CN117838450A

CN117838450A - Intelligent manned stair climbing equipment

Info

Publication number: CN117838450A
Application number: CN202410154400.1A
Authority: CN
Inventors: 姜智星
Original assignee: Launch Design Inc ltd
Current assignee: Launch Design Inc ltd
Priority date: 2024-02-04
Filing date: 2024-02-04
Publication date: 2024-04-09

Abstract

The invention provides intelligent manned stair climbing equipment, which belongs to the field of manned traveling equipment, and particularly relates to intelligent manned stair climbing equipment, wherein parameters to be balanced are converted into acting forces through a controller through a front balancing motor, a rear balancing motor support rod and a left balancing motor support rod and a right balancing motor support rod, the acting forces are transmitted to a main supporting beam and transmitted to a seat system, so that the seat can rotate by taking a universal connector as a datum point, in addition, the acting forces are transmitted to a leg supporting thrust bracket through a cross shaft of a universal joint, so that a leg supporting main adjusting rod is pushed, when the leg supporting main adjusting rod is pushed to bear the upward thrust of the leg supporting thrust bracket, the leg supporting portal frame is pushed to rotate, the leg supporting leg adjusting rod is linked, the whole leg supporting system is lifted, the level of the seat system can be ensured no matter what climbing angle the whole equipment is, and the safety distance between the leg supporting system and the ground is ensured. The invention has high trafficability and safety, and can ensure the comfort and safety of passengers.

Description

Intelligent manned stair climbing equipment

Technical Field

The invention belongs to the field of manned traveling equipment, and particularly relates to intelligent manned stair climbing equipment.

Background

The current aging is more and more serious, and many old people have higher years, so that the old people are more difficult to go up and down stairs, particularly, the old people with leg diseases can hardly go up and down stairs, and automatic stair climbing equipment is a current method for solving the problems.

The existing stair climbing equipment is also provided with a stair climbing machine capable of adjusting the angle of a seat, but the angle between the crawler type stair climbing mechanism and the mounting frame body is adjusted simultaneously by adjusting the angle of the seat, the angle between the seat and the mounting frame body is adjusted, the seat is parallel to the ground by overlapping the two angles, and the motion trail of the seat is difficult for a passenger to predict by adjusting the stair climbing equipment in the mode, so that the stair climbing equipment cannot be balanced according to the posture of a chassis, the seat cannot be kept level, the comfort and the unstable gravity center of the passenger are ensured when the stair climbing equipment is upstairs or downstairs, and the comfort and the safety of the stair climbing equipment cannot be ensured.

Disclosure of Invention

In view of the above deficiencies of the prior art, an object of the present invention is to provide an intelligent manned stair climbing device.

The invention provides intelligent manned stair climbing equipment which comprises a balance system, a leg support system and a seat system, wherein the balance system is connected with the leg support system;

the balance system comprises a main support beam, a balance motion controller, an inertia measurement unit, a left balance motor, a right balance motor, a left balance motor support rod, a right balance motor, a front balance motor, a back balance motor and a front balance motor support rod, wherein the first ends of the left balance motor, the right balance motor and the front balance motor are connected with the beam body of the main support beam through the left balance motor support rod, the first ends of the front balance motor and the back balance motor are connected with the beam body of the main support beam through the front balance motor support rod and the back balance motor support rod, the inertia measurement unit is used for detecting the inclination angle change of the main support beam and the seat system, the inertia measurement unit is connected with the first ends of the balance motion controller, and the second ends of the balance motion controller are respectively connected with the second ends of the front balance motor, the back balance motor and the second ends of the left balance motor and the right balance motor;

the bottom end of the seat system is connected with the top end of the main supporting beam;

the lower end of the main supporting beam is provided with a universal connector;

the leg support system comprises a leg support portal frame, a leg support thrust support, a leg support foot supporting plate adjusting rod and a leg support main adjusting rod, wherein two ends of the leg support portal frame are respectively and rotatably connected with two handrail sides of the seat system, a first end of the leg support thrust support is hinged to the universal connector and can rotate along a cross shaft transverse shaft of the universal connector, a first end of the leg support main adjusting rod is hinged to a second end of the leg support thrust support, a second end of the leg support main adjusting rod is hinged to a main frame body of the leg support portal frame, a leg support foot support is connected to the main frame body of the leg support portal frame through a leg support main rod, a first end of the leg support foot supporting plate adjusting rod is hinged to the main frame body of the leg support portal frame, and a second end of the leg support foot supporting plate adjusting rod is hinged to the leg support foot support.

