CN114469550A - Crawler-type folding stair climbing mechanism - Google Patents
Crawler-type folding stair climbing mechanism Download PDFInfo
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- CN114469550A CN114469550A CN202210134147.4A CN202210134147A CN114469550A CN 114469550 A CN114469550 A CN 114469550A CN 202210134147 A CN202210134147 A CN 202210134147A CN 114469550 A CN114469550 A CN 114469550A
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- crawler
- synchronizing wheel
- push rod
- driving
- stair climbing
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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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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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
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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
- A61G5/066—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 with endless belts
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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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
- A61G5/0808—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction
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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
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
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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
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
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- 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 relates to a crawler-type folding stair climbing mechanism which comprises a front crawler extending mechanism, a middle crawler connecting mechanism and a rear crawler balancing mechanism, wherein the rear end of the front crawler extending mechanism is rotationally connected with the front end of the middle crawler connecting mechanism through a driving shaft, and the rear end of the middle crawler connecting mechanism is rotationally connected with the front end of the rear crawler balancing mechanism through a driven shaft; the front crawler extension mechanism comprises a first synchronizing wheel, a second synchronizing wheel and a front crawler; the middle crawler connecting mechanism comprises a driving wheel, a third synchronizing wheel and a middle crawler; the rear crawler balance mechanism comprises a fourth synchronizing wheel, a fifth synchronizing wheel and a rear crawler; the middle crawler connecting mechanism further comprises a driving mechanism, and the driving mechanism drives the driving shaft to rotate. The invention adopts a 1+2 type crawler structure, can greatly extend the distance between the gravity center line and the supporting point in the climbing mode, and improves the safety performance; the horizontal occupying length is reduced to 65 cm under the level road mode, and the device can be suitable for narrow ladders; and can walk on rugged roads.
Description
Technical Field
The invention relates to a crawler-type folding stair climbing mechanism, in particular to a walking mechanism which has the stair climbing function and can turn at a very narrow corner between stairs, so that the stairs with different multi-layer angles can be safely and stably and continuously landed, and the walking mechanism can land on a slope, cross over obstacles, walk on a rugged road and flexibly walk on a smooth road surface.
Background
Since new crown pneumonia has been abused, humans have come to recognize that physical contact is minimized, and various types of applied robots have appeared, including: various robots such as patrol, food delivery, disinfection, freight transportation, manned and the like. However, macroscopically, no walking mechanism can overcome all terrains, and even if the walking mechanism can walk on the road surfaces of different terrains, the walking mechanism cannot climb stairs; even though the device can climb stairs, the device cannot bear the weight of people; even if the weight of the manned vehicle can be borne, the safety factor cannot be reached; even with the safety factor achieved, it is not possible to make a turn in a very narrow "corner between stairs", because there are many old buildings around the world, where the corner between stairs is only 80 cm wide, which is an area that is not accessible in the prior art, for example:
the inventor's chinese invention patent CN103027803B discloses an electric wheelchair, which comprises a movable seat part, a vehicle body part used as a seat support, a seat adjusting mechanism arranged below the seat, a vehicle bottom part, and a crawler traveling mechanism, wherein the crawler traveling mechanism comprises two sets of crawlers respectively arranged below two sides of the vehicle bottom part, and each set of crawlers comprises a front crawler and a rear crawler. The bottom part of the vehicle consists of a front part and a rear part which are movably connected through a connecting device and can deflect relative to each other. The crawler traveling mechanism further comprises a movable extension crawler belt and a fixed upper ladder crawler belt, wherein the movable extension crawler belt is arranged on the outer side of the front crawler belt, the fixed upper ladder crawler belt is arranged on the outer side of the rear crawler belt, and the free end of the fixed upper ladder crawler belt forms a certain angle relative to the rear crawler belt. As shown in fig. 1, it is a "two-stage track design", i.e. a "1 + 1" track structure, and aims to extend the support point at the forefront of the track as much as possible, and to make the distance between the center of gravity point above the balancing mechanism and the support point as far as possible, so as to increase the safety of the load on the balancing mechanism. However, the 1+1 type crawler belt structure has the disadvantages that the retraction degree is limited even if the front crawler belt can be retracted by a certain angle when the vehicle runs on a parallel road, the volume is still large, and the rotation in a narrow ladder of only 80 cm cannot be satisfied.
