CN200994869Y - Caterpillar walking aid and chair for mounting stairs therewith - Google Patents

Abstract

The utility model discloses a crawler type running gear, which consists of two uniform running units (232 and 233) which connects by a conformity machine frame (221). The utility model is characterized in that each running unit (232 or 233) comprises a crawler belt (209), a front part machine frame (220) and a back part machine frame (202), the crawler belt (209) is support by a roller group which is arranged on the front part machine frame (220) and the back part machine frame (202), the roller group comprises a drive roller (207), the drive roller (207) is connected with a crawler belt drive mechanism; the front part machine frame (220) and the back part machine frame (202) splice joint with each other, the splice joint point (206) is provided with a lower part direction changing roller (216), a notch is formed between the front part machine frame (220) and the back part machine frame (202) below the lower part direction changing roller (216).

Description

Cterpillar drive and adopt the stair-climbing chair of this device

Technical field

This utility model relates to a kind of running gear, specifically a kind of cterpillar drive and adopt the stair-climbing chair of this device.

Background technology

The existing running gear modes that adopt one group of drivewheel and driven pulley to be used are finished walking function more, and still, the running gear of this class formation can only be walked on the level land, can't climb the building.Conventional cterpillar drive can be climbed stair in easy flights and that step is less.In order to adapt to the needs of climbing the building, the city fighter robot of the latest model teleoperator PackBot of intelligent robot company development and the development of U.S. iRobot company, on the basis of each main cterpillar drive, increase the auxiliary crawler attachment of a guiding usefulness, should assist crawler attachment and main cterpillar drive to be used, auxiliary main cterpillar drive is finished and is climbed the building function under control system control.The cterpillar drive of this structure has solved this problem to a certain extent, but its structure is very complicated, and needs control system to control in real time just to finish, make troubles to use, also increase the cost of product.

The existing running gear of what is more important is difficult to be effectively applied to the wheelchair of helping the disabled.Show that according to China Disabled Federation's recent statistics numeral the present disabled people's number of China reaches 8,770,000 people, these disabled people groups comprise that mainly the limb limb residual and that paralysis causes that congenital limb is residual, contingency causes is residual.Can't independent ambulation and in these disabled people groups, have greatly, must just can accomplish to take care of oneself by means of wheelchair.The existing wheelchair of helping the disabled does not generally have climbs the building function, though also there are some to have the building of climbing function through the wheelchair after the particular design, perhaps can't promote because cost is too high, perhaps since structure too complexity be difficult to practical application, perhaps need just can finish and climb the building function, thereby not have commercial promise by means of other auxiliary device.

Below some typically being had the wheelchair and the correlation technique of climbing the building function is described further.

1, so far, a kind of wheeled chair that can climb the building is voluntarily only arranged in the world, be U.S. institute utility model, this utility model picture is in issue in 1999.Qian river, Hangzhou, Zhejiang province evening paper was once issued this picture and cutline on July 5th, 1999." scientific and technological new product ", it is said and put on market in the situation of also once reporting this seat 2003 years at 2003 annual magazines, lies fallow in the more sandy beach that is used for.So and claim it to adopt high-grade Numeric Control Technology to have the performance of climbing building and climbing.But the price of this seat is too high, needs two to 25,000 U.S. dollars according to reports approximately, is roughly equal to RMB 170,000 to 210,000, is equivalent to the price of an intermediate-size car.Owing to select for use wheeled mechanism to realize upstairs, its structure and control system are inevitable very complicated, scientific and technological content is inevitable very high, the production cost height, selling price is also just very high, thereby its maintenance service and fittings supply require also very highly, is not that common people afford, and therefore is difficult to generally be applied.

2, according to the external sample data introduction of Chinese science and technology information institute, there are two kinds of products that can help the Wheelchair stair activity in Europe, produces by Austrian Bao Man (company of a tame production passenger and freight aerial cableway), and wherein a kind of is the crawler type auxiliary device.This crawler type auxiliary device is an independently walking mechanism, its oval of whole piece crawler belt maintenance in the process of walking columnar structure, during use wheelchair is placed on this crawler type auxiliary device, wheelchair is transported to upstairs or downstairs by the crawler type auxiliary device, and then takes off by wheelchair and walk voluntarily.Thereby, must escort use by the nursing staff in the whole process of upper and lower stair.This auxiliary crawler attachment is domestic to be developed by units such as Zhejiang University recently and puts on display on the relevant exhibition in Hangzhou.Another kind of then be that sidewall at stair is provided with special-purpose guide rail, and a car is set on guide rail, during use wheelchair is positioned on this car, make car along guide rail movement, climb the building function thereby finish.This kind climbed the place that the building mode only limits to be equipped with above-mentioned exclusive guideway and car, as large-scale hotel or senior house.Because wheelchair self does not have and climbs the building function, thereby its use is also limited to.

Up to the present, we also do not find the electronic product that can climb the building voluntarily that other are similar or more advanced.

Summary of the invention

To be solved in the utility model is the problems referred to above that prior art exists, and provides that a kind of structure is simple relatively, cost novel crawler-type running gear lower and easy and simple to handle.

This utility model also will provide a kind of stair-climbing chair, and its cost is cheap relatively, and operation is very reliable, also need not install by other simultaneously.

The technical scheme that addresses the above problem employing is: this cterpillar drive, comprise by one and integrate two identical walking unit that frame connects, each walking unit comprises crawler belt, anterior frame and rear portion frame, crawler belt is supported by the set of the rolls that is located on anterior frame, the rear portion frame, comprising active roll tube, be connected with track driving mechanism on this active roll tube; Described anterior frame and rear portion frame are hinged, are provided with bottom changed course roller at the pin joint place, and the below of bottom changed course roller forwardly forms breach between frame, the rear portion frame.

Cterpillar drive of the present utility model fits together active roll tube and driven roller train by hinged anterior frame and rear portion frame, rotation by pin joint in climbing the building process remains with 2 on stair crawler belt at least and contacts, also promptly just can finish and climb the building by two crawler belts, promptly safe and reliable, simple again.The breach that crawler attachment assembly pro-afer bay hinged place is designed below mainly contains three effects: one. and to bump in order when climbing the building, avoiding carrying between parts and crawler belt and crawler belt and the stair, to guarantee the walking of crawler belt safety.Two. when crawler travel arrives the stair top, the track rail assembly bottom have one can zigzag space.Three. optimize the driveability of crawler belt, increase the engagement wrapping angle between active roll tube and crawler belt, guarantee that driving roller has enough big driving force to crawler belt.