Further, the motor driving device further comprises a power system, the power system comprises a left driving motor, a right driving motor, a driving motor controller and a battery, the first end of the left driving motor and the first end of the right driving motor are respectively connected with the first end of the driving motor controller, and the second end of the driving motor controller is connected with the battery.

Further, the power system further comprises a control handle, the control handle is arranged on the armrest of the seat system, and the control handle is connected with the third end of the driving motor controller.

Further, the chassis system comprises a track assembly and a chassis frame body used for bearing the balance system and the power system, the track assembly comprises a left track device and a right track device which are arranged on two sides of the chassis frame body in parallel, the left track device is connected with the second end of the left driving motor, and the right track device is connected with the second end of the right driving motor.

Further, the chassis frame body comprises a universal joint supporting seat for bearing the universal connector, and the universal connector is connected with the universal joint supporting seat.

Further, the left crawler device has the same structure as the right crawler device, and comprises a crawler, a plurality of bearing supporting wheels arranged on the inner side of the crawler attached to the advancing surface, a tensioning wheel arranged on the inner side of the crawler in the advancing direction, a plurality of upper supporting wheels arranged on the inner side of the crawler attached to the advancing surface and deviating from the crawler, and a driving wheel arranged on the inner side of the crawler deviating from the advancing direction.

Further, the driving wheel in the left crawler device is connected with the left driving motor through a driving shaft, and the driving wheel in the right crawler device is connected with the right driving motor through a driving shaft.

Further, the number of the bearing support wheels in the left crawler device is five, and the number of the upper support wheels in the left crawler device is two.

Further, the seat system also comprises a seat, armrests are respectively arranged at two sides of the seat, and the bottom center of the seat is connected with the top end of the main supporting beam.

Further, the multifunctional lamp comprises an accessory system, wherein a storage grid is arranged in the accessory system, and a light device is further arranged in the accessory system.

The invention has the following beneficial effects:

according to the intelligent manned stair climbing equipment provided by the invention, the inclination angle of the chassis and the inclination angle of the seat can be monitored through the balance system, and then the overall balance of the equipment is realized through the universal joints of the left and right balance devices, the front and rear balance devices and the main support beams, the two connecting rods connected with the foot support plates and the seat system connected with one connecting rod and the main support beams, so that the sitting posture of a passenger is kept horizontal.

The intelligent manned stair climbing equipment provided by the invention has strong climbing capability, and is provided with a high-performance crawler chassis so as to provide high trafficability; in addition, the safety is high, the horizontal state of the seat at any time and the stable gravity center of the equipment can be ensured, and passengers can feel comfortable and safe; meanwhile, the equipment can also intelligently and automatically run, and the comfort and safety of the stair climbing equipment can be ensured as a whole.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views. It is apparent that the drawings in the following description are only some of the embodiments described in the embodiments of the present invention, and that other drawings may be obtained from these drawings by those of ordinary skill in the art.

Fig. 1 is a schematic diagram of the overall structure of an intelligent manned stair climbing device according to an embodiment of the present invention;

FIG. 2 is a front side view of a balance system for an intelligent manned stair climbing device according to an embodiment of the present invention;

FIG. 3 is a rear side view of a balance system for an intelligent manned stair climbing device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a leg support system of an intelligent manned stair climbing device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a power system of an intelligent manned stair climbing device according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a chassis system of an intelligent manned stair climbing device according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an accessory system for an intelligent manned stair climbing device according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a gesture of an intelligent manned stair climbing device according to an embodiment of the present invention.