Another chinese patent CN107529434B by the inventor discloses a crawler-type moving mechanism comprising fixedly arranged first and second tracks operatively connected to each other and moving synchronously to move on a working surface, wherein the first and second tracks are configured to form together a zigzag and preferably lightning shaped contact/active bottom surface portion or bottom profile to adapt and follow different working surfaces or to be freely movable on stairs, rugged road surfaces and all terrain ground with different slopes. As shown in fig. 2, the crawler type moving mechanism forms a flashy type structure by using two sets of tracks, the basic structure is still a track structure of a '1 + 1' type, although the simple ladder climbing principle is realized, when the crawler type moving mechanism runs on a parallel road section, the folding of the moving mechanism is influenced to a certain extent because the rear track is triangular, the minimum size which can be achieved by the crawler type moving mechanism is still large, and the crawler type moving mechanism cannot rotate in a narrow ladder room with the length of only 80 cm.
As described above, the crawler type folding stair climbing mechanism in the prior art has a large volume when traveling in a parallel road section, and cannot be rotated and used between narrow ladders of old buildings, and therefore, it is highly desirable to provide a crawler type folding stair climbing mechanism having a small volume after being folded compared to the prior art.
Disclosure of Invention
In order to solve the problems, the invention provides a crawler-type folding stair climbing mechanism which adopts a 1+2 type crawler design, utilizes 3 groups of crawlers, buckles one section like a chain buckle, can prolong the distance between a gravity center line and a supporting point when climbing stairs, improves the safety, can be folded when running on a flat road, can fold the size of the mechanism to the minimum, and meets the requirement of rotation in a narrow stair room.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a crawler-type folding stair climbing mechanism comprises a front crawler extending mechanism, a middle crawler connecting mechanism and a rear crawler balancing mechanism, wherein the rear end of the front crawler extending mechanism is rotatably connected with the front end of the middle crawler connecting mechanism through a driving shaft, and the rear end of the middle crawler connecting mechanism is rotatably connected with the front end of the rear crawler balancing mechanism through a driven shaft;
the front crawler extension mechanism comprises two groups of front crawler running assemblies, each front crawler running assembly comprises a first synchronizing wheel, a second synchronizing wheel and a front crawler surrounding the first synchronizing wheel and the second synchronizing wheel, and the first synchronizing wheel is arranged on the driving shaft; the middle crawler connecting mechanism comprises two groups of middle crawler running assemblies, each middle crawler running assembly comprises a driving wheel, a third synchronizing wheel and a middle crawler surrounding the driving wheel and the third synchronizing wheel, the driving wheel is arranged on the driving shaft, and the third synchronizing wheel is arranged on the driven shaft; the rear track balancing mechanism comprises two groups of rear track running assemblies, each rear track running assembly comprises a fourth synchronizing wheel, a fifth synchronizing wheel and a rear track surrounding the fourth synchronizing wheel and the fifth synchronizing wheel, and the fourth synchronizing wheel is arranged on the driven shaft;
the middle crawler connecting mechanism further comprises a driving mechanism, and the driving mechanism drives the driving shaft to rotate.
Further, back track balance mechanism still includes back fixed bolster and last bearing mechanism, the back fixed bolster sets up between two sets of back track subassemblies of traveling, go up bearing mechanism set up in back fixed bolster top.
Furthermore, the upper supporting mechanism comprises an upper supporting plate and a balance push rod, one end of the upper supporting plate is rotatably connected with the rear fixing support, and the balance push rod, the upper supporting plate and the rear fixing support form a triangle; one end of the balance push rod is hinged with the upper supporting plate, and the other end of the balance push rod is hinged with the rear fixing support.
Furthermore, a gyroscope is arranged on the upper bearing plate, and the gyroscope is connected with the balance push rod in a wired or wireless mode.
Further, one or more of a seat, a cargo box, a robotic arm, and a monitor may be provided on the upper support plate.
Further, back track subassembly of traveling still includes parallel arrangement's left baffle and right baffle, left baffle with set up between the right baffle fourth synchronizing wheel and fifth synchronizing wheel, fourth synchronizing wheel with set up a plurality of auxiliary wheels between the fifth synchronizing wheel.