Anterior frame is provided with spacer pin above the pin joint place, the rear portion frame above the pin joint place, design have corresponding with spacer pin, prevent that anterior frame from toppling over the arc stopper slot of excessive angle backward.When anterior frame clockwise rotated (being that pin joint is upwards bended forward), its spacer pin separated with the inclined-plane of rear portion frame, can freely rotate; And when anterior frame rotated counterclockwise (being that pin joint is to lower recess), the inclined-plane of its spacer pin and rear portion frame was drawn close gradually until inconsistent, and this moment, pin joint was limited.So anterior frame is limited at when pin joint rotates counterclockwise in the angle, guarantee that cterpillar drive can adapt to various occasions and all kinds of carrying parts use, that is to say that this pin joint can upwards be bended forward, but can not when lower recess, must be limited to one relative to ground level.This is because can upwards bend forward time-out when this pin joint, is enough to guarantee that by carrying parts (as seat, the transport vehicle etc.) deadweight or the load-carrying that are provided with thereon the base maintenance of crawler belt contacts with the good of ground or stair; And, then can cause the stressed irregular of crawler belt, and then be difficult to guarantee its even running when this pin joint during to lower recess.

Because cterpillar drive of the present utility model not only has the function that traditional running gear is walked on the level land, also has the building of climbing function, for taking into account two functions, done optimization process in the design to the part crawler belt of anterior frame, the angle α of the crawler belt of part and horizontal plane 30 ~ 45 spends between envelope active roll tube and the tensioning roller.Like this, when carrying out the two sides walking, active roll tube, lower support roller and afterbody driven voller tube form the supporting of multiple spot to ground, are enough to guarantee that crawler belt contacts with the good of ground.And climb building when motion when device, and the inclined-plane of this chamfered portion and stair forms low-angle, only need slightly lift or transfer get final product, thereby just can be naturally under the control that need not be special and finish easily and climb the building and move.In order to guarantee that crawler belt contacts with the good of ground, and make the crawler belt of this part stressed evenly, described lower support roller is 1-5, and the crawler belt of the driven roller part of a plurality of lower support rollers of envelope and afterbody linearly.Also be provided with afterbody changed course roller on the frame of described rear portion.The crawler belt parallelogram shape of envelope rear portion rack section like this, the connection and the installation of being convenient to carry parts.

Also be provided with track takeup on the roller seat of described tensioning roller.Tensioner is set can reaches following technique effect: the one, the tensioning roller can be withdrawn when installing or change crawler belt, so that pack into and take out crawler belt; The 2nd, when running gear was walked and climb the building, crawler belt had enough and constant rate of tension; The 3rd, by meticulous adjustment, make two single crawler belts of walking keep rate of tension in full accord, so can make the line of centres keeping parallelism that belongs to two unitary two tensioning roller lines of centres maintenances of walking and two driven rollers of afterbody of crawler belt, crawler belt just can sideslip, guarantee that crawler belt operates steadily, reduce the wearing and tearing of track edges.For this reason, make the regulation and control of to stretch as its structure of tensioning roller of regulating wheel.Described track takeup comprises a pair of adjustment screw rod and tensioning spring, and described a pair of adjustment screw rod bottom is coupling on the installation base plate that is fixedly connected with described anterior frame, the top be connected to one with the fixed top board of described tensioning roller seat on; And the bottom of described each adjustment screw rod is provided with a break-in umbrella wheel, and described break-in umbrella wheel outfan connects adjusts spanner; Described tensioning spring is sleeved on to be adjusted on the screw rod, the bottom be fixed on one with bracket that described adjustment screw flight is connected on, the top is fixed on the top board.

The stair-climbing chair of the above-mentioned cterpillar drive of this employing, comprise seat body, be provided with control system on described seat body, the bottom of described seat body is provided with described cterpillar drive, is provided with the seat leveling device between seat body and cterpillar drive.

Described seat leveling device comprises horizon sensor, sensor control circuit and horizontal adjusting mechanism, described horizon sensor comprises arcual and is built-in with the seal glass body of hydrargyrum conductor, the central authorities of described hydrargyrum conductor top are provided with bubble, and the contre electrode of drawing from the bubble place and lean forward electrode and the hypsokinesis electrode of drawing from hydrargyrum conductor both sides are wired to sensor control circuit respectively; Described sensor control circuit is arranged in the described control system; Described horizontal adjusting mechanism comprises hinge bracing strut, last hinge axle, goes up hinge axle bed, motor, decelerator, lifting nut, time hinge axle, time hinge axle bed and drive screw, described upward hinge bracing strut is fixed on the seat body bottom and is connected with the described hinge axle of going up, described upward hinge axle bed is sleeved on described going up on the hinge bracing strut and with lifting nut and is connected, described lifting nut is sleeved on the drive screw, and described motor output end is connected to the bottom of described drive screw by decelerator; Described motor, decelerator and drive screw are fixed on the described down hinge axle, the pin joint axis coinciding of described hinge axle down and front and rear part frame and be arranged on described descending on the hinge axle bed rotationally.

Described drive screw is two, and is driven respectively by two gears about same motor drives.Make seat more steady when carrying out horizontal adjustment.When motor rotated, the screw rod that drives both sides was done rotation in the same way, thereby made lifting nut on the screw rod up simultaneously or move down, so drive seat body around the hinge of itself and anterior frame by upwards rotating, make seat plane maintenance level.

For preventing seat oil leak when climbing building or climbing, described decelerator is an all-sealed structure, and selects for use Molykote to lubricate drive screw.For preventing the pollution of dust, described lifting nut top is provided with dirt-proof boot, and the bottom is provided with scalable dirt-proof boot.For protecting this mechanism, the both sides of mechanism and front portion also be equipped with telescopic in outer shield, with the protection parts and increase the attractive in appearance of its profile.Described upward hinge axle and last hinge axle bed assembly are a pair of and coaxial horizontally set.

Contre electrode in the horizon sensor and two lateral electrodes are by lead and control signal amplifier UNICOM, and output seat levelness is adjusted the control signal of motor rotating.Totally four of horizon sensors are symmetrically distributed in the both sides of seat body.Described four horizon sensors are installed in parallel on the line, the purpose that full seat is installed four groups of pick offs altogether is in order to guarantee the reliability of its work, when any therein two groups of pick offs sent control signal, the levelness adjusting device just carried out the adjustment operation of chair angle.Pick off adopts inserts the eliminant modular structure, can change by fast assembling-disassembling during maintenance.Described contre electrode is a pair of.The levelness pick off is flatly to be installed on the seat both sides, when it was in level, the bubble in the hydrargyrum conductor was in the centre of glass tubing, and two electrodes are at a distance of 5 millimeter therebetween, not conducting mutually, pick off is when direction once tilts forwards, backwards, and hydrargyrum just contacts with a lateral electrode, circuit turn-on, send operation signal, the tilted orientation difference, the circuit that sends signal is also inequality, thereby carries out different controlling.

