged on the left horizontal pedal, a right supporting plate groove (44) is arranged on the right horizontal pedal, the left end of the left horizontal pedal is arranged in the left tripod, the right end of the right horizontal pedal is arranged in the right tripod, a front spring groove and a rear spring groove are arranged at the left lower end of the left horizontal pedal, a front spring groove and a rear spring groove are arranged, under the support of 4 springs, the balance states of the left horizontal pedal and the right horizontal pedal are in the same plane, the left rear end of the left horizontal pedal is provided with a left Hall sensor (47), the left end of the middle rectangular frame is provided with left permanent magnet particles (48), the left Hall sensor of the left horizontal pedal corresponds to the left permanent magnet particles in the balance state, the right rear end of the right rear horizontal pedal is provided with a right Hall sensor (49), the right end of the middle rectangular frame is provided with right permanent magnet particles (50), and the right Hall sensor of the right rear horizontal pedal corresponds to the right permanent magnet particles in the balance state; a handrail (51) is welded at the upper end of the vertical holding rod, a control switch box (52) is arranged at the upper end of the middle part of the handrail, an electric appliance box (53) is arranged at the rear end of a middle rectangular frame, a controller (54) is installed on the left side of the electric appliance box, a lithium battery (55) is installed on the right side of the electric appliance box, a power switch (56) is arranged behind the control switch box, 4 toggle switches are arranged on the control switch box and are respectively a mode change-over switch (57), a forward reverse switch (58), an in-situ steering switch (59) and a driving steering switch (60), the output ends of the 4 toggle switches and the output end of a gyro level sensor are respectively connected with the input ends of the controller, the output ends of the controller are respectively connected with a left driving motor, a right driving motor and a control motor, a mode change-over, when the stair car works in a 4-wheel self-balancing mode, the control switch box is used for manual control, the forward and reverse switch handle is powered off at the middle position, is toggled forward to be a forward gear and is toggled backward to be a reverse gear, the in-situ steering switch handle is powered off at the middle position, when the stair car is toggled leftward, the front wheel and the rear wheel of the left combined large-wheel driver are reversed, the front wheel and the rear wheel of the right combined large-wheel driver are rotated forward, and the stair car is in-situ steered leftward; when the pivot steering switch handle is shifted to the right, the front wheel and the rear wheel of the right combined large wheel driving machine are reversed, the front wheel and the rear wheel of the left combined large wheel driving machine are rotated forward, the stair car is steered to the right in a pivot mode, the power supply is turned off at the middle position of the driving steering switch handle, and when the stair car normally runs, the driving steering switch handle shifts the stair car to the left to steer the stair car to the left and shifts the stair car to the right to steer the right; the stair cart works in a 4-wheel self-balancing mode and has the functions of going up and down stairs, turning a platform, automatically and horizontally adjusting a front horizontal pedal and automatically adjusting the center of gravity of a human body by the front horizontal pedal; the stair cart runs from a flat road to a stair step, the frame in the shape of the Chinese character 'mu' is changed from a plane to an inclined plane, the gyro level sensor sends a signal to the input end of the controller according to the change of the inclination angle of the vertical holding rod, the controller outputs voltage to the control motor, the control motor drives the vertical holding rod to be always in a vertical state in real time, and the front horizontal pedal is always in a horizontal state; stair car work has the level road function of traveling under 2 rounds of self-balancing modes, and top level sensor sends signal to the controller input according to the change of perpendicular rest bar inclination, and controller output voltage is to left driving motor and right driving motor, and left driving motor and right driving motor drive left rear wheel and right rear wheel in real time and advance or retreat, make stair car keep balanced state, and the balanced state of stair car when empty load is: the left rear wheel and the right rear wheel are grounded, the gravity center of the whole vehicle is located on the wheel shafts of the left rear wheel and the right rear wheel, the lithium battery behind the wheel shaft is heavier than the left driving motor and the right driving motor and is close to the wheel shafts, the mechanism in front of the wheel shafts is lighter and is far away from the wheel shafts, so when the inclination angle of the herringbone frame is larger than that of going upstairs and downstairs, the front and back gravity of the wheel shafts are balanced, the vertical holding rod is always kept in a vertical state, the left horizontal pedal and the right horizontal pedal are always kept in a horizontal state, the inclination angle of the herringbone frame is automatically adjusted to keep the stair vehicle in a balanced state, the stair vehicle stands on the left horizontal pedal.