Reference numerals:

1. a balancing system; 2. a leg support system; 3. a seating system; 4. a power system; 5. a chassis system; 6. an accessory system;

11. a main support beam; 12. a balance motion controller; 13. an inertial measurement unit; 14. a motor is balanced left and right; 15. left and right balance motor support rods; 16. a front-rear balance motor; 17. front and back balance motor support rod; 18. a universal connector;

21. leg support portal frame; 22. a leg support thrust bracket; 23. leg supporting foot supporting plate adjusting rod; 24. a leg support main adjustment lever; 25. a leg support main lever; 26. a leg support foot support;

31. an armrest; 32. a seat;

41. a left driving motor; 42. a right drive motor; 43. a drive motor controller; 44. a battery; 45. a control handle;

51. a track assembly; 52. A chassis frame;

511. a left crawler device; 512. A right track device;

521. a universal joint support seat;

5111. a track; 5112. a bearing support wheel; 5113. a tensioning wheel; 5114. an upper support wheel; 5115. a driving wheel;

61. a storage compartment; 62. a lighting device.

Detailed Description

In order to make the technical solutions of the embodiments of the present invention better understood by those skilled in the art, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, shall fall within the scope of the invention.

In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.

In the description of the present invention, it should be noted that unless explicitly stated and limited otherwise, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," and "coupled" are to be broadly interpreted, as referring to either a fixed connection, a rotational articulation, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of methods and systems that are consistent with aspects of the invention as detailed in the accompanying claims.

Embodiments of the present invention are described below in conjunction with fig. 1-8.

The invention provides intelligent manned stair climbing equipment, which is shown in figure 1 and comprises a balance system 1, a leg support system 2, a seat system 3, a power system 4 and a chassis system 5;

the equipment provided by the invention adopts the caterpillar chassis to go upstairs and downstairs and go downslope, and simultaneously wheel type wheels can be added for flat road running, and the caterpillar chassis can also be used for flat road running.

The driving device in the apparatus may be driven by a motor, an internal combustion engine or a hydraulic pressure including but not limited to a broad sense.

The electric control device of the equipment adopts a whole set of operation processing system comprising but not limited to ARM, DSP, singlechip and the like CPU, MPU, MCU and peripheral equipment thereof or other components based on digital technology and algorithm to control the operation of a motor or other executive components (comprising but not limited to components such as a linear motor, an electromagnet, a hydraulic cylinder, a cylinder and the like), and the motor operation or other components are used for driving a mechanism to keep a balance system of a seat system always kept horizontal so as to ensure that the seat always keeps a longitudinal horizontal state or always keeps a transverse horizontal state or always keeps a longitudinal and transverse horizontal state at the same time, thereby ensuring the comfort and the safety of passengers.

Accessory systems in the device perform auxiliary functions of the device such as lighting, warning, storage, etc.

The seat system in the device is used for supporting the passenger to sit, and the seat system is not a narrow seat, but a set of bearing systems which can enable the passenger to sit and ensure the comfort and safety of the passenger to sit, and comprises a cushion framework and the like.

The leg support system in the device protects the legs and feet from knocks and ensures the comfort of the lower limbs, and the leg support system refers to a mechanism which can support the lower limbs and protect the lower limbs from injury during the process of sitting and getting on and off the passengers.

As shown in fig. 2 to 3, the balance system 1 includes a main support beam 11, a balance motion controller 12, an inertial measurement unit 13, a left and right balance motor 14, a left and right balance motor strut 15, a front and rear balance motor 16, and a front and rear balance motor strut 17, wherein a first end of the left and right balance motor 14 is connected to a beam body of the main support beam 11 through the left and right balance motor strut 15, a first end of the front and rear balance motor 16 is connected to a beam body of the main support beam 11 through the front and rear balance motor strut 17, the inertial measurement unit 13 is disposed on the main support beam 11 or the seat system 3 and is used for detecting a change of an inclination angle of the seat system 3 and the main support beam 11, the inertial measurement unit 13 is connected to a first end of the balance motion controller 12, and a second end of the balance motion controller 12 is connected to a second end of the front and rear balance motor 16 and a second end of the left and right balance motor 14, respectively;

it should be noted that, the left and right balancing motor struts and the front and rear balancing motor struts in the balancing system all comprise two branch struts, each component strut is connected in an L-shape, and in addition, the connection points of the left and right balancing motor struts and the front and rear balancing motor struts with the main supporting beam are as shown in fig. 2 to 3, and are two adjacent sides of the main supporting beam body.