Described contre electrode also can have only a public pole, and the structure of control circuit can be adjusted to some extent like this, but can reach the purpose of control output equally.

Described seat body comprises footboard, seat cushion, seat support, handrail and backrest, described seat support bottom be provided with described seat leveling device hinged on lift hinge and the fixedly hinge hinged with described anterior frame.Described seat cushion is a soft cushion structure, and user is felt good.The below of seat cushion also is provided with the seat cushion case, and seat levelness guiding mechanism and electronic apparatus control device can be installed.Described two side handrails below also is provided with armrest box, can place objects such as action button and lead-in wire, Charger (portable round) and lead, distress call device and first-aid medicine.Seat is installed on the forward seat hinge of track rail assembly with fixing hinge, and track rail assembly can rotate as fulcrum, and the maximum anglec of rotation is 45 degree.The installation site of seat on track rail assembly is in the front portion of seat, its backrest is towards the place ahead of track rail assembly, and step is towards the rear of track rail assembly, so the occupant back is towards stair in climbing the building process, falling back upstairs, the front is seated downstairs, makes the occupant comparatively comfortable and safe when climbing the building.Also be provided with the automatic operation device on the described handrail, be convenient to operation.

Described horizon sensor can directly be fixed on described seat cushion both sides, also can also offer installing hole and be used to bury underground horizon sensor being positioned at place, both sides below the seat cushion on the seat support.

Described control system comprises that master controller able to programme (PLC), information input unit branch, information output part divide and power supply.The information input unit branch can receive the control foundation of several information such as power supply and running state data information, handle or button operation information, seat levelness heat transfer agent, voice control information and other control input information as Programmable Logic Controller.Power controller is given in master controller able to programme (PLC) output control information, handling three drive motors drive motor of unitary drive motor, the unitary drive motor of right side crawler travel, seat leveling device (left track walk) by the running of designing program, makes seat move by instructions for use.Master controller and the operational factor of relevant seat such as voltage, speed, power information (the residual electric weight of accumulator, charge notification etc.) and other relevant information fed back is shown on the display screen of steering controller, the reference when using for occupant and operator.This display screen can also show brief first aid explanation when implementing distress call, for offering help for the deliverer.On the seat voice output module can also be set,, when the seat controller is provided with radio, can play radio station news and CD etc. to carry out voice dialogue, broadcasting MP3 music, speech chronopher and timing prompting etc.In a word, according to the instructions for use of user, the master controller on the seat can have bigger built-in capacity, increases more additional function of use.

The power supply of described track driving mechanism and control system adopts the chargeable storage system, with the safe voltage power supply of low pressure 24V.

The effect that this utility model is useful is: this utility model is rational in infrastructure, cost is low, result of use is good, can creep on the gradient etc. is less than or equal to the slopes of 45 degree and the stair of same angle up and down voluntarily.Because its plane projection controllable size is in 0.98 * 0.60 meter scope, and can be at pivot stud, so this seat can move in the staircase in general residential building building fully.When this seat moves on the level land, also have the climbing function of 45 degree, applied widely, can more fully satisfy the Operations Requirements of handicapped colony.

Description of drawings

Fig. 1 is the structural representation of this utility model cterpillar drive.

Fig. 2 is the vertical view of Fig. 1.

Fig. 3 is a crawler belt and the sketch map that cooperates of train.

Fig. 4 is the enlarged diagram at A place among Fig. 3.

Fig. 5 be among Fig. 3 B-B to cutaway view Amplified image.

Fig. 6 is the axonometric drawing of this utility model cterpillar drive.

Fig. 7 is the structural representation of track takeup.

Fig. 8 is the cutaway view of C-C among Fig. 7.

Fig. 9 is the structural representation of track drive.

Figure 10 is the left view of Fig. 9.

Figure 11 is the vertical view of Fig. 9.

Figure 12 is the exploded view of the form of substep upstairs of this utility model cterpillar drive.

Figure 13 is the exploded view of the form of substep downstairs of this utility model cterpillar drive.

Figure 14 is the substep form stacking chart of this utility model cterpillar drive in go upstairs initial or the terminal procedure of going downstairs.

Figure 15 is the substep form stacking chart of this utility model cterpillar drive in the end upstairs or the initiating process of going downstairs.

Figure 16 is the utility model cterpillar drive when going upstairs initial and reach end midway or downstairs midway, and the front and back frame is in the state diagram at pin joint place.

Figure 17 is a utility model cterpillar drive when finishing upstairs or go downstairs when initial, and the front and back frame is in the state diagram at pin joint place.

Figure 18 is the structural representation that the utlity model has the pedestal of climbing the building function.

Figure 19 is the axonometric drawing that the utlity model has the pedestal of climbing the building function.

Figure 20 is the structure and the circuit diagram of horizon sensor.

Figure 21 is horizon sensor forward-lean state figure.

Figure 22 is horizon sensor retroverted state figure.

Figure 23 is the structural representation of seat leveling device.

Figure 24 is the vertical view of Figure 23.

Figure 25 is the left view of Figure 23.

Figure 26 is the structural representation of seat body.

Figure 27 is the left view of Figure 26.

Figure 28 is the schematic block circuit diagram of control system.

Figure 29 is the schematic block circuit diagram to power-control section of control system.

Figure 30 is the state diagram of seat when advancing.

Figure 31 is the state diagram of seat when retreating.

State diagram when Figure 32 is the seat flicker.

State diagram when Figure 33 is the seat flicker.

Figure 34 is the state diagram of seat when circular arc is turned right.

Figure 35 is the state diagram of seat when circular arc turns left.

Figure 36 is that single folding stair dwelling house is climbed building overall process flow chart.

Figure 37 is that two-fold stair dwelling house is climbed building overall process flow chart.

Figure 38 climbs building overall process subprogram block diagram.

Figure 39 is that stair-climbing chair is climbed each operating mechanism of building process and motoring table.

Figure 40 is that stair-climbing chair is climbed building process Programmable Logic Controller flowchart symbol instruction card.

Figure 41 is single flow chart of rolling over when going upstairs between floor.

Figure 42 is single flow chart of rolling over when upstairs turning right between floor.

Figure 43 is the flow chart when going upstairs between the two-fold floor.

Figure 44 is the flow chart when upstairs turning right between the two-fold floor.

