CN201890284U

CN201890284U - Stair climbing vehicle

Info

Publication number: CN201890284U
Application number: CN201020546538XU
Authority: CN
Inventors: 崔世泰
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-09-29
Filing date: 2010-09-29
Publication date: 2011-07-06
Anticipated expiration: 2020-09-29

Abstract

A stair climbing vehicle comprises a jib (13), and two support members (1,2) and a vehicle frame (3) hinged to the jib, the transmission ratio between each two of the above three components is one-to-one. When the support member (1) is fixed on a stair surface and the jib rotates at an angle about the support member(1), the other support member (2) moves to a higher stair, thereby lifting the vehicle frame. And when the other support member (2) is fixed on the upper stair surface and the jib rotates an angle about the other support member(2), the former support member (1) moves to a still higher stair, thereby lifting the vehicle frame. Two motions are performed alternately and repeatedly to climbing stairs. Climbing stairs through following two ways allows the center of mass of the vehicle frame vertically projecting on the supporting surfaces of the support members. Firstly, the support member (1) has a chute (1') and, secondly two support members both are pressed on two stair surfaces. In addition, the support member (2) comprises a support member core (2') and a transition rod (27') hinged to the support member core, wherein the transition rod (27') is hinged, through a shaft (28), to a supporting member housing (27) which is hinged to the jib, and the transition rod (27') is hinged, through a shaft (25), to a control piece (30). A spring and the control piece enable automatically shifting between land walking and stair climbing.

Description

Cart for travelling up or down stairs

Technical field

The invention relates to the vehicle that travels on stair.

Background technology

Fig. 5 of patent CN1299757A discloses a kind of cart for travelling up or down stairs, comprise a pivoted arm and three parts that are hinged with pivoted arm: two strut members and a vehicle frame, seat and vehicle frame are rigidly connected, and three parts all can rotate around being hinged axle, and all use 1 to 1 be in transmission connection between any two.Three parts can rotate with identical speed around articulated axle separately when pivoted arm maintains static.Otherwise when strut member is fixed on the tread motionlessly, pivoted arm is after the articulated axle on this strut member changes 180 °, and another strut member is just made 180 ° of circular arcs and moved to the upper class tread, and vehicle frame is also done 180 ° of circular arc translations.Above process is action 1.Next the strut member that arrives new tread maintains static, and the articulated axle of pivoted arm on it changes 180 °, the translation that makes progress of another strut member and vehicle frame, and execution 2 is moved like this and 1 and 2 is is alternately gone round and begun again and just realize climbing the building.But scrutinize discovery, though the vehicle frame barycenter also rises with 180 ° of circular arcs in action 1 and 2, the vertical projection of vehicle frame barycenter always is not positioned at the bearing surface of strut member at tread, so vehicle stability is not good enough.

Summary of the invention

The invention improves above-mentioned vehicle, and the vertical projection that makes the vehicle frame barycenter is always in the bearing surface of strut member.

The purpose of the invention reaches like this, vehicle comprises pivoted arm and two strut members and a vehicle frame of being hinged with pivoted arm, three parts all can rotate around being hinged axle, and all use 1 to 1 be in transmission connection between any two, when a strut member is fixed on the tread motionless, pivoted arm is after the articulated axle on this strut member changes an angle, it is high that another strut member is raised the one-level ladder with regard to translation, vehicle frame also translation is raised, another strut member is fixed on the tread motionless pivoted arm after the articulated axle on it changes an angle, make progress translation one-level ladder of last strut member is high, vehicle frame also translation is raised, such two actions alternately go round and begin again and realize climbing the building, below two methods make the projection of barycenter always in bearing surface.A kind of method is: have one to have the horizontally-guided chute in two strut members, strut member is pressed on the tread by chute, when rotating an angle around this fixed strut member, pivoted arm make another strut member one-level ladder that risen high, but also be not pressed on the upper class tread, promptly finished action 1 o'clock, vehicle is done action 1 ', pivoted arm does not rotate, former fixed strut member it with motionless chute on level to front slide, be pressed on the upper class tread up to another strut member, and then do action 2.Because do action 1 ' time, barycenter is moving forward, but the bearing surface leading edge also moves forward with same rate, so the projection of barycenter is always in bearing surface.Second method is, strut member is pressed on the two-stage tread simultaneously, thereby moves 1 and 2 bearing surface and have part to overlap, and barycenter is projected in the bearing surface.