Furthermore, the middle crawler connecting mechanism further comprises a middle fixed support, the middle fixed support is arranged between the two middle crawler traveling assemblies, the middle fixed support is fixedly connected with the two middle crawler traveling assemblies, and the driving mechanism is arranged on the middle fixed support.
Furthermore, the driving mechanism is a right-angle speed reducing motor, and an output shaft of the right-angle speed reducing motor is connected with the driving shaft.
Furthermore, the middle crawler belt connecting mechanism also comprises a fixed shaft, the fixed shaft is arranged between the two middle crawler belt running assemblies, and the fixed shaft is fixedly connected with the two middle crawler belt running assemblies; the fixed shaft is hinged with a mode switching push rod, and the rear end of the mode switching push rod is hinged with the rear fixed support.
Furthermore, the front crawler extension mechanism further comprises a front fixed support, and the front fixed support is arranged between the two front crawler traveling assemblies and is fixedly connected with the two front crawler traveling assemblies; the front fixing support is hinged with an extending crawler push rod, and the other end of the extending crawler push rod is hinged with the fixing shaft.
Furthermore, the extension track push rod is one of an electric push rod and a hydraulic push rod.
Furthermore, the folding stair climbing mechanism of crawler-type still includes control system, control system with the gyroscope, balanced push rod, the mode switching push rod, extend the crawler push rod and pass through wired or wireless mode and connect, control system control the folding stair climbing mechanism of crawler-type extends the state.
Furthermore, two sides of the front crawler extending mechanism are provided with omni wheels, and the omni wheels are fixed on the front crawler running assembly.
Further, rubber wheels are arranged at two ends of the driven shaft.
Compared with the prior art, the invention has the beneficial effects that:
(1) the three-section crawler belt structure is adopted to form a 1+2 type crawler belt structure, the three-section crawler belt structure is in rotating connection, the three-section crawler belt structure is stretched or contracted in a push rod mode, the three-section crawler belt can be unfolded to a shape of a ladder to be climbed in the ladder climbing mode, and the balance mechanism is arranged on the rear crawler belt structure, so that the distance between a gravity center line and a supporting point can be greatly increased, the safety performance is improved, and the load can reach 120 kg; when walking on a flat road, the 3 sections of crawler belts can be contracted into an N shape by utilizing the push rods, the horizontal occupied length is reduced to 65 cm, the crawler belts rotate in a narrow space with the minimum volume, and the crawler belts can be suitable for narrow ladders.
(2) The invention adopts a three-section crawler structure, the three-section crawler structure forms an N shape after being folded, and further certain space is formed between the crawlers, so that the crawler can stably cross barriers and is suitable for walking under various geological conditions.
Drawings
Fig. 1a is a schematic structural diagram of prior art patent CN103027803B, and D is a distance between a load weight center line and a supporting point.
Figure 1b is a schematic representation of prior art patent CN103027803B in the flat road mode.
Fig. 2a is a schematic structural diagram of CN107529434B in prior art, and D is a distance between the load weight center line and the supporting point.
Figure 2b is a schematic representation of prior art patent CN107529434B in the flat road mode.
Fig. 3a is a three-dimensional structure view of the present invention in the road-leveling mode.
Fig. 3b is a perspective view showing a climbing mode according to the present invention.
Fig. 3c is a side view of the present invention when climbing stairs, and D is the distance between the gravity line and the supporting point.
Fig. 3d shows that the present invention has a very small autorotation radius R in the flat road mode.
Fig. 4a is a front view of the present invention.
Fig. 4b is a top view of the present invention.
FIG. 5a is a side view block diagram of the rear track balancing mechanism of the present invention and illustrates the components of the rear track balancing mechanism.
FIG. 5b is a side cross-sectional structural view of the rear track balance mechanism of the present invention in a climbing mode.
Figure 5c is a top view of the rear track balance mechanism of the present invention in a climbing mode.
FIG. 6 is a side view block diagram of the center track attachment of the present invention and illustrates the components of the center track attachment.
FIG. 7 is a side view block diagram of the front track extension mechanism of the present invention and showing the components of the front track attachment mechanism.
FIG. 8 is a side cross-sectional view of the center track attachment mechanism and the front track extension mechanism of the present invention in a climb mode.
Fig. 9 is a top view structural view of the middle track attachment mechanism and the front track extension mechanism in the climbing mode of the present invention.