The specific embodiment

The utility model is described in further detail below in conjunction with accompanying drawing:

With reference to Fig. 1,2,3,6, cterpillar drive of the present utility model, a kind of cterpillar drive, comprise by one and integrate two identical walking unit that frame connects, each walking unit comprises crawler belt, anterior frame and rear portion frame, crawler belt is supported by the set of the rolls that is located on anterior frame, the rear portion frame, comprising active roll tube, is connected with track driving mechanism on this active roll tube; Anterior frame and rear portion frame are hinged, are provided with bottom changed course roller at the pin joint place, and the below of bottom changed course roller forwardly forms breach between frame, the rear portion frame.Set of the rolls comprises the active roll tube 207 that is positioned on the anterior frame 220, tensioning roller 215, the top first changed course roller 212 and is positioned at the bottom air bells removing roll tube 217 on the rear portion frame 202, three lower support rollers 218, the driven roller 201 of afterbody and the top second changed course rollers 213; Described crawler belt 209 is in the following manner successively through forming closed loop behind each roller: the inner surface envelope top first changed course roller 212, tensioning roller 215, active roll tube 207, outer surface envelope bottom changed course roller 216, inner surface envelope bottom air bells removing roll tube 217, lower support roller 218, the driven roller 201 of afterbody, the outer surface envelope top second changed course roller 213; Described active roll tube 207 passes through the tooth engaged transmission with crawler belt 209 inner surfaces.

Described anterior frame 220 and rear portion frame 202 are assembled into by a plurality of attachment bolts 205 by the monolithic support.Be convenient to assembling, debugging and maintenance, and can save material.

The crawler belt 228 of part is 30 ~ 45 degree with the angle α of horizontal plane between envelope active roll tube 207 and the tensioning roller 215.The crawler belt 224 of the driven roller part of a plurality of lower support rollers 218 of envelope and afterbody linearly.Also be provided with afterbody changed course roller 211 on the frame of described rear portion.

With reference to Fig. 4,5, the synthetic rubber that described crawler belt 209 employings are primary raw material with the butyronitrile rubber is made, and requires to have higher wear-resisting and oil resistance.The design width of crawler belt is 100 millimeters, and design thickness is 10 millimeters, makes circle (O) type in advance in manufacturer and seals pattern continuously, makes the intensity of its joint and shape do in full accordly with body, and both convenient the installation and replacing makes its operation more reliable again.The structure of crawler belt is divided into three layers from inside to outside on thickness: its inner structure layer is that flute profile drives layer 225, be used for meshing with driving roller, to drive the crawler belt operation, drive flute profile and adopt synchronous belt H type profile of tooth (making) by standard GB 11616-89, pitch is 12.7 millimeters, tooth depth is 2.29 millimeters, is that 2209.8 millimeters last its driving numbers of teeth are 174 at overall length of crawlers (the centromere line length with crawler belt is calculated); The structure sheaf at the middle part of crawler belt is a tensile strength layer 226, embedded high strength tension nylon heart yearn, and this layer thickness is 3.71 millimeters, the rubber cover thickness on heart yearn four limits is no less than 1 millimeter; Crawler belt is outer creeps layers 227 for flute profile, and its tooth linear pitch of creeping is 25.4 millimeters, and nodel line place transverse tooth thickness is 12.7 millimeters, and tooth depth is 4 millimeters, encloses creep 87 in tooth of crawler belt entirely.Traveling crawler has very high operating safety factor, and in climbing the building process, when the seat ramp angle reaches 45 when spending, the working tension of every crawler belt can reach nearly 3,000 Ns, and this moment, traveling crawler still had enough tensions and the anti-nargin of pulling.The maximum operational speed of traveling crawler only is 0.6 meter of a per second, belong to the low inertia sports system of low speed, but its duty particularly is in high wear working condition in steering procedure, for increasing the service life of crawler belt, crawler belt adopts butyronitrile rubber to make, can adopt in the interior outside tooth portion rubber of crawler belt and infiltrate the particulate way of high wear-resistant ally and strengthen its wear resistence, the thickness of crawler belt wearing layer is no less than 2 millimeters.

The design length of traveling crawler calculates by the center nodel line in its intermediate layer, strict in process of production this size of control of crawler belt, error in length must not be greater than 0.5% after the crawler belt molding, in producing, crawler belt also should strictly control the prescription of rubber raw materials and the percentage elongation after the crawler belt molding, by instructions for use, crawler belt is under the pulling force of 3000N, and its percentage elongation must not be not more than 11 millimeters (are equivalent to track tensioning force about 100%) greater than 0.5% i.e. full circle absolute elongation.

With reference to Fig. 7,8, also be provided with track takeup on the roller seat 210 of described tensioning roller 215.Described track takeup comprises a pair of adjustment screw rod 302 and tensioning spring 303, described a pair of adjustment screw rod 302 bottoms are coupling on the installation base plate 306 that is fixedly connected with described anterior frame 220, the top be connected to one with described tensioning roller seat 210 fixed top boards 308 on; And the bottom of described each adjustment screw rod 302 is provided with a break-in umbrella wheel 301, and described break-in umbrella is taken turns 301 outfans and connected the adjustment spanner; Described tensioning spring 303 is sleeved on to be adjusted on the screw rod 302, the bottom be fixed on one with bracket 304 that described adjustment screw rod 302 is threaded on, the top is fixed on the top board 308.Described adjustment handle has the protection nut 305 in order to lock handle, thereby makes handle can not become flexible the rate of tension that guarantees crawler belt voluntarily when crawler belt turns round.

Rotate the regulating handle (not shown), drive break-in umbrella wheel 301 and adjust screw rod 302 along self axle rotation, be arranged on the suspension of adjusting on the screw rod 302 304 and move up and down, thereby drive the elasticity that tensioning roller seat 210 is made stretching motion and then regulated crawler belt along adjusting screw rod 302.

Described tensioning roller seat 210 is fixing with top board 308, and forwardly two inboards of frame be provided with a pair of and top board 308 and and/or roller seat 210 fixed side plates 309, four pairs of guide blots 307 forwardly are set on the frame 220, simultaneously offer guide groove at side plate 309, described guide blot 307 is embedded in the guide groove, like this, when tensioner drive tensioning roller seat 210 is made stretching motion, guide blot 307 is along guide groove movement, and guiding tensioning roller seat 210 moves exactly.Certainly, this guidance mode, described guide blot and guide groove can be exchanged setting, also can reach same guide effect.Head roller after the tensioning can reach 3000N to the tensile force of every crawler belt.

With reference to Fig. 9,10,11, described each active roll tube 214 respectively is provided with a track driving mechanism, comprises motor 402, decelerator 401, deceleration base 403 and deceleration footstock 404.About two crawler belts each drive by a cover independent driving mechanisms, can realize comprising the service requirement of original place rotation with turning with different mode with various speed walkings.Track driving mechanism can also be any standard structure of other routine,

The motor 402 that this mechanism selects for use is the dc motor of gradable speed governing or connection speed governing, operating voltage is 24 volts of direct currents, the rotational speed regulation scope from 1000 rev/mins to 3000 rev/mins change, select high rotating speed during level walking for use, climb the building or the slow-speed of revolution time is selected in climbing for use.About 140 watts of every power of electric motor.