Because stationarity is good, this vehicle can promptly be realized full automaticity by disabled person oneself operation upstairs, and this is that present non-robot cart for travelling up or down stairs can't be realized.

Description of drawings:

Fig. 1 has the cart for travelling up or down stairs of two strut members 1 and 2, and pivoted arm is long to be c.

Fig. 2, the A of Fig. 1 is to the view part.

Fig. 3 has the cart for travelling up or down stairs of two strut members 1,2, and pivoted arm is long to be 0.5c.

Fig. 4, the cart for travelling up or down stairs of stepped appearance pivoted arm.

Fig. 5, the strut member core 2 ' of strut member 2 all is pressed on the two-stage tread with two wheel 21, two strut members 1,2 that are hinged with axle 22.

Fig. 6, strut member 1 band chute 1 '.

Fig. 7, strut member 2 is hinged at axle 22 places on the strut member core 2 ' left side by strut member core 2 ' and strut member shell 27, and strut member shell 27 usefulness axle 6 and pivoted arm 13 are hinged.

Fig. 8, Fig. 6 A-A view part

Fig. 9 during the two-way rotation of pivoted arm, replaces chain-driving with parallelogram four connecting rod transmissions.

Figure 10, during the two-way rotation of pivoted arm, its relative motion of rotating by bolt and nut realizes.

Figure 11, two end positions of strut member core 2 ' relative strut member shell 27 are by control strip 30 controls among Fig. 7.

Figure 12, Figure 10 A is to the view part.

Figure 13, the two limit positions of transiting rod 27 ' the relative strut member shell 27 of strut member 2 is automatically controlleds.

Figure 14, Figure 13 A is to the view part.

Figure 15, the car of pivoted arm length between 0.5b and 0.5c.

The specific embodiment

This paper two members are hinged and are meant on two members porosely, and other has one to pass this two hole, and this axle becomes running-fit with a member at least, and two members can be rotated in fixed axis each other.Fig. 1,2, vehicle comprises a pivoted arm 13 and three parts that are hinged with pivoted arm 13: two strut members 1 and 2 and vehicle frames 3, seat and vehicle frame 3 are rigidly connected, and three parts all can rotate around being hinged

axle

4,5,6, and all use 1 to 1 be in transmission connection between any two.Connect with

sprocket wheel

7,8,9,10 and chain 11,12 among the figure.Sprocket wheel 7, sprocket wheel 8 and 9, sprocket wheel 10 strut member 1 that is rigidly connected respectively, vehicle frame 3, strut member 2; Chain 11 connects sprocket wheel 7 and 8, and chain 12 connects sprocket wheel 9 and 10.Three parts can rotate with identical speed around articulated axle separately when pivoted arm 13 maintains static.Otherwise when strut member 1 is fixed on the tread 14 motionless, pivoted arm is after the articulated axle on this strut member 4 changes 180 °, long and two-short dash line straight line 15 is that pivoted arm is in the position of rotating initial time among the figure, another strut member 2 is just made 180 ° of circular arcs and is moved to the upper class tread, and vehicle frame 3 is also done 180 ° of circular arc translations. and above process is action 1.Next the strut member 2 that arrives new tread maintains static, the articulated axle 6 of pivoted arm 13 on it changes 180 °, another strut member 1 and vehicle frame 3 upwards translations, execution 2, action 1 and 2 alternately goes round and begins again and just realizes climbing the building like this. but scrutinize discovery, though the barycenter of vehicle frame 3 also rises with 180 ° of circular arcs in action 1 and 2, the vertical projection of vehicle frame barycenter always is not positioned at strut member 1 and 2 bearing surfaces at tread.This is because do action 1 and 2 o'clock centroid trajectories respectively are semi arch 1 and semi arch 2, if the vertical projection of arc 1 in the bearing surface of strut member 1 because arc 1 and 2 is continuous, arc 2 just can not be in the bearing surface of strut member 2.So move not steady.The distance that is hinged between the