In addition, the inertial measurement unit can be arranged on the main supporting beam or in the seat system, that is, the inertial measurement unit can be arranged at any suitable position and arrangement angle of the seat system and the main supporting beam in the intelligent manned stair climbing device, and the purpose of the inertial measurement unit is to move together with the seat system to detect the posture of the seat system so as to determine whether the seat is in a horizontal state, and of course, in order to achieve the functions, the inertial measurement unit can be arranged to work in cooperation with one or more of a gyroscope, an inclination sensor, an accelerometer and a magnetometer, and transmit a detection signal to a controller to control the motor to act when the seat system generates a horizontal error, so that the seat is always in the horizontal posture, and comfort of passengers and stability of the center of gravity are ensured.

The bottom end of the seat system 3 is connected with the top end of the main support beam 11;

the lower end of the main supporting beam 11 is provided with a universal connector 18;

as shown in fig. 4, the leg support system 2 includes a leg support gantry 21, a leg support thrust bracket 22, a leg support foot support plate adjusting lever 23, and a leg support main adjusting lever 24, wherein two ends of the leg support gantry 21 are rotatably connected to two armrest sides of the seat system 3, a first end of the leg support thrust bracket 22 is hinged to the universal connector 18 and is rotatable along a cross axis of the universal connector 18, a first end of the leg support main adjusting lever 24 is hinged to a second end of the leg support thrust bracket 22, a second end of the leg support main adjusting lever is hinged to a main frame body of the leg support gantry, a main frame body of the leg support gantry 21 is further connected to a leg support foot 26 through a leg support main lever 25, a first end of the leg support foot support adjusting lever 23 is hinged to a main frame body of the leg support gantry 21, and a second end of the leg support foot adjusting lever 23 is hinged to the leg support foot 26.

In some embodiments, leg supporting lifting rollers can be further arranged, the two end supports are welded or screwed on the chassis and move together with the lifting of the chassis, and when the chassis is lifted at this time, the leg supporting lifting rollers move upwards to lift the leg supporting thrust supports to move upwards, so that the whole system is pushed to lift the feet, and the foot is prevented from being knocked and injured.

The rear end of the leg support thrust bracket is hinged with the cross shaft of the universal connector through the bracket hole and is coaxial with the cross shaft transverse shaft, the leg support system can rotate along the cross shaft transverse shaft, in addition, the leg support system can also rotate along the cross shaft longitudinal axis along with the seat system according to the inclination angle change of the seat system, the front end of the leg support thrust bracket is hinged with the leg support main adjusting rod, and when the leg support lifting roller lifts the leg support thrust bracket, the leg support main adjusting rod can be jacked to move upwards.

In addition, the lower end of the leg support main adjusting rod is hinged with the leg support main adjusting rod, the upper end of the leg support main adjusting rod is hinged with the leg support portal frame, and when the leg support thrust support is pushed upwards, the leg support portal frame is pushed to rotate, so that the whole system is lifted.

In addition, the leg support portal frame is connected with the leg support main rod into a whole and is hinged with the seat framework assembly, and can rotate around the hinge hole. The lower end of the leg supporting main rod is hinged with the leg supporting foot support, and the leg supporting portal frame and the leg supporting main rod are combined, so that the leg supporting foot support is rotatably lifted around the hinge hole of the leg supporting portal frame and the seat framework assembly under the upward thrust action of the leg supporting main adjusting rod.