Fig. 10a is a side cross-sectional view of the invention in a very narrow staircase corner, ready to climb a staircase.
Fig. 10b is a side cross-sectional view of the invention midway through the switch to climb mode.
Fig. 10c is a side cross-sectional view of the present invention when climbing stairs after completing the climb mode switch.
FIG. 11a is a schematic view of the present invention climbing stairs in an "insect shape".
Fig. 11b is a schematic view of the present invention climbing stairs in a straight line shape.
Fig. 12a is a schematic view of the present invention as it reaches the top of the ladder.
Fig. 12b is a schematic view of the present invention when switching to level road mode is completed on the top of the ladder.
Fig. 13 is a side view of the present invention with the addition of an anti-tip bar, rubber wheels and omni wheels.
FIG. 14 is a schematic view illustrating the present invention when walking on a rough road and crossing obstacles after attaching rubber wheels and omni-wheels.
Fig. 15 is a schematic view of the present invention climbing stairs with the addition of rubber wheels and omni wheels.
Description of reference numerals:
1-rear track balancing mechanism, 101-gyroscope, 102-upper bearing plate, 103-balancing push rod, 104-fifth synchronizing wheel, 105-fourth synchronizing wheel, 106-rear track, 107-rear fixing bracket;
2-middle crawler connecting mechanism, 201-driving shaft, 202-driven shaft, 203-middle crawler, 204-driving mechanism, 205-mode switching push rod, 206-fixed shaft, 207-driving wheel, 208-third synchronizing wheel and 209-middle fixed bracket;
3-a front track extending mechanism, 301-a first synchronizing wheel, 302-a second synchronizing wheel, 303-a front track, 304-an extending track push rod and 305-a front fixing support;
4-wall, 5-supporting point, 6-omnidirectional wheel, 7-rubber wheel and 8-anti-turning device.
Detailed Description
The technical solutions of the present invention will be described in detail with reference to the accompanying drawings, and it is obvious that the described embodiments are not all embodiments of the present invention, and all other embodiments obtained by those skilled in the art without any inventive work belong to the protection scope of the present invention. It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 3a and 3b and fig. 4a and 4b, the present invention provides a crawler-type folding stair-climbing mechanism, which comprises a front crawler extension mechanism 3, a middle crawler connecting mechanism 2, and a rear crawler balance mechanism 1, wherein the rear end of the front crawler extension mechanism 3 is rotatably connected with the front end of the middle crawler connecting mechanism 2 through a driving shaft 201, and the rear end of the middle crawler connecting mechanism 2 is rotatably connected with the front end of the rear crawler balance mechanism 1 through a driven shaft 202;
the front crawler extension mechanism 1 comprises two groups of front crawler running assemblies, each front crawler running assembly comprises a first synchronizing wheel 301, a second synchronizing wheel 302 and a front crawler 303 surrounding the first synchronizing wheel 301 and the second synchronizing wheel 302, and the first synchronizing wheel 301 is arranged on the driving shaft 201; the middle-track connecting mechanism 2 comprises two groups of middle-track running assemblies, each group of middle-track running assemblies comprises a driving wheel 207, a third synchronizing wheel 208 and a middle track 203 which surrounds the driving wheel 207 and the third synchronizing wheel 208, the driving wheel 207 is arranged on the driving shaft 201, and the third synchronizing wheel 208 is arranged on the driven shaft 202; the rear track balance mechanism 1 comprises two groups of rear track running assemblies, each rear track running assembly comprises a fourth synchronizing wheel 105, a fifth synchronizing wheel 104 and a rear track 106 which surrounds the fourth synchronizing wheel 105 and the fifth synchronizing wheel 104, and the fourth synchronizing wheel 105 is arranged on the driven shaft 202;
the middle crawler connecting mechanism 2 further comprises a driving mechanism 204, and the driving mechanism 204 drives the driving shaft 201 to rotate.
In this embodiment, the subassembly is gone to the track in two sets of is located two sets of back tracks and is gone the subassembly inboard, and the subassembly is gone to the track with two sets of preceding tracks of going to the subassembly and is located same driving track behind the both sides. When climbing stairs, the front crawler traveling assembly, the middle crawler traveling assembly and the rear crawler traveling assembly are extended to complete climbing, and when the climbing stair climbs on a flat road, as shown in fig. 3d, the folding type crawler traveling assembly can be folded, the occupied length in the traveling direction is reduced to 65 cm, and the narrow ladder room with the width of only 80 cm can be steered by rotating with the radius of R.