The selected decelerator 401 of this mechanism is a worm type of reduction gearing.Factory typing number be " FCWDK ", and model definition is: vertical, no footing, top power shaft, export spool be hollow.This decelerator is advanced model at home, has adopted the foreign technology of introducing, and has high torque (HT), compact conformation, characteristics such as easy for installation.Selected its centre-to-centre spacing of model of this machine is 40 millimeters, and gear ratio is 1: 40.Decelerator 401 is installed on 404 of base 403 and footstocks, is all fixed with bolt up and down.Insert the drive shaft 229 that is installed together with active roll tube 214 in the output hollow shaft of decelerator 401, motor reel then directly inserts in the output shaft hole of decelerator 401, and motor 402 usefulness flanges dock with decelerator 401.

This mechanism adopts profile of tooth active roll tube 214 to drive traveling crawler 209, its flute profile is to be with H type profile of tooth (standard GB 11616-89) synchronously, the flute profile pitch is 12.5 millimeters, and tooth depth is 2.29 millimeters, and total engaging tooth is 40 around the roller, the synchronous pitch circle diameter of roller is 160.33 millimeters, the roller external diameter is 163.074 millimeters, and there is the wheel limit roller both sides, to prevent the lateral displacement of crawler belt, the inboard width in roller limit is 102 millimeters, adopts combination type punching out wheel rim.

The project organization compactness of driving mechanism, frame adopts book punching of the steel plate spare, and mechanism simplifies frivolous as far as possible, and guarantees that mechanism has enough rigidity and security of operation to guarantee.Crawler belt 209 adopts lower creep speed climbing building and when climbing, and its oblique speed is 0.2 meter per second, to general three meters high floors, climbs the building time for every layer and is about 20 seconds to 30 seconds.The highest line of cterpillar drive when level walking walked speed about 0.6/ second (the stroll speed that is equivalent to general people), can adopt multistage or continuous speed adjustment.

With reference to Figure 12, the process of going upstairs of this utility model cterpillar drive is as follows:

Figure 12 is made of 15 of Fig. 1 y ~ 15y exploded views of arranging according to the order of sequence, and the micromotion of Fig. 1 y ~ 10y ten width of cloth exploded views when upstairs beginning wherein, Fig. 1 y are running gear at the state that retreats on the level land when crawler belt contacts with first order stair corner.Fig. 2 y is the state of crawler belt when beginning to climb up first order step.Fig. 3 y is that the active roll tube bottom is climbed to the state of first order step corner.Fig. 4 y is that crawler belt is climbed to rigidly connecting state when touching with second level step corner, and Fig. 5 y is the state of crawler belt when beginning to climb up second level step.Fig. 6 climbs to rigidly connecting state when touching with second level step corner for active roll tube, and Fig. 7 y is that active roll tube is climbed up step corner, the second level, and the just state during built on stilts in crawler belt bottom.Fig. 8 y is that crawler belt continues to swash, the complete built on stilts of whole running gear and state when being on the step.Fig. 9 y is swash a state when contacting with third level step of crawler belt.Figure 10 y is the state of crawler belt when the 3rd step swashes.

The micromotion sketch map of Figure 11 y ~ 15y five width of cloth exploded views when upstairs finishing, wherein Figure 11 y is the state of active roll tube when just having climbed to plane corner on the step.Figure 12 y is that active roll tube is climbed up plane on the stair and the rear portion crawler belt has just been run into the state when going up the plane corner.Figure 13 y is the crawler belt state of track rail assembly back when beginning to arch upward that continue to swash.State when Figure 14 begins to climb up plane on the stair for the rear portion crawler belt.Figure 15 y is the state of whole track rail assembly when all climbing up plane on the stair.

With reference to Figure 13, the process of going downstairs of this utility model cterpillar drive is as follows:

Figure 13 is 15 exploded views formations of arranging according to the order of sequence by Fig. 1 x ~ 15x.The little figure of 1x ~ 5x five width of cloth is the micromotion when downstairs beginning.Wherein Fig. 1 x be crawler belt creep just begin, the track rail assembly state the during plane on stair still.Fig. 2 x is that crawler belt continues to creep, and the rear portion has just begun the state when sagging.Fig. 3 x is creep downwards a state when the rear portion crawler belt touches the next stage step of track rail assembly.Fig. 4 x is the state when climbing to the assembly recess under the track rail assembly and being slipped to corner, plane on the stair.Fig. 5 x climbs to the state behind the plane on the stair that leaves under the driving wheel of track rail assembly.

The little figure of Fig. 6 x ~ 15x ten width of cloth is the micromotion when downstairs finishing.Wherein Fig. 6 x for process seat downstairs is in the state of track rail assembly during the following third level.Fig. 7 x is the state of crawler driving whell when climbing under the second level from the following third level.Fig. 8 x is the state when climbing to driving wheel contact plane, the second level under the crawler belt.Fig. 9 x is the state when climbing below driving wheel is in second level corner under the crawler belt.Figure 10 x is the state of climbing under the crawler belt when its underpart rigidly connects tread surface.Figure 11 x is the state of climbing under the crawler belt to the middle part when unsettled.Figure 12 x is the state when climbing to the driving wheel contact second level under the crawler belt.Figure 13 x is the state when climbing to driving wheel contact corner, the second level under the crawler belt.Figure 14 x is that crawler belt continues to climb down to the middle part state when unsettled.Figure 15 x is the state of track rail assembly when all down climbing to ground.

Overall process when going upstairs and going downstairs for vivider demonstration track rail assembly, Figure 14,15 will go up downstairs each operating state that decomposes little figure of process and be superimposed and shown, the overlay chart of Figure 14 when upstairs beginning and downstairs finishing, the overlay chart of Figure 15 when upstairs finishing and downstairs beginning.We can clearly be seen that the action of seat track rail assembly in the overall process of going upstairs and going downstairs changes from this two stacking chart.