Further, the leg supporting foot support is hinged with the leg supporting main rod and the leg supporting foot supporting plate adjusting rod, the leg supporting foot supporting plate adjusting rod is hinged with the leg supporting main adjusting rod, when the leg supporting main rod pushes the leg supporting foot support to ascend, the leg supporting foot supporting plate adjusting rod pulls the leg supporting foot support to basically keep a horizontal state, the foot and the leg are protected from being damaged by collision, and meanwhile comfort of the foot is guaranteed.

As shown in fig. 4, the power system 4 includes a left driving motor 41, a right driving motor 42, a driving motor controller 43, and a battery 44, wherein a first end of the left driving motor 41 and a first end of the right driving motor 42 are respectively connected to a first end of the driving motor controller 43, and a second end of the driving motor controller 43 is connected to the battery 44.

As shown in fig. 5, the power system 4 further includes a control handle 45, where the control handle 45 is disposed on the armrest 31 of the seat system, and the control handle 45 is connected to the third end of the driving motor controller 43.

It should be noted that, the control handle may also be set to be a wireless handle, signals such as forward and backward steering of the whole device are transmitted to the controller by the control handle or the remote control handle, the controller controls the steering and the rotating speed of the motor to drive the device to realize the forward, backward and steering functions, the battery is responsible for providing energy for the motor, and the device can also be driven by a generalized internal combustion engine or hydraulic pressure, and the connected harness is not shown in the diagram for transmitting energy and signals.

As shown in fig. 6, the chassis system 5 includes a track assembly 51 and a chassis frame 52 for carrying the balance system 1 and the power system 4, the track assembly 51 includes a left track device 511 and a right track device 512 that are parallel to each other and are disposed on two sides of the chassis frame 52, the left track device 511 is connected to the second end of the left driving motor 41, and the right track device 512 is connected to the second end of the right driving motor 42.

Further, the chassis frame 52 includes a gimbal support 521 for carrying the gimbal connector 18, and the gimbal connector 18 is connected to the gimbal support 521.

It should be noted that, the universal joint support is used for installing the universal joint of the seat system, accomplishes main bearing function, can also set up about balanced motor support in addition for install about balanced motor's installation and bearing function, can also set up about balanced motor support in addition and be used for installing around balanced motor's installation and bearing function.

Further, the left crawler device 511 has the same structure as the right crawler device 512, and the left crawler device 511 includes a crawler 5111, a plurality of load-bearing supporting wheels 5112 disposed on the inner side of the crawler 5111 and attached to the traveling surface, a tension wheel 5113 disposed on the inner side of the crawler 5111 in the advancing direction, a plurality of upper supporting wheels 5114 disposed on the inner side of the crawler 5111 and attached to the traveling surface and away from the crawler 5111, and a driving wheel 5115 disposed on the inner side of the crawler 5111 and away from the advancing direction, wherein the tension wheel 5113 is disposed above the load-bearing supporting wheels 5112.

In addition, in some embodiments, the tensioning wheel may be disposed in front of or behind the bearing support wheel, so as to adjust the tightness of the crawler belt.

Further, the driving wheels of the left crawler 511 and the right crawler 512 are connected to the left driving motor 41 and the right driving motor 42, respectively, via driving shafts.

In some embodiments, the driving wheels on two sides can be synchronously connected and rotated through the driving shafts, and when the intelligent manned stair climbing device turns, the intelligent manned stair climbing device can also be independently rotated to turn, so that the linkage system of the driving motor, the driving shafts and the driving wheels can be set to be that two driving motors are respectively connected with two driving wheels through the two driving shafts, and one driving motor can be also set to be connected with two driving wheels through the transmission mechanism.

Further, the number of the bearing support wheels 5112 in the left crawler 511 is five, and the number of the upper support wheels 5114 in the left crawler 511 is two.

In the invention, the left and right track system assemblies are respectively formed by the track, the track bearing support wheel assembly, the track upper support wheel assembly, the track tension wheel assembly, the bolt connecting piece and other accessories, and are used for completing bearing and driving functions.