axle

4 and 6 is long pivoted arm.Axle 5 can overlap with one of

axle

4,6 between axle 4 and axle 6, and vehicle frame 3 and a strut member are rigidly connected during coincidence, have only one 1 to 1 transmission on the pivoted arm.Make that a and b are one-level ladder wide and high (Fig. 1), c is that the hypotenuse of one-level ladder is long, c ²=a ²+ b ²Pivoted arm length can be c (Fig. 1), or 0.5c, i.e. half long (Fig. 3) of hypotenuse.For preventing strut member 2 and axle 4 interferences, can make stepped appearance to pivoted arm 13 during for 0.5c, as Fig. 4, wherein pivoted arm 13 comprises that two parallel tabular bodys are rigidly connected with axle 5, and axle 5 passes vehicle frame 3, and sprocket wheel 8 and 9 are rigidly connected on the vehicle frame 3.With following two method improvement stationarities.Just make the strut member 2 terraced high b that raise after method 1, the vehicle pivoted arm of Fig. 3 clockwise rotate acute angle 2arcsin (b/c) from the initial time position, but be not pressed on the upper class tread.Strut member 1 is done following improvement for this reason, make the strut member 1 the same horizontal concrete chute 1 ' that has in its image pattern 6 and 8, strut member 1 is pressed on the tread by chute 1 '.Cry action 1 from initial time rotated position acute angle 2arcsin (b/c) back, next do and move 1 ', chute 1 ' is motionless at tread, and pivoted arm is also motionless, strut member 1 along the chute level to the right side-rolling ladder face width a be pressed on the upper class tread to strut member 2.Strut member 2 can be with a wheel 21 (Figure 15) in case of necessity.Strut member 1 can be connected with spring 15 ' with chute.Next do action 2 again, strut member 2 is motionless, and pivoted arm 13 changes acute angle 2arcsin (b/c) around axle 6 conter clockwises, makes strut member 1 raise terraced high b together with chute.Next moving 2 ' is that pivoted arm is motionless, and chute 1 ' slides (can by spring 15 ') to the right to topped upper class tread.Go round and begin again then and realize climbing the building.Relative to Fig. 1 and 3 this vehicles in the two-way car that rotates of pivoted arm.Top Fig. 1,3 pivoted arms are unidirectional rotation, promptly clockwise rotate.Fig. 6 also is two-way rotation, 1 is to rotate counterclockwise but move, pivoted arm long not necessarily 0.5c or c.Strut member 1 has horizontal concrete chute 1 ' (Fig. 8), and strut member 1 is pressed on the tread by chute 1 ', and strut member 1 can be along the chute horizontal slip when tread is motionless when chute, and strut member 1 chute 1 ' can connect with spring 15 '.If chute 1 ' and strut member 2 all are pressed on the same tread when initial, action 1 is that pivoted arm 13 changes the angles less than 180 degree around motionless strut member 1 conter clockwise, makes the strut member 2 terraced high b that raise, but is not pressed on the upper class tread.Corner less (Fig. 6) when pivoted arm length is big, the long hour corner of pivoted arm is (Figure 15) greatly.Next moving 1 ' is that pivoted arm 13 is motionless, strut member 1 in its chute 1 ' level to the right side-rolling ladder face width a be pressed on the upper class tread to strut member 2.Strut member 2 can be with a wheel 21 (Figure 15) in case of necessity.Next moving 2 is that strut member 2 is motionless, and pivoted arm changes the angles less than 180 degree around axle 6 cws, makes strut member 