From above-mentioned exploded view as can be seen, the sunk structure of track rail assembly bottom is at exploded view 5y, all there are ten wind significantly to act on during each state of 8y ~ 10y and 11y ~ 13y and 3x ~ 8x and 11x, and visible track rail assembly remains rigid state in the initial and ending phase and the interstage downstairs of going upstairs, and arrive on the step plane and from when climbing under the plane assembly all arch upward at the meeting middle part, make track rail assembly gently carry out the transition to the plane walking states, so just make the parts that are arranged on above the running gear when climbing the building operation, seem very steady from the step state that swashes.For this reason, track rail assembly has structurally been taked some measures necessary,

With reference to Figure 16, the front and rear part frame is designed to semi circular surface in opposite directions at pin joint 206 places, on the semi circular surface on the rear portion frame 202, two symmetric spacing arc grooves 231 are set, forwardly frame 220 is provided with and inserts two relative spacer pins 230 of this circular arc stopper slot 231.At state shown in Figure 16, cterpillar drive is in initial the reaching of going upstairs and reaches when finishing midway or downstairs midway, at this moment, its gravity of carrying parts of cterpillar drive is arrow E indication orientation, the supporting force that crawler belt is subjected to ground or stair surface simultaneously is in the crawler belt G place of supporting roller tube 203 correspondences of the crawler belt D place of active roll tube 207 correspondences of anterior frame 220 and rear portion frame 203, and portion mechanism 220 is done to rotate counterclockwise around pin joint 206 with respect to rear portion frame 202 before making three directions with joint efforts.When the stopper slot 231 of the spacer pin 230 that turns to anterior frame with the rear portion frame withstands mutually, then anterior frame is limited and can't continue to rotate counterclockwise, and this pin joint 206 just can not be again to lower recess.

With reference to Figure 17, cterpillar drive 2 is in and upstairs finishes and go downstairs when initial, at this moment, its gravity of carrying parts of cterpillar drive is arrow F indication orientation, the supporting force that crawler belt is subjected to ground or stair surface simultaneously is in the crawler belt G place of supporting roller tube 203 correspondences of the crawler belt D place of active roll tube 207 correspondences of anterior frame 220 and rear portion frame 203, and portion mechanism 220 is done to clockwise rotate around pin joint 206 with respect to rear portion frame 202 before making three directions with joint efforts.At this moment, the spacer pin 230 of anterior frame and the stopper slot 231 of rear portion frame be opposing connection pin joint 206 backwards rotation mutually, pin joint 206 places freely arch upward, because in this process, require the rotational angle of anterior frame 220 big (reaching 50 degree), and cterpillar drive of the present utility model just can be finished corresponding step well.

With reference to Figure 18,19, the stair-climbing chair of the above-mentioned cterpillar drive of this employing, comprise seat body 1, on described seat body 1, be provided with control system 6, the bottom of described seat body 1 is provided with cterpillar drive 2, is provided with seat leveling device 5 between seat body 1 and cterpillar drive 2.The structure front of described cterpillar drive 2 was described, and did not repeat them here.

With reference to Figure 21, described seat leveling device 5 comprises horizon sensor 504, sensor control circuit and horizontal adjusting mechanism 526, described horizon sensor 504 comprises arcual and is built-in with the seal glass body 506 of hydrargyrum conductor 510, the central authorities of described hydrargyrum conductor 510 tops are provided with bubble 508, and a pair of contre electrode 507,509 of drawing from bubble 508 places and lean forward electrode 505 and the hypsokinesis electrode 511 of drawing from hydrargyrum conductor 510 both sides are wired to sensor control circuit respectively; Described sensor control circuit is arranged in the described control system 6.

Contre electrode 507,509 in the horizon sensor and two lateral electrodes 505,511 are by control signal amplifier 503 UNICOMs of lead 501 with control system, and output seat levelness is adjusted the control signal of motor rotating.Totally four of horizon sensors 504 are symmetrically distributed in the both sides of seat body.Described four horizon sensors are installed in parallel on the line, the purpose that full seat is installed four groups of pick offs altogether is in order to guarantee the reliability of its work, when any therein two groups of pick offs sent control signal, the levelness adjusting device just carried out the adjustment operation of chair angle.Horizon sensor 504 adopts inserts the eliminant modular structure, can change by fast assembling-disassembling during maintenance.Because levelness pick off 504 is flatly to be installed on seat 1 both sides, when it is in level, bubble 508 in the hydrargyrum conductor is in the centre of glass tubing 506, two contre electrodes 507,509 are at a distance of about 5 millimeter therebetween, not conducting mutually, and horizon sensor 504 is forwards when once tilting, hydrargyrum 510 makes lean forward electrode 511 and 509 conductings of left side contre electrode, the left side control circuit is conducting, sends corresponding operation signal, as shown in figure 21.When horizon sensor 504 backward directions once tilted, hydrargyrum 510 made hypsokinesis electrode 505 and 507 conductings of right side contre electrode, and the right side control circuit is conducting, sends corresponding operation signal, as shown in figure 22, thereby carries out different controlling.

With reference to Figure 23,24, described horizontal adjusting mechanism 526 comprises hinge bracing strut 513, last hinge axle 514, last hinge axle bed 515, motor 516, decelerator 517, lifting nut 518, following hinge axle 519, following hinge axle bed 520 and drive screw 521, described upward hinge bracing strut 51 3 is fixed on the seat body bottom and is connected with the described hinge axle 514 of going up, described upward hinge axle bed 515 is sleeved on described going up on the hinge bracing strut 513 and with lifting nut 518 and is connected, described lifting nut 518 is sleeved on the drive screw 521, and described motor 516 outfans are connected to the bottom of described drive screw 521 by decelerator 5l7; Described motor 516, decelerator 517 and drive screw 521 are fixed on the described down hinge axle 519, pin joint 206 axis coincidings of described hinge axle 519 down and front and rear part frame and being arranged on rotationally on the described hinge axle bed 520 down.Described drive screw 521 is two, and is driven respectively by two decelerators 517 about same motor 516 drives.Described upward hinge axle 514 and last hinge axle bed 515 assemblies are a pair of and coaxial horizontally set.

Described decelerator 517 is an all-sealed structure.Described lifting nut 518 tops are provided with dirt-proof boot 525, and the bottom is provided with scalable dirt-proof boot 523.The described hinge axle bed 515 of going up is provided with outer shield 524, and described hinge axle 519 down is provided with interior guard shield 522, and described outer shield 524 is linked on the described interior guard shield 522.

With reference to Figure 25, the described hinge axle 514 of going up is fixed on the top guide bracket 512 by last hinge bracing strut 513, and top guide bracket 512 then is fixed on the bottom of seat support 106.When motor 516 receives the signal rotation that control system sends, the screw rod 512 that drives both sides by decelerator 517 is done rotation in the same way, thereby make lifting nut 518 on the screw rod 512 up simultaneously or move down, and then drive seat body and upwards rotate by putting 527 around its hinge with anterior frame, make seat plane maintenance level.