The left and right crawler systems are connected left and right by four tray supporting beams to form a complete set of chassis system, of course, the number of the supporting beams can be increased or reduced according to the needs, the crawler of the chassis system adopts various forms and materials including but not limited to rubber crawler, metal crawler, composite material crawler and the like, the crawler chassis adopts a motor, and the chassis can also adopt a generalized internal combustion engine, an external combustion engine or hydraulic drive.

The driving force output by the equipment power system is transmitted to the driving wheels by the driving shafts, and the caterpillar tracks are driven by the driving wheels to move, so that the whole equipment is enabled to advance or retreat.

As shown in fig. 4, the seat system 3 further includes a seat 32, two sides of the seat 32 are respectively provided with armrests 31, and a bottom center of the seat 32 is connected with a top end of the main support beam 11.

The seat framework is used for connecting the main supporting beam and supporting loads, such as passengers or cargoes, and provides comfortable and safe riding guarantee for the passengers, and the seat framework is provided with a cushion and a back cushion which are fixed on or placed on the seat framework for improving the comfort of the passengers.

The main support beam is connected with the seat framework and the universal connector and is used for transmitting load to the chassis system and receiving thrust of the balance system, under the thrust of the balance system, the main support beam, the seat framework assembly and the load on the framework can continuously rotate along the left-right direction and the front-back direction of the universal joint shaft, the horizontal balance of the seat system is always kept, and the gravity center stability and riding comfort of the whole equipment are ensured. As shown in fig. 7, the accessory system 6 further comprises an accessory system 6, wherein a storage grid 61 is arranged in the accessory system 6, and the accessory system 6 is further provided with a light device 62.

More refined, the accessory system of the equipment can be composed of a rear left warning lamp, a rear right warning lamp, a right front lamp, a left handrail, a right handrail, an upper left storage box, an upper right storage box, a lower left storage box and the like, and the accessory system can complete auxiliary functions of the equipment, such as functions of illumination, warning, storage and the like.

When the intelligent manned stair climbing equipment provided by the invention is in operation, when the seat system is rocked, the inertial measurement unit generates signals, the signals are transmitted to the motion control processor, the motion control processor transmits control signals to the motor control unit, the motor control unit transmits the signals to the motor driver, and then the motor is driven to rotate according to set requirements, so that a preset control scheme and instructions are finally converted into expected mechanical motions, and accurate position control, speed control and acceleration and force control of the mechanical motions are realized. According to the actual inclination angles of the X axis (front and back, same below) and the Y axis (left and right, same below), the positions of the X axis and the Y axis are adjusted in real time, and finally the gesture balance of the two axes is controlled.

Motion control processor: and reading and processing data of the inertial measurement unit, and converting the data into signals which can be identified by the motor control unit. The motion control processor may use a complete set of arithmetic processing system including, but not limited to, ARM, DSP, single-chip microcomputer CPU, MPU, MCU and peripheral devices thereof or other digital technology and algorithm based control motor driver driving motor operation.

A motor driver: the motor driver is an actuator that converts electrical pulses into angular displacements. When the driver receives a pulse signal, the driver drives the motor to rotate in a set direction, so that the angular displacement can be controlled, and the purpose of accurate positioning is achieved; meanwhile, the speed and the acceleration of the rotation of the motor can be controlled, so that the purposes of speed regulation and positioning are achieved.

And (3) a motor: is a motor that converts an electrical pulse signal into angular displacement or linear displacement. When the driver receives the signal, the driver drives the motor to rotate according to the set requirement and can accurately position the motor; meanwhile, the rotating speed and the acceleration of the motor can be controlled, and the aim of speed regulation is fulfilled. The system adjusts the positions of the X axis and the Y axis in real time according to the actual inclination angles of the X axis and the Y axis, and finally controls the gesture balance of the two axes, thereby ensuring the level of the seat system.