1 raise terraced high b together with chute.Next moving 2 ' is that pivoted arm is motionless, and chute 1 ' slides (can by spring 15 ') to the right to topped upper class tread. go round and begin again then and realize climbing the building.Chute 1 ' can be with two wheels, for the level land usefulness of travelling; A projection 36 ' is with in the centre, uses for climbing the building, as Figure 15.For the car of Fig. 1 and Fig. 3 pivoted arm unidirectional rotation, when pivoted arm length is between 0.5b and 0.5c, or during 0.5b, strut member 2 has been raised terraced high b after action 1, but is not pressed on the upper class tread, also can make strut member 1 band chute 1 '.During the two-way rotation of pivoted arm, because corner is less than 180 degree, 1 to 1 chain-driving can change parallelogram four connecting rod transmissions into, Fig. 9, and wherein connecting rod 11 ', 12 ' plays the effect of chain 11,12 respectively.Can make the pivoted arm long handle 16 that is rigidly connected during the two-way rotation of Fig. 6 pivoted arm 13.Caregiver or disabled person jiggle bar 16 execution 1,2 up and down; Do horizontal slip execution 1 ', 2 ' again, realize climbing the building.The rotation that also can make one of relative three parts of pivoted arm (strut member 1, strut member 2 and vehicle frame 3) is rigidly connected with handle 16 after transmission on these parts improves cireular frequency through being located at again.Figure 15 pivoted arm 13 passes through relative to rotating of strut member 1 and is rigidly connected with handle 16 after the transmission that is located on the strut member 1 improves cireular frequency again.Pivoted arm 13, bar 40, bar 41 and strut member 1 constitute four connecting rod transmissions, and pivoted arm 13 makes bar 41 rotate around strut member 1 around the rotation of strut member 1 through this transmission. and handle 16 and bar 41 are rigidly connected.Represent the length of corresponding bar with underscore, when Strut member 1With Bar 40It is very big, Pivoted arm 13Greater than Bar 41When all very little, as Strut member 1: Bar 40: Pivoted arm 13: Bar 41=15: 15: 3: 1 o'clock is exactly top desired transmission.At this moment bar 41 unidirectional or two-way rotations can both make the two-way rotation of pivoted arm.Because bar 40 is very long, but handle 16 is arranged on any place, before or after the seat.Can also between a pivoted arm 13 and a strut member (or vehicle frame 3), drg be set, perhaps and handle 16 rigidly connected bars 41 and a strut member (or vehicle frame 3) between drg is set, as the rear-wheel hub of bicycle and the drg between the vehicle frame.Also can realize climbing the building during the two-way rotation of pivoted arm by rotating screw bolt, Figure 10,12, nut 18 usefulness are hinged axle 17 and pivoted arm 13 is hinged, the screw rod 19 that matches with nut is hinged with strut member 1, and because the projection 20 on the screw rod 19 makes screw rod 19 and strut member 1 not have relative motion in the screw axis direction.Along rotating counterclockwise screw rod 19 execution 1 and 2.Also can make the nut strut member 1 that is rigidly connected, screw rod is connected with pivoted arm, and screw rod rotates and produces displacement at the nut axis direction and drive pivoted arm 13 and rotate.Also replaceable about the strut member in the argumentation of bolt and nut 1 above is strut member 2 or vehicle frame 3.