Because the motion of the horizontal adjustment of seat is the circular arc type track, thereby the motion of leveling device is that a kind of rectilinear motion rotates the aggregate motion that combines with circular arc.Leveling device can be decomposed into relative motion assembly that is made of last hinge axle bed 515, last dirt-proof boot 525, lifting nut 518, scalable dirt-proof boot 523, outer shield 524 and the relative stationary components that is made of motor 516, decelerator 517, following hinge axle 519, drive screw 521.Described relative motion assembly is made stretching motion along drive screw 521 on the one hand, does small rotation around last hinge axle 514 on the other hand.Described relative stationary components can be done small rotation around following hinge axle bed 520 again on the other hand and cooperate in harmony flexibly to guarantee each parts as the basis of relative motion assembly.

With reference to Figure 26,27, described seat body 1 comprises footboard 101, seat cushion 102, seat support 106, handrail 107 and backrest 109, described seat support 106 bottoms be provided with described seat leveling device hinged on lift hinge 104 and the fixedly hinge 111 hinged with described anterior frame 220.Described seat cushion 102 is a soft cushion structure.The below of seat cushion 102 also is provided with seat cushion case 110, in order to seat levelness guiding mechanism and electronic apparatus control device to be installed.Described handrail 107 belows also are provided with left and right sides armrest box 105,108, can place objects such as action button and lead-in wire, Charger (portable round) and lead, distress call device and first-aid medicine.Seat 1 usefulness fixedly hinge 111 is installed on the forward seat hinge 234 of track rail assembly, and track rail assembly can rotate as fulcrum, and the maximum anglec of rotation is 45 degree.The installation site of seat 1 on track rail assembly is in the front portion of seat, its backrest is towards the place ahead of track rail assembly, and step is towards the rear of track rail assembly, so the occupant back is towards stair in climbing the building process, falling back upstairs, the front is seated downstairs, makes the occupant comparatively comfortable and safe when climbing the building.Also be provided with automatic operation device 112 on the described handrail 107, be convenient to operation.The side that described seat support 106 is positioned at the seat cushion below also offers horizon sensor installing hole 103, four horizon sensors 504 are embedded in respectively in the corresponding installing hole 103, get final product conserve space, can guarantee horizon sensor 504 reliably workings again, and be difficult for being damaged.

With reference to Figure 28,29, described control system comprises that master controller able to programme (PLC), information input unit branch, information output part divide and power supply.The information input unit branch can receive the control foundation of several information such as power supply and running state data information, handle or button operation information, seat levelness heat transfer agent, voice control information and other control input information as Programmable Logic Controller.Power controller is given in master controller able to programme (PLC) output control information, handling three drive motors drive motor of unitary drive motor, the unitary drive motor of right side crawler travel, seat leveling device (left track walk) by the running of designing program, makes seat move by instructions for use.Master controller and the operational factor of relevant seat such as voltage, speed, power information (the residual electric weight of accumulator, charge notification etc.) and other relevant information fed back is shown on the display screen of steering controller, the reference when using for occupant and operator.This display screen can also show brief first aid explanation when implementing distress call, for offering help for the deliverer.On the seat voice output module can also be set,, when the seat controller is provided with radio, can play radio station news and CD etc. to carry out voice dialogue, broadcasting MP3 music, speech chronopher and timing prompting etc.In a word, according to the instructions for use of user, the master controller on the seat can have bigger built-in capacity, increases more additional function of use.

The power supply of described track driving mechanism and control system adopts the chargeable storage system, with the safe voltage power supply of low pressure 24V.

Of the present utility model have a seat of climbing the building function, can by control system to seat send instruction finish climb the building, advance, retreat, exercises such as turning.Climb building process crawler unit part in front and made detailed description.

As previously mentioned, a traveling crawler assembly is arranged below this seat, adopt rubber belt track as ground-engaging element.So select for use this scheme to be because rubber belt track has good walking characteristic, operate steadily, adhesion coefficient is big over the ground, is easy to control.During walking, crawler belt is actionless with respect to ground, and during the active roll tube rotation, roller drives crawler belt, moves forwards or backwards thereby drive whole seat.Crawler belt respectively has a walking unit about on the assembly, structurally be separate, drive separately separately, but when seat was walked, these two crawler belts then is synchronous operation that when seat need advance, two track assemblies travelled forward synchronously, as shown in figure 30; When seat need retreat, two then motions backward synchronously of crawler belt, as shown in figure 31.The speed of travel of seat can be regulated, adopt step-governor d or continuous speed adjustment, its minimum speed of travel is 0.2 meter per second when the drive motor rotating speed is 1000 rev/mins, and its highest line is walked speed and is not more than 0.6 meter per second when the drive motor rotating speed is 3000 rev/mins.As when adopting step-governor d, its speed generally can be divided into three grades, as 0.2 meter per second, 0.4 meter per second and 0.6 meter per second.Seat is walked when maximum speed, its per hour the speed of travel be about 2.16 kms, be equivalent to common people's stroll speed at ordinary times, relatively steadily.

Because two crawler belts of track rail assembly have adopted separately independently drive system, the crawler belt seat can freely change direction, and has two kinds of steering modes such as original place rotation and circular arc rotation available:

1, original place rotation mode:

When selecting the original place rotation mode, the direction of motion of two crawler belts is opposite on the track rail assembly, is the place ahead with the seat dead ahead with reference to Figure 32, and left track travels forward, and the right side crawler belt moves backward, and seat is original place rotation clockwise just.With reference to Figure 33, on the contrary, when left track moves backward, seat just was rotated counterclockwise when the right side crawler belt travelled forward.The radius of turn of seat is zero under the operating mode of original place rotation, and seat rotated with regard to the original place when crawler belt moved by this way.

Because the radius of turn minimum of original place rotation adapts to when upper and lower stair are turned and uses.The width of the staircase of residential building building generally is about 1 ~ 1.2 meter when the two-fold stair, about 2.5 meters of length adopts the pivot stud mode when climbing the building, and the crawler type seat can be current in staircase very easily.

2, circular arc rotation mode:

With reference to Figure 34, crawler belt advances at a slow speed when the right side, and when left track advanced fast simultaneously, the seat pitch of the laps was turned right clockwise.When right side crawler belt slow astern, when left track retreated fast simultaneously, the seat pitch of the laps was turned right counterclockwise.V1 represents the speed of service of right side crawler belt among the figure, and V2 represents the speed of service of left track, and R represents radius of turn, and 0 expression is turned around the center.

With reference to Figure 35, crawler belt advances fast when the right side, and during the slow tape travel of left track simultaneously, the seat pitch of the laps turns left clockwise.Crawler belt retreats fast when the right side, and left track is with when retreating slowly simultaneously, and the seat pitch of the laps turns left counterclockwise.

Seat generally should not adopt the steering mode of original place rotation when level walking, to prevent the excessive wear of crawler belt.The mode that then adopts circular arc to turn to during at level walking when seat.The speed that seat is turned depends on the absolute rotating speed of each crawler belt and the speed discrepancy between the crawler belt of the left and right sides.