2. The electric large-wheeled multifunctional stair cart according to claim 1, wherein: although 4 wheels of the electric large wheel type multifunctional stair vehicle are large, the wheel base between the front wheel and the rear wheel is short, the front volume and the rear volume are small, the gravity centers of the front horizontal pedal and the left horizontal pedal and the right horizontal pedal are low, the load stability is good, the circumferences of the 4 large wheels are respectively and firmly placed on 4 supporting points on the corner points of stair steps, and the 4-point supporting is safe and reliable; the advantages of selecting a large wheel are as follows: the vertical lines of the gravity centers of the wheel shafts of the 4 big wheels are positioned behind the corner points of the steps, the stair climbing vehicle has even resistance for crossing the steps during climbing stairs, and runs stably, if small wheels are selected, the resistance of the wheels during climbing the steps is very small, and the resistance during climbing the steps is very large, so that the stair climbing vehicle has uneven resistance for crossing the steps during climbing the stairs, and runs unstably; the worm and gear reducer has a large reduction ratio, is reduced by the speed changer and is reduced by the chain large gear and the chain small gear, the requirement of low-speed large torque of the stair vehicle is met, the worm and gear reducer has a self-locking function, the parking position can be locked when the stair vehicle goes up and down, a reversing switch is used for controlling 4 large wheels to reverse at low speed and go down the stairs when the stair vehicle goes down, the downhill gravity of steps crossed in the stair going down process is uniform, the stair vehicle runs stably, the stair grabbing teeth of the large wheels are meshed with the corner tips of the stair steps, and the stair wheels run stably on the corner tips of the stair steps without slipping; the stair cart is provided with a left transmission and a right transmission, a left gear shifting handle is arranged at the upper end of the left transmission, a right gear shifting handle is arranged at the upper end of the right transmission, when the stair cart runs on a flat road, the left gear shifting handle and the right gear shifting handle are pulled out, the left transmission and the right transmission work at a high-speed gear, when the stair cart goes up and down stairs or turns on a platform, the left gear shifting handle and the right gear shifting handle are pushed in, and the left transmission and the; the stair car goes up and down stairs and supports and balances the whole car by means of 4 points of 4 wheels, the supporting gravity center is arranged between an upper step and a lower step, the gravity center of a human body standing on a front horizontal pedal needs to move forwards when going up and down stairs, the gravity center needs to move backwards when going to a platform, the front horizontal pedal automatically adjusts the position of the optimal gravity center forwards and backwards along with the change of the angles of a left drooping support and a right drooping support and always keeps a horizontal state, a person stands on the front horizontal pedal to grasp an armrest, and various switches of a switch box are manually controlled, so that the stair car goes up and down stairs or the platform turns; when the stair cart runs on a flat road, the gyro level sensor drives the left rear wheel and the right rear wheel to rotate forward and backward through the intelligent controller to realize automatic balance of the whole stair cart, when the gravity center of a human body is forward, the stair cart runs forward under the control of the gyro level sensor, the forward speed of the stair cart is adjusted by the forward inclination angle of the gravity center of the human body, when the gravity center of the human body is backward, the stair cart runs backward under the control of the gyro level sensor, and the backward speed of the stair cart is adjusted by the backward inclination angle of the gravity center of the human body; the front and back heights of the left horizontal pedal and the right horizontal pedal are respectively controlled by two feet, the corresponding positions of the left Hall sensor and the left permanent magnet particles are changed to change a voltage value signal output by the left Hall sensor, the speed change of the left rear wheel is controlled by the controller, the corresponding positions of the right Hall sensor and the right permanent magnet particles are changed to change a voltage value signal output by the right Hall sensor, and the speed change of the right rear wheel is controlled by the controller, so that the left-right steering or in-situ left-right steering of the stair car during running is realized.