Method 2 changes the strut member 1,2 of Fig. 3 to be pressed in the two-stage tread into by being pressed in the one-level tread, as Fig. 5, and 7,11,13,14.Fig. 5 strut member 1,2 all is pressed in the two-stage tread, wherein strut member 2 two ends each with axle 22 be hinged wheel 21. level lands when travelling by strut member 2 supports, pivoted arm 13 is in fixed angle.Rolling wheel 21 (two of every sides, totally 4 of the both sides of symmetry) travels.But because front and back two wheels must be at sustained height, the vehicle frame angle D that can tilt.For the strut member among this Fig. 52 changes Fig. 7 and 11 into, become another kind of strut member 2.Also the strut member among Fig. 52 is called strut member core 2 ' for ease of narration.Be that strut member 2 among Fig. 5 is made of strut member core 2 '.Strut member core 2 ' directly is not hinged pivoted arm 13 among Fig. 7, but earlier is hinged a strut member shell 27 with the axle 22 on the left side among Fig. 5, and strut member shell 27 is hinged pivoted arm 13 with spools 6 again.Strut member shell 27 is the fan grooves that angle is D, and respectively there is a

flange

23,24 both sides.Strut member core 2 ' can rotate in groove around axle 22, forwards the limes superiors position to and contacts with flange 23, and two wheel height on the strut member core 2 ' do not wait, and are adapted at stair and travel.Forward the smallest limit position to and contact with flange 24, two wheel height on the strut member core 2 ' equate, are adapted at the level land.For strut member core 2 ' being fixed on or the smallest limit position, strut member core 2 ' is hinged a control strip 30 with axle 25 again, Figure 11, and control strip 30 is symmetrical, and axle 25 is on line of centers, and two foots 31,32 are stretched out in the line of centers both sides.Between the point 26 of strut member core 2 ' and the point 28 on control strip 30 line of centerss compression spring 29 is arranged in addition, the elastic force of spring 29 stably is pressed on the lower flange 24 or upper flange 23 of strut member shell 27 foot of control strip 30.Figure 11 is pressed on the lower flange 24 of strut member shell 27.When vehicle by level land (two wheels of strut member core 2 ' are contour) when carrying out the transition to stair hand dial control strip 30 to following settling position, foot 32 is pressed on the flange 24, because the power that makes progress that strut member core 2 ' the right wheel can be given by tread separately among Fig. 7, strut member core 2 ' is changeed around axle 22 conter clockwises on the left side, be pressed in the fan-shaped circular arc place of the foot 32 embedding strut member shells on the flange 24 among Figure 11.Strut member core 2 ' is rigidly connected for 27 one-tenth with the strut member shell, can stablize on stair and travel.Otherwise, when vehicle by stair excessively to the level land when (two wheels of strut member core 2 ' are contour) hand dial control strip 30 to last settling position, foot 31 is pressed on the flange 23, because the gravity of strut member core 2 ' self among Fig. 7, strut member core 2 ' is changeed around axle 22 cws on the left side, be pressed in the fan-shaped circular arc place of the foot 31 embedding strut member shells on the flange 23 among Figure 11.Strut member core 2 ' is rigidly connected for 27 one-tenth with the strut member shell, can stablize on the level land and travel.Above control strip 30 is strut members 2 of stirring with hand, is the strut member of stirring automatically 2 below.Figure 13,14, strut member core 2 ' is not hinged strut member shell 27, is not hinged control strip 30 yet, does not connect spring 29 at point 26 yet.Strut member core 2 ' is hinged transiting rod 27 ' with axle 34, transiting rod 27 ' is hinged strut member shell 27 with axle 28 again, the method that goes up by Figure 11 at transiting rod 27 ' is provided with control strip 30 and spring 29, transiting rod 27 ' relative strut member shell 27 is fixed on or the smallest limit position, and promptly transiting rod 27 ' is hinged a control strip 30 with axle 25, referring to Figure 11, control strip 30 is symmetrical, axle 25 is on line of centers, and two foots 31,32 are stretched out in the line of centers both sides.Between the point 26 of transiting rod 27 ' and the point 28 on control strip 30 line of centerss compression spring 29 is arranged in addition, the elastic force of spring 29 stably is pressed on the lower flange 24 or upper flange 23 of strut member shell 27 foot of control strip 30.A poke rod 35 and a spring perch 36 in addition also are rigidly connected on strut member core 2 ', a spring perch 33 also is rigidly connected on transiting rod 27 ', be provided with the spring 39 that can be subjected to pulling force and pressure between