In another embodiment of the present invention, as shown in fig. 5a, 5b and 5c, the rear track balancing mechanism 1 further includes a rear fixing bracket 107 and an upper supporting mechanism, the rear fixing bracket 107 is disposed between two sets of rear track traveling assemblies to keep the rear track traveling assemblies on the left and right sides at the same level, and the upper supporting mechanism is disposed on the rear fixing bracket 107.
The upper supporting mechanism comprises an upper supporting plate 102 and a balance push rod 103, one end of the upper supporting plate 102 is rotatably connected with the rear fixing support 107, and the balance push rod 103, the upper supporting plate 102 and the rear fixing support 107 form a triangle; one end of the balance push rod 103 is hinged to the upper supporting plate 102, the other end of the balance push rod 103 is hinged to the rear fixing support 107, and the balance push rod 103 can be an electric push rod or a hydraulic push rod, and can also be other devices capable of achieving telescopic motion.
The upper supporting plate 102 can be provided with a seat, a cargo carrying box, a mechanical arm, a monitor or other additional equipment, so that the upper supporting plate 102 is a load-carrying part, as shown in fig. 3c, when climbing stairs, a vertical dotted line on the right side in the figure is a gravity center line, a vertical dotted line on the left side in the figure is a vertical line of a supporting point, and D is a horizontal distance between the gravity center line and the supporting point.
The upper bearing plate 102 is provided with a gyroscope 101, and the gyroscope 101 is connected with the balance push rod 103 in a wired or wireless mode. The gyroscope 101 can be an electronic type or a mechanical type structure, when the gyroscope 101 senses that the upper supporting plate 102 inclines, the gyroscope 101 sends an instruction to the control system, and the control system controls the balance push rod 103 to extend or shorten; when the upper bearing plate 102 inclines forwards, the balance push rod 103 is extended, and when the upper bearing plate 102 inclines backwards, the balance push rod 103 is shortened, so that the upper bearing plate 102 is kept stable finally, and the safety of carrying is further improved.
Specifically, the rear crawler traveling assembly comprises a left baffle and a right baffle which are arranged in parallel, a driven shaft 202 and a plurality of short shafts are arranged between the left baffle and the right baffle, the fourth synchronous wheel 105 is fixed on the driven shaft 202 through a bearing, and the driven shaft 202 extends out of one side of the left baffle or the right baffle and is connected to the middle crawler traveling assembly; the fifth synchronizing wheel 104 is fixed on the short shaft through a bearing, a plurality of auxiliary wheels are arranged between the fourth synchronizing wheel 105 and the fifth synchronizing wheel 104, specifically three auxiliary wheels with slightly smaller radius are arranged on one side contacting the ground, and two auxiliary wheels with slightly larger radius are arranged on the other side, so that the track is prevented from sinking inwards to reduce the walking power.
As shown in fig. 6, 8 and 9, the middle-track connecting mechanism 2 further includes a middle fixing bracket 209 for keeping the middle-track traveling assemblies on the left and right sides at the same level, the middle fixing bracket 209 is disposed between the two middle-track traveling assemblies, the middle fixing bracket 209 is fixedly connected with the two middle-track traveling assemblies, and the middle fixing bracket 209 is provided with the two driving mechanisms 204. The driving mechanism 204 is a right-angle speed reducing motor, and an output shaft of the right-angle speed reducing motor on one side is connected with the driving shaft 201 on the corresponding side. The right-angle speed reducing motor drives the driving shaft 201 to rotate, the rotation of the driving shaft 201 drives the driving wheel 207 and the first synchronizing wheel 301 to rotate, the power of the driving wheel 207 drives the third synchronizing wheel 208 to rotate through the middle crawler 203, and meanwhile, the power of the first synchronizing wheel 301 drives the second synchronizing wheel 302 to rotate through the front crawler 303; the rotation of the third synchronizing wheel 208 drives the driven shaft 202 to rotate, the rotation of the driven shaft 202 drives the fourth synchronizing wheel 105 to rotate, and the rotation of the fourth synchronizing wheel 105 drives the fifth synchronizing wheel 104 to rotate through the rear crawler 106; further, the power generated by the driving mechanism 204 drives the front crawler 303, the middle crawler 203 and the rear crawler 106 to rotate simultaneously, so that the whole stair climbing mechanism is driven to run.