The seat is rocked to generate a horizontal error, the sampling detector can detect the horizontal change, the sampling detector comprises but is not limited to a gyroscope, an inclination angle sensor and other devices, the signals detected by the sampling detector are transmitted to a motion control processor, the motion control processor has operation capability, the received signals are converted into motor control signals or control signals of other execution mechanisms, and the other execution mechanisms comprise but are not limited to components such as a linear motor, an electromagnet, a hydraulic cylinder, a cylinder and the like.

And after receiving the control signal sent by the control processor, the motor driver drives the motor to operate. The motor driver may also be other actuator drivers including, but not limited to, drivers such as linear motors, electromagnets, hydraulic cylinders, air cylinders, etc., and the drivers may also be incorporated with the motion controller as a set of control drive units. The motor operates to control the seat platform to remain level, and the motor may also be other actuators including, but not limited to, components such as linear motors, electromagnets, hydraulic cylinders, air cylinders, and the like.

As shown in fig. 8, when climbing on an inclined plane, the intelligent manned stair climbing device provided by the invention can keep the level of a seat through the linkage of a plurality of systems, meanwhile, the leg support system can lift, so that the collision between the legs and feet of a passenger is avoided, and the gravity center position of the whole device is kept in an auxiliary manner, so that the balanced posture is kept.

In operation, the front and rear balance motor and the left and right balance motor convert parameters to be balanced into acting forces through the controller, and the acting forces are transmitted to the main support beam through the front and rear balance motor support rods and the left and right balance motor support rods, so that a seat system can rotate by taking a universal connector as a datum point to keep the balance of the seat.

Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the embodiments of the present invention, and are not limiting. Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the invention, and any changes and substitutions that would be apparent to one skilled in the art are intended to be included within the scope of the present invention.

Claims

1. An intelligent manned stair climbing device is characterized by comprising a balance system, a leg support system and a seat system;

2. The intelligent manned stair climbing device according to claim 1, further comprising a power system, wherein the power system comprises a left drive motor, a right drive motor, a drive motor controller and a battery, wherein a first end of the left drive motor and a first end of the right drive motor are respectively connected with the first end of the drive motor controller, and a second end of the drive motor controller is connected with the battery.

3. The intelligent manned stair climbing device according to claim 2, wherein the power system further comprises a control handle disposed on an armrest of the seating system, the control handle connected to a third end of the drive motor controller.

4. The intelligent manned stair climbing device according to claim 2, further comprising a chassis system, wherein the chassis system comprises a track assembly and a chassis frame body for carrying the balance system and the power system, the track assembly comprises a left track device and a right track device which are arranged on two sides of the chassis frame body in parallel, the left track device is connected with the second end of the left driving motor, and the right track device is connected with the second end of the right driving motor.

5. The intelligent manned stair climbing device according to claim 4, wherein the chassis frame includes a gimbal support for carrying the gimbal connector, the gimbal connector being connected to the gimbal support.

6. The intelligent manned stair climbing device according to claim 4, wherein the left crawler device has the same structure as the right crawler device, and the left crawler device comprises a crawler, a plurality of bearing supporting wheels arranged on the inner side of the crawler attached to the traveling surface, a tension wheel arranged on the inner side of the crawler in the advancing direction, a plurality of upper supporting wheels arranged on the inner side of the crawler attached to the traveling surface and deviating from the traveling surface, and a driving wheel arranged on the inner side of the crawler deviating from the advancing direction.

7. The intelligent manned stair climbing device according to claim 4, wherein the drive wheel in the left crawler is connected to the left drive motor via a drive shaft, and the drive wheel in the right crawler is connected to the right drive motor via a drive shaft.

8. The intelligent manned stair climbing device according to claim 6, wherein the number of the bearing support wheels in the left crawler is five, and the number of the upper support wheels in the left crawler is two.

9. The intelligent manned stair climbing device according to claim 1, wherein the seat system further comprises a seat having armrests on both sides, and wherein a bottom center of the seat is connected to a top end of the main support beam.

10. The intelligent manned stair climbing device according to claim 1, further comprising an accessory system, wherein the accessory system is provided with a storage compartment, and wherein the accessory system is further provided with a lighting device.