CN112249181A - Crawler stair climbing machine - Google Patents
Crawler stair climbing machine Download PDFInfo
- Publication number
- CN112249181A CN112249181A CN202011315822.0A CN202011315822A CN112249181A CN 112249181 A CN112249181 A CN 112249181A CN 202011315822 A CN202011315822 A CN 202011315822A CN 112249181 A CN112249181 A CN 112249181A
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- CN
- China
- Prior art keywords
- crawler
- platform
- stair
- crawlers
- wheel
- 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.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
The invention belongs to the field of transportation tools, and particularly relates to a crawler stair climbing machine. In production and life, heavy objects are often carried to go up and down stairs, and disabled people with mobility disabilities need to go up and down stairs when taking a wheelchair. The invention aims to provide a crawler stair climbing machine which can easily and laborsavingly carry goods to go upstairs and downstairs, or carry a wheelchair to go upstairs and downstairs or land for fulfillment. The technical scheme adopted by the invention for solving the technical problems is as follows: the designed crawler stair climbing machine mainly comprises a walking crawler system and a platform horizontal adjusting system, wherein the walking crawler system consists of two crawlers, the front ends of the two crawlers are tilted upwards, and higher steps can be spanned when the crawlers are designed to be small and exquisite; the included angle of the platform support in the platform horizontal adjusting system relative to the crawler is adjusted along with the inclination of the crawler, and is used for eliminating the included angle formed by the crawler due to the terrain. The carrying or manned platform is always kept horizontal, stable and comfortable.
Description
Technical Field
The invention belongs to the field of transportation tools, and particularly relates to a crawler stair climbing machine.
Background
In production and life, heavy objects are often carried to go up and down stairs, and disabled people with mobility disabilities need to go up and down stairs when taking a wheelchair. The wheelchair is not suitable for running on a slope and cannot cross steps, grooves and ridges of the stairs, and the walking up and down the stairs becomes the biggest obstacle for the crowd with mobility inconvenience.
The caterpillar band of the tank is combined with the wheelchair to design the wheelchair capable of going upstairs and downstairs, which is a good scheme for making the caterpillar band of the tank travel in the mountainous country like walking on the flat ground. In the prior art, similar wheelchair designs exist, generally, a strip-shaped crawler belt is designed below the wheelchair, and the crawler belt is put down to realize climbing walking when climbing stairs. But at the junction from the flat ground to the stairs, the track cannot go up because the track is lower than the first-level stairs; and the wheelchair inclines along with the crawler belt, and once the gravity center exceeds the crawler belt, the wheelchair can have the danger of overturning.
Disclosure of Invention
The invention aims to provide a crawler stair climbing machine which can easily and laborsavingly carry goods to go upstairs and downstairs, or carry a wheelchair to go upstairs and downstairs or land for fulfillment.
The technical scheme adopted by the invention for solving the technical problems is as follows: the designed crawler stair climbing machine mainly comprises a walking crawler system and a platform horizontal adjusting system, wherein the walking crawler system consists of two crawlers, the front ends of the two crawlers are tilted upwards, and higher steps can be spanned when the crawlers are designed to be small and exquisite; the included angle of the platform support in the platform horizontal adjusting system relative to the crawler is adjusted along with the inclination of the crawler, and is used for eliminating the included angle formed by the crawler due to the terrain. The carrying or manned platform is always kept horizontal, stable and comfortable.
The upward tilting angle of the front end of the crawler can be adjusted to adapt to different slopes; each crawler belt is provided with at least three crawler wheels, the driving wheel is positioned at the tilted top end, the turning part is provided with a turning wheel, the tail end is provided with a positioning wheel, the positioning wheel is arranged on a support, the support is formed by connecting two sections of rigid supports at the turning part through shafts, the shape of the crawler belt is fixed, and installation space for auxiliary components such as batteries, controllers and the like is provided.
The driving wheel is driven by a motor, and the two crawler supports are rigidly connected and are provided with batteries. Two crawler belt driving wheel driving motors are independent, and turning is realized by controlling different rotating speeds through a controller.
Furthermore, the turning part is also provided with a turning pressing wheel which is matched with the turning wheel, so that the combination of the crawler belt and the crawler wheel is ensured, and the crawler belt is prevented from being loosened when the front end of the crawler belt is adjusted to be tilted.