The middle crawler traveling assembly further comprises a left baffle and a right baffle which are arranged in parallel, a driving shaft 201 and a driven shaft 202 are arranged between the left baffle and the right baffle, a plurality of short shafts are arranged between the driving shaft 201 and the driven shaft 202, and a plurality of auxiliary wheels are arranged on the short shafts. The middle crawler connecting mechanism 2 further comprises a fixed shaft 206, the fixed shaft 206 is arranged between the two middle crawler traveling assemblies, and the fixed shaft 206 is fixedly connected with the two middle crawler traveling assemblies; a mode switching push rod 205 is hinged on the fixed shaft 206, and the rear end of the mode switching push rod 205 is hinged on the rear fixed bracket 107. The mode switching push rod 205 can be an electric push rod or a hydraulic push rod, or other devices capable of realizing telescopic motion, when the device needs to run on a flat road, the mode switching push rod 205 is shortened, so that the distance between the middle fixing support 209 and the rear fixing support 107 is shortened, and the whole stair climbing mechanism is shortened; when it is necessary to climb stairs, the mode switching push rod 205 is extended so that the distance between the middle fixing bracket 209 and the rear fixing bracket 107 is extended, thereby extending the whole stair climbing mechanism.
As shown in fig. 7-9, the front track extension mechanism 3 further includes a front fixing bracket 305, which is responsible for keeping the front track running components on the left and right sides at the same level; the front fixed bracket 305 is arranged between the two front crawler traveling assemblies and is fixedly connected with the two front crawler traveling assemblies; the front fixed bracket 305 is hinged with an extended track push rod 304, and the other end of the extended track push rod 304 is hinged with the fixed shaft 206. The extension track push rod 304 is an electric push rod or a hydraulic push rod, and can also be other equipment capable of realizing telescopic motion; when the stair climbing mechanism needs to run on a flat road, the extended track push rod 304 is shortened, so that the distance between the middle fixing bracket 209 and the front fixing bracket 305 is shortened, and the whole stair climbing mechanism is shortened; when it is desired to climb stairs, the extended track push rod 304 is extended, so that the distance between the middle fixing bracket 209 and the front fixing bracket 305 is extended, thereby extending the whole stair climbing mechanism.
The front crawler traveling assembly comprises a left baffle and a right baffle which are arranged in parallel, a driving shaft 201 and a plurality of short shafts are arranged between the left baffle and the right baffle, the first synchronous wheel 301 is fixed on the driving shaft 201 through a bearing, and the driving shaft 201 extends out of one side of the left baffle or the right baffle and is connected to the middle crawler traveling assembly; the second synchronizing wheel 302 is fixed on the short shaft through a bearing, a plurality of auxiliary wheels are arranged between the first synchronizing wheel 301 and the second synchronizing wheel 302, specifically three auxiliary wheels with slightly smaller radius are arranged on one side contacting the ground, and two auxiliary wheels with slightly larger radius are arranged on the other side, so that the track is prevented from sinking inwards to reduce the walking power.
In another embodiment of the present invention, the crawler-type folding stair-climbing mechanism further includes a control system (not shown in the figure), the control system is connected with the gyroscope 101, the balance push rod 103, the mode switching push rod 205, and the extension crawler push rod 304 in a wired or wireless manner, and the control system controls the actions of the balance push rod 103, the mode switching push rod 205, and the extension crawler push rod 304, so as to control the extension state of the crawler-type folding stair-climbing mechanism.
The driving process of the invention is as follows:
1. initial state: as shown in fig. 10a, before climbing stairs, i.e. at a corner of a staircase, the present invention adopts a level road mode, and at this time, the mode switching push rod 205 and the extended track push rod 304 are both in a contracted state, so that the whole stair climbing mechanism is contracted to the minimum, and is in an N-shape with a backward inclination, and can rotate in a space of 80 cm. Upon approaching the stairs, the rear tracks 106 are proximate the steps. Then, as shown in fig. 10b, after the invention is switched to the climbing mode, the mode switching push rod 205 and the extended track push rod 304 are extended simultaneously, and the climbing mechanism starts to extend; simultaneously, the drive mechanism 204 is activated to begin climbing the stairs. After climbing stairs, the whole mechanism inclines along with the stairs, and after the gyroscope 101 senses that the upper bearing plate 102 inclines, the control system controls the balance push rod 103 to extend or shorten, so that the upper bearing plate 102 is kept horizontal. As shown in fig. 10c, the present invention completes the switching of the climbing mode and starts to climb the stairs.
