CN208682517U - The wheel of climbing stairs and the vehicle of climbing stairs - Google Patents
The wheel of climbing stairs and the vehicle of climbing stairs Download PDFInfo
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- CN208682517U CN208682517U CN201821085826.2U CN201821085826U CN208682517U CN 208682517 U CN208682517 U CN 208682517U CN 201821085826 U CN201821085826 U CN 201821085826U CN 208682517 U CN208682517 U CN 208682517U
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Abstract
The utility model discloses a kind of wheel of climbing stairs and the vehicles of climbing stairs, the wheel is equipped with the support rod for rotating synchronously and being converted between holding state and non-supported state with the wheel, the support rod protrudes out the outer rim of wheel under holding state, which does not protrude out the outer rim of wheel under non-supported state.The wheel of the utility model climbing stairs is equipped with a support rod, which rotates synchronously with wheel.When support rod protrudes out the outer rim of wheel, support rod relative wheel is in holding state, and with vehicle wheel rotation and when being held in upper level stairwell surface, wheel is convenient to wheel and runs on stair support rod using the support end of support rod as rotating fulcrum；When support rod does not protrude out the outer rim of wheel, support rod relative wheel is in non-supported state, and wheel is contacted with road surface, and for wheel using wheel shaft as rotating fulcrum, be conducive to wheel stability runs on road surface.The car wheel structure of the climbing stairs is simple, reliable for operation.
Description
Technical field
The present invention relates to the vehicles of the wheel and its climbing stairs of delivery vehicle more particularly to a kind of climbing stairs.
Background technique
Existing wheel is circle, is conducive to roll on road surface, but the wheel is not particularly suited for the fortune of stair or step
Row environment.Similarly, the delivery vehicle of the circular wheel is installed, such as: wheelchair, shopping cart, trolley, children trolley or luggage
Case, also inconvenience runs on stair or step.
Currently, releasing a kind of planetary gear (stair climbing wheel) in equilateral triangle in market, which can run on stair or platform
Rank solves the problems, such as vehicle stair climbing, but there is problems in that stability is poor, impact force is big.In addition, being equipped with
When the delivery vehicle of the planetary gear is displaced into the road surface of uneven, three idler wheels of planetary gear are easy alternately to contact around shaft
In road surface, cause vehicle body there is a phenomenon where pitching, fluctuation of service, user experience is poor, and runnability is not as good as general
Logical circular wheel.
In order to enable wheel can stable operation in road surface and run on stair or step, existing circular wheel is also
Wait innovate.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind can stable operation in road surface and the wheel of stair climbing.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of wheel of climbing stairs, the wheel
Equipped with the support rod for rotating synchronously and being converted between holding state and non-supported state with the wheel, which is being supported
The outer rim of wheel is protruded out under state, which does not protrude out the outer rim of wheel under non-supported state.
The invention has the following beneficial effects: the wheels of climbing stairs of the present invention to be equipped with a support compared to the prior art
Bar, the support rod are rotated synchronously with wheel.When support rod protrudes out the outer rim of wheel, support rod relative wheel is in support shape
State, support rod is with vehicle wheel rotation and when being held in upper level stairwell surface, and wheel is using the support end of support rod as rotating fulcrum, side
Stair are run on convenient for wheel；When support rod does not protrude out the outer rim of wheel, support rod relative wheel is in non-supported state,
Wheel is contacted with road surface, and for wheel using wheel shaft as rotating fulcrum, be conducive to wheel stability runs on road surface.The vehicle of the climbing stairs
Wheel construction is simple, reliable for operation.
Preferably, the quantity at least two of