The turning pinch roller shaft is provided with a platform support, an angle adjusting screw rod is arranged between the turning pinch roller shaft and the positioning pinch roller shaft, a threaded sleeve motor is arranged on the screw rod, and the threaded sleeve motor is connected with a crank shaft on the other side of the platform support. The screw sleeve motor operates, the screw sleeve moves along the screw rod to push the crank, the crank supports or puts down the platform support, the included angle of the platform support relative to the crawler is adjusted, the included angle formed by the crawler due to the terrain is eliminated, and the platform is kept horizontal.
Furthermore, a platform is arranged on the platform support, and a grab rail with a direction controller, a speed controller and a platform angle controller is arranged on the platform support. The platform angle controller preferably monitors the inclination angle in real time by a level sensor, processes signals through a processor, sends out an execution command, and is executed by an actuator, namely a screw sleeve motor, so that automatic control is realized.
Or a platform is arranged on the platform support, and a seat with direction, speed and platform angle controllers is configured on the platform support, namely the all-terrain wheelchair is the all-terrain wheelchair.
Drawings
FIG. 1 is a schematic view of the walking track system and level adjustment system of the present invention.
FIG. 2 is a schematic view of the operation of example 1 of the present invention in a flat state.
Fig. 3 is a schematic view of the stair climbing operation in embodiment 1 of the present invention.
FIG. 4 is a schematic diagram of the operation of embodiment 2 of the present invention on flat ground.
Fig. 5 is a schematic view of the stair climbing operation in embodiment 2 of the present invention.
The crawler stair climbing machine mainly comprises a crawler 1-1, a driving wheel 6-2, a hub motor 9-1, a driving motor 20, a horizontal crawler wheel support 10-1, an upturned crawler wheel support 10-2, a turning pressure wheel 11, a platform support 3-4, a screw rod 12, a threaded sleeve motor 13, a crank 14, a platform 15, an armrest rod 16, a direction wheel 17, a seat 18, a controller 19 and the like as shown in attached figures 1, 2, 3, 4 and 5.
For simplicity and clarity of illustration, common elements not claimed are omitted from the drawings.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Example 1
Referring to fig. 1-3, the crawler stair climbing machine mainly comprises a walking crawler system and a platform horizontal adjusting system, wherein the walking crawler system consists of two crawlers 1-1, and the included angle of a platform support 3-4 in the platform horizontal adjusting system relative to the crawlers 1-1 is adjusted along with the inclination of the crawlers. The front end of the crawler belt 1-1 is tilted upwards, and the angle can be adjusted to adapt to different slopes; each crawler 1-1 is provided with three crawler wheels, the driving wheel 6-1(6-2) is positioned at the top end of the tilting, the turning part is provided with a turning wheel, the tail end of the driving wheel is provided with a positioning wheel, the positioning wheel is arranged on a bracket 10-1(10-2), the bracket is formed by connecting two sections of rigid brackets at the turning part through shafts, the shape of the crawler 1-1 is fixed, and the driving wheel drives the crawler to travel. The two crawler belts 1-1 are rigidly connected with each other and are provided with batteries. The two crawler driving wheel driving motors are mutually independent hub motors 9-1, and the controller controls different rotating speeds to realize turning.
The turning part of the crawler 1-1 is also provided with a turning pressure wheel 11 which is matched with the turning wheel to ensure the combination of the crawler and the crawler wheel and avoid the loose of the crawler 1-1 when the front end of the crawler is adjusted to be tilted. The turning pinch roller 11 is provided with a platform support 3-4 on the axle, an angle adjusting screw 12 is arranged between the turning axle and the positioning axle, a threaded sleeve motor 13 is arranged on the screw, and the threaded sleeve motor is connected with the other side of the platform support 3-4 through a crank 14. The screw sleeve motor 13 operates, the screw sleeve moves along the screw rod 12 to push the crank 14, the crank 14 supports or puts down the platform support 3-4, the included angle of the platform support 3-4 relative to the crawler 1-1 is adjusted, the included angle formed by the crawler due to the terrain is eliminated, and the platform 15 is kept horizontal.