spring perch

36 and 33, the axle 22 on the axle 28 and the strut member core 2 ' left side is not on same straight line when spring 39 stresses.When vehicle can have only contact tread or a ground and be subjected to power upwards separately by two wheels on level land (two wheels of strut member core 2 ' are contour) when carrying out the transition to stair (or opposite) strut member core 2 ', this power makes relatively rotating around axle 34 between strut member core 2 ' and the transiting rod 27 ', and spring 39 is out of shape, because relatively rotating of strut member core 2 ' and transiting rod 27 ' can be stirred control strip 30 with strut member core 2 ' rigidly connected poke rod 35 and be made foot 31 be pressed on the flange 23 and the final flange 23 that embeds to assigned address.Among Figure 15 chute 1 ' not the belt wheel period of the day from 11 p.m. to 1 a.m also can press Fig. 5 to strut member 1,2 wherein, 11,13,14 the design.Give the vehicle design electrical control circuit, finish above-mentioned 4 or 2 actions successively with dc powered, vehicle just can travel with realizing full automaticity on level land and the stair of not turning.

Claims

1. cart for travelling up or down stairs, comprise pivoted arm (13) and two strut members (1 that are hinged with pivoted arm, 2) and a vehicle frame (3), three parts all can rotate around being hinged axle, and all use 1 to 1 be in transmission connection between any two, when strut member (1) is fixed on the tread motionless, pivoted arm is after the articulated axle on this strut member changes an angle, it is high that another strut member (2) is raised the one-level ladder with regard to translation, vehicle frame also translation is raised, another strut member (2) is fixed on the tread motionless pivoted arm after the articulated axle on it changes an angle, upwards translation one-level ladder is high for last strut member (1), vehicle frame also translation is raised, and such two actions alternately go round and begin again and realize climbing the building, it is characterized in that the vertical projection of vehicle frame barycenter always is positioned at the bearing surface of strut member at tread.

2. cart for travelling up or down stairs according to claim 1 is characterized in that described 1 to 1 rotation is that chain rotates or parallelogram four connecting rods rotate.

3. cart for travelling up or down stairs according to claim 2, it is characterized in that described strut member (1) has chute (1 '), the rotation of pivoted arm is driven by following thrin: (1) direct current (DC), (2) manpower rotating screw bolt, (3) manpower rotate and to be rigidly connected with this strut member or by transmission and this strut member bonded assembly handle (16).

4. cart for travelling up or down stairs according to claim 3 is characterized in that described chute band two wheels.

5. cart for travelling up or down stairs according to claim 1 is characterized in that described two strut members all are pressed on the two-stage tread.

6. cart for travelling up or down stairs according to claim 3 is characterized in that described two strut members all are pressed on the two-stage tread.

7. according to claim 5 or 6 described cart for travelling up or down stairss, it is characterized in that strut member (2) comprises strut member core (2 '), strut member core (2 ') is with two wheels, is hinged with pivoted arm.

8. according to claim 5 or 6 described cart for travelling up or down stairss, it is characterized in that the strut member shell (27) that strut member (2) comprises strut member core (2 ') and is hinged with it, strut member shell (27) is hinged with pivoted arm, strut member core (2 ') is hinged control strip (30) with axle (25), two foots (31 are stretched out in the line of centers both sides of control strip, 32), between the point (26) of strut member core and the point (28) on control strip (30) line of centers, compression spring (29) is arranged in addition.

9. according to claim 5 or 6 described cart for travelling up or down stairss, it is characterized in that the transiting rod (27 ') that strut member (2) comprises strut member core (2 ') and is hinged with it, the strut member shell (27) that transiting rod (27 ') is hinged with axle (28), strut member shell (27) is hinged with pivoted arm, transiting rod (27 ') is hinged control strip (30) with axle (25), two foots (31 are stretched out in the line of centers both sides of control strip, 32), between the point (26) of transiting rod (27 ') and the point (28) on control strip (30) line of centers, compression spring (29) is arranged; Also be rigidly connected on strut member core (2 ') in addition a poke rod (35) and a spring perch (36), the spring perch (33) that is rigidly connected on transiting rod (27 ') is provided with spring (39) between spring perch (36) and (33).

10. cart for travelling up or down stairs according to claim 4 is characterized in that being provided with drg between pivoted arm and strut member or the vehicle frame, or is provided with drg between bar (41) and strut member or the vehicle frame.