2. Climbing stairs: when climbing stairs, the invention can change the shape of the invention when climbing stairs by using the extension lengths of the mode switching push rod 205 and the extension crawler push rod 304 to adapt to different steps, so that the climbing capability is more elastic, and the safety and the practicability of the invention are greatly improved. Fig. 11a shows that the stair climbing mechanism adopts an "insect shape" to climb the stairs, that is, in the climbing process, the mode switching push rod 205 and the extension track push rod 304 are continuously extended or shortened, so that the whole stair climbing mechanism is cyclically switched between extension and shortening, and the stair climbing process is realized. As shown in fig. 11b, the stair climbing device adopts a straight-line shape to climb the stairs, that is, in the climbing process, the mode switching push rod 205 is always in the extended state, so that the middle crawler traveling assembly and the front crawler traveling assembly are in a straight line, and the extended crawler push rod 304 can adjust the extended state according to the shape of the steps to realize the stair climbing process.
3. Reaching the ladder top: as shown in fig. 12a, the invention starts to switch to the level road mode after reaching the top of the ladder, and the mode switching does not need to be started after the whole stair climbing mechanism completely climbs the top of the ladder, so the mode switching can be carried out between the ladders of 80 cm. When the mode is switched, the mode switching push rod 205 and the extended crawler push rod 304 are simultaneously shortened, the gyroscope 101 senses the inclination information of the upper bearing plate 102, and the control system controls the expansion length of the balance push rod 103 according to the information sensed by the gyroscope 101, so that the upper bearing plate 102 is kept horizontal. Fig. 12b is a side view of the present invention after it has been fully switched to the level road mode.
In order to automatically control the expansion state of the present invention, a camera is provided on the support plate 102 to capture a front image, and the control system adjusts the climbing mechanism to be in a level road mode or a climbing mode according to the front image captured by the camera.
In another embodiment of the present invention, in order to make the present invention more flexible and freely travel on a smooth road surface, as shown in fig. 13, omni wheels 6 are provided on both sides of the front crawler extension mechanism 3, and the omni wheels 6 are provided outside the second synchronizing wheel 302. The rubber wheel 7 is arranged on the outer side of the fourth synchronizing wheel 105.
In order to further increase the load stability of the invention, an anti-overturn device 8 can be arranged on the rear fixing support 107, the anti-overturn device 8 comprises a motor, an anti-overturn rod and a roller, the motor is arranged on the rear fixing support 107, the motor drives the anti-overturn rod to rotate, the anti-overturn rod is arranged in an inclined manner, and the roller is arranged at one end of the anti-overturn rod close to the ground; when climbing stairs, the motor drives the anti-turnover rod to rotate, and the anti-turnover rod rotates on a plane vertical to the driven shaft 202 until the driving of the rear crawler driving assembly is not influenced; when the climbing stair climbing vehicle runs on a flat road, the motor drives the anti-overturning rod to rotate to an inclined state, and the roller is used for providing a supporting point for the stair climbing mechanism so as to prevent the load from being overturned when deviating from the upper bearing plate.
As shown in fig. 14, when the present invention encounters rough road or an obstacle, an accommodating space is formed between the front crawler 303 and the middle crawler 203 to accommodate the obstacle, and the upper support plate 102 is kept horizontal in combination with the gyroscope 101 to smoothly pass through the obstacle. Fig. 15 is a schematic view of the invention when climbing stairs after adding rubber wheels 7 and omni wheels 6, and the rubber wheels 6 and 7 have certain influence on the climbing ability, but in practical tests, the invention can also safely climb stairs as long as the steps have enough friction.
Although the present invention has been described in detail with reference to examples, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the present invention.