With reference to Figure 36, this flow chart has shown the dwelling house (or other buildings) that has only folding stair for each floor, climbs the building all processes from bottom to living floor.The process of going downstairs is then pressed figure below program inverted running and is got final product.

With reference to Figure 37, this flow chart has shown the dwelling house (or other buildings) that has only the two-fold stair for each floor, climbs the building all processes from bottom to living floor.The process of going downstairs is then pressed figure below program inverted running and is got final product.

With reference to Figure 38, above one " subprogram of stair climbing " all arranged in two kinds of flow charts of climbing the building overall process, this flow chart has then shown the single building program of climbing, downstairs process is then pressed figure below program inverted running.

With reference to Figure 39-44, be provided with and program according to diagramatic way, can finish the various building actions of climbing.

What should be understood that is: the foregoing description is just to explanation of the present utility model, rather than to restriction of the present utility model, any innovation and creation that do not exceed in this utility model connotation scope all fall within the protection domain of the present utility model.

Claims (10)

1, a kind of cterpillar drive, comprise by one and integrate two identical walking unit (232,233) that frame (221) connects, it is characterized in that: each walking unit (232,233) comprises crawler belt (209), anterior frame (220) and rear portion frame (202), crawler belt (209) is supported by the set of the rolls that is located on anterior frame (220), the rear portion frame (202), comprising active roll tube (207), this active roll tube is connected with track driving mechanism on (207); Described anterior frame (220) is hinged with rear portion frame (202), locates to be provided with bottom changed course roller (216) at pin joint (206), and the below of bottom changed course roller (216) forwardly forms breach (223) between frame (220), the rear portion frame (202).

2, cterpillar drive according to claim 1 is characterized in that: described set of the rolls comprises the active roll tube (207) that is positioned on the anterior frame (220), tensioning roller (215), the top first changed course roller (212) and is positioned at bottom air bells removing roll tube (217), lower support roller (218), the driven roller of afterbody (201) and top second on the rear portion frame (202) roller (213) that alters course; Described crawler belt (209) is in the following manner successively through forming closed loop behind each roller: the inner surface envelope top first changed course roller (212), tensioning roller (215), active roll tube (207), outer surface envelope bottom changed course roller (216), inner surface envelope bottom air bells removing roll tube (217), lower support roller (218), the driven roller of afterbody (201), the outer surface envelope top second changed course roller (213); Described active roll tube (207) passes through the tooth engaged transmission with crawler belt (209) inner surface.

3, cterpillar drive according to claim 2 is characterized in that: the crawler belt (228) of part is 30 ~ 45 degree with the angle (α) of horizontal plane between envelope active roll tube (207) and the tensioning roller (215); Described lower support roller (218) is 1-5, and the crawler belt (224) of the driven roller part of a plurality of lower support rollers of envelope (218) and afterbody linearly; Also be provided with afterbody changed course roller (211) on the described rear portion frame (202), make crawler belt (209) the parallelogram shape of envelope rear portion frame (202) part.。

4, cterpillar drive according to claim 2, it is characterized in that: also be provided with track takeup on the roller seat (210) of described tensioning roller (215), this track takeup comprises a pair of adjustment screw rod (302) and tensioning spring (303), described a pair of adjustment screw rod (302) bottom is coupling on the installation base plate (306) that is fixedly connected with described anterior frame (220), the top be connected to one with the fixed top board of described tensioning roller seat (210) (308) on; And the bottom of described each adjustment screw rod (302) is provided with a break-in umbrella wheel (301), and described break-in umbrella wheel (301) outfan connects adjusts spanner; Described tensioning spring (303) is sleeved on to be adjusted on the screw rod (302), the bottom be fixed on one with bracket (304) that described adjustment screw rod (302) is threaded on, the top is fixed on the top board (308).

5, cterpillar drive according to claim 1 and 2, it is characterized in that: described anterior frame (220) is located the top at pin joint (206) and is provided with spacer pin (230), described rear portion frame (202) pin joint (206) locate the top design have corresponding with spacer pin (230), prevent that anterior frame (220) from toppling over the arc stopper slot (231) of excessive angle backward.

6, cterpillar drive according to claim 1 and 2 is characterized in that: described crawler belt (209) comprises flute profile that inboard flute profile drives layer (225), intermediary tensile strength layer (226) and the outside creep layer (227).

7, a kind of stair-climbing chair that adopts above-mentioned cterpillar drive, comprise seat body (1), it is characterized in that: on described seat body (1), be provided with control system (6), the bottom of described seat body (1) is provided with described cterpillar drive (2), is provided with seat leveling device (5) between seat body (1) and cterpillar drive (2).

8, stair-climbing chair according to claim 7, it is characterized in that: described seat leveling device (5) comprises horizon sensor (504), sensor control circuit and horizontal adjusting mechanism (526), described horizon sensor (504) comprises arcual and is built-in with the seal glass body (506) of hydrargyrum conductor (510), the central authorities of described hydrargyrum conductor (510) top are provided with bubble (508), the contre electrode of locating to draw from bubble (508) (507,509) and the electrode that leans forward (505) and the hypsokinesis electrode (511) of drawing from hydrargyrum conductor (510) both sides be wired to sensor control circuit respectively; Described sensor control circuit is arranged in the described control system (6); Described horizontal adjusting mechanism (526) comprises hinge bracing strut (513), last hinge axle (514), last hinge axle bed (515), motor (516), decelerator (517), lifting nut (518), following hinge axle (519), following hinge axle bed (520) and drive screw (521), described upward hinge bracing strut (513) is fixed on the seat body bottom and is connected with the described hinge axle (514) of going up, described upward hinge axle bed (515) is sleeved on the described hinge bracing strut (513) of going up and upward and with lifting nut (518) is connected, described lifting nut (518) is sleeved on the drive screw (521), and described motor (516) outfan is connected to the bottom of described drive screw (521) by decelerator (517); Described motor (516), decelerator (517) and drive screw (521) are fixed on the described down hinge axle (519), pin joint (206) axis coinciding of described hinge axle (519) down and front and rear part frame and being arranged on rotationally on the described hinge axle bed (520) down.

9, stair-climbing chair according to claim 7 is characterized in that: described drive screw (521) is two, and is driven respectively by two decelerators (517) about same motor (516) drive.

10, stair-climbing chair according to claim 7, it is characterized in that: described seat body (1) comprises footboard (101), seat cushion (102), seat support (106), handrail (107) and backrest (109), described seat support (106) bottom be provided with described seat leveling device hinged on lift hinge (104) and the fixedly hinge (111) hinged with described anterior frame (220).

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