The platform is provided with a grab bar 16 with direction, speed and platform angle controllers, and the steering is controlled by a steering wheel 17. The platform angle controller monitors the inclination angle in real time by a level sensor, processes signals through a processor, sends out an execution command, is executed by an actuator, namely a screw sleeve motor, and realizes automatic control.
Example 2
Referring to fig. 1, 4 and 5, the two driving motors of the crawler driving wheel 6-1(6-2) are mutually independent driving motors 20, and the controller controls different rotating speeds to realize turning. Platform 15 is mounted on platform support 11, and seat 18 with direction, speed, and platform angle controls 19 is provided, as in embodiment 1.
Claims (9)
1. The stair climbing crawler mainly comprises a walking crawler system and a platform horizontal adjusting system, and is characterized in that: the walking crawler system is composed of two crawlers, the front ends of the crawlers tilt upwards, and the included angle of the platform support in the platform horizontal adjusting system relative to the crawlers is adjusted along with the inclination of the crawlers and is used for eliminating the included angle formed by the crawlers due to the terrain.
2. A crawler stair-climbing machine according to claim 1, characterized in that: the front end of each crawler belt can be adjusted in upward tilting angle, each crawler belt is provided with at least three crawler wheels, the driving wheel is positioned at the top end of the tilting, the turning part is provided with a turning wheel, the tail end of each crawler belt is provided with a positioning wheel and is installed on a support, the support is formed by connecting two sections of rigid supports at the turning part through shafts, the shape of the crawler belt is fixed, and auxiliary components are installed.
3. A crawler stair-climbing machine according to claim 1, characterized in that: the driving wheel is driven by a motor, and the two crawler supports are rigidly connected.
4. A crawler stair-climbing machine according to claim 1, characterized in that: and a battery is arranged on the rigid connecting shaft between the crawler supports.
5. A crawler stair-climbing machine according to claim 1, characterized in that: two crawler belt driving wheel driving motors are independent, and steering is achieved by controlling different rotating speeds through a controller.
6. A crawler stair-climbing machine according to claim 1, characterized in that: the turning part is also provided with a turning pressure wheel which is matched with the turning wheel to ensure the combination of the crawler belt and the crawler wheel.
7. A crawler stair-climbing machine according to claim 1, characterized in that: the turning pressure wheel shaft is provided with a platform support, an angle adjusting screw rod is arranged between the turning wheel shaft and the positioning wheel shaft, a threaded sleeve motor is arranged on the screw rod, and the threaded sleeve motor is connected with the other side of the platform support through a crank shaft.
8. A stair-climbing crawler according to claim 7, wherein: the platform support is provided with a platform and is provided with a grab bar with direction, speed and platform angle controllers.
9. A stair-climbing crawler according to claim 7, wherein: the platform support is provided with a platform and is provided with a seat with a direction controller, a speed controller and a platform angle controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011315822.0A CN112249181A (en) | 2020-11-22 | 2020-11-22 | Crawler stair climbing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011315822.0A CN112249181A (en) | 2020-11-22 | 2020-11-22 | Crawler stair climbing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112249181A true CN112249181A (en) | 2021-01-22 |
Family
ID=74225391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011315822.0A Pending CN112249181A (en) | 2020-11-22 | 2020-11-22 | Crawler stair climbing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112249181A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113619697A (en) * | 2021-06-18 | 2021-11-09 | 中山小神童创新科技有限公司 | Stair climbing machine and balance control method thereof |
| CN115214819A (en) * | 2022-08-19 | 2022-10-21 | 浙江工业大学 | High-stability full-automatic stair climbing device |
-
2020
- 2020-11-22 CN CN202011315822.0A patent/CN112249181A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113619697A (en) * | 2021-06-18 | 2021-11-09 | 中山小神童创新科技有限公司 | Stair climbing machine and balance control method thereof |
| CN113619697B (en) * | 2021-06-18 | 2022-09-13 | 中山小神童创新科技有限公司 | Stair climbing machine and balance control method thereof |
| CN115214819A (en) * | 2022-08-19 | 2022-10-21 | 浙江工业大学 | High-stability full-automatic stair climbing device |
| CN115214819B (en) * | 2022-08-19 | 2024-01-30 | 浙江工业大学 | High-stability full-automatic stair climbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210122 |