Claims (10)
1. A crawler-type folding stair climbing mechanism is characterized by comprising a front crawler extending mechanism, a middle crawler connecting mechanism and a rear crawler balancing mechanism, wherein the rear end of the front crawler extending mechanism is rotatably connected with the front end of the middle crawler connecting mechanism through a driving shaft, and the rear end of the middle crawler connecting mechanism is rotatably connected with the front end of the rear crawler balancing mechanism through a driven shaft;
the front crawler extension mechanism comprises two groups of front crawler running assemblies, each front crawler running assembly comprises a first synchronizing wheel, a second synchronizing wheel and a front crawler surrounding the first synchronizing wheel and the second synchronizing wheel, and the first synchronizing wheel is arranged on the driving shaft; the middle crawler connecting mechanism comprises two groups of middle crawler running assemblies, each middle crawler running assembly comprises a driving wheel, a third synchronizing wheel and a middle crawler surrounding the driving wheel and the third synchronizing wheel, the driving wheel is arranged on the driving shaft, and the third synchronizing wheel is arranged on the driven shaft; the rear track balancing mechanism comprises two groups of rear track running assemblies, each rear track running assembly comprises a fourth synchronizing wheel, a fifth synchronizing wheel and a rear track surrounding the fourth synchronizing wheel and the fifth synchronizing wheel, and the fourth synchronizing wheel is arranged on the driven shaft;
the middle crawler connecting mechanism further comprises a driving mechanism, and the driving mechanism drives the driving shaft to rotate.
2. The folding crawler stair climbing mechanism of claim 1, wherein the rear track counterbalancing mechanism further comprises a rear fixed bracket disposed between the two sets of rear track travel assemblies and an upper bolster mechanism disposed above the rear fixed bracket.
3. The crawler-type folding stair climbing mechanism according to claim 2, wherein the upper supporting mechanism comprises an upper supporting plate and a balance push rod, one end of the upper supporting plate is rotatably connected with the rear fixing bracket, and the balance push rod, the upper supporting plate and the rear fixing bracket form a triangle; one end of the balance push rod is hinged with the upper bearing plate, and the other end of the balance push rod is hinged with the rear fixing support.
4. The crawler-type folding stair climbing mechanism according to claim 3, wherein a gyroscope is arranged on the upper supporting plate, and the gyroscope is connected with the balance push rod in a wired or wireless mode.
5. The crawler-type folding stair climbing mechanism according to claim 1, wherein the rear crawler traveling assembly further comprises a left baffle and a right baffle arranged in parallel, the fourth synchronizing wheel and the fifth synchronizing wheel are arranged between the left baffle and the right baffle, and a plurality of auxiliary wheels are arranged between the fourth synchronizing wheel and the fifth synchronizing wheel.
6. A folding crawler stair climbing mechanism according to claim 1 or 2, wherein the middle crawler attachment mechanism further comprises a middle fixed bracket disposed between the two middle crawler traveling assemblies, the middle fixed bracket being fixedly connected to the two middle crawler traveling assemblies, the middle fixed bracket being provided with the driving mechanism.
7. The crawler-type folding stair climbing mechanism according to claim 6, wherein the middle crawler attachment mechanism further comprises a fixed shaft disposed between the two middle crawler travel assemblies, the fixed shaft being fixedly connected to the two middle crawler travel assemblies; the fixed shaft is hinged with a mode switching push rod, and the rear end of the mode switching push rod is hinged with the rear fixed support.
8. The crawler-type folding stair climbing mechanism according to claim 7, wherein the front crawler extension mechanism further comprises a front fixing bracket disposed between and fixedly connected to the two front crawler travel assemblies; the front fixed support is hinged with an extending crawler push rod, and the other end of the extending crawler push rod is hinged with the fixed shaft.
9. The crawler-type folding stair climbing mechanism according to claim 1, further comprising a control system.
10. The crawler-type folding stair climbing mechanism according to claim 1, wherein omnidirectional wheels are arranged on two sides of the front crawler extension mechanism, and the omnidirectional wheels are fixed on the front crawler traveling assembly; rubber wheels are arranged at two ends of the driven shaft.
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| CN202210134147.4A CN114469550B (en) | 2022-02-14 | 2022-02-14 | Crawler-type folding stair climbing mechanism |
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| CN202210134147.4A CN114469550B (en) | 2022-02-14 | 2022-02-14 | Crawler-type folding stair climbing mechanism |
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| CN114469550B (en) | 2022-08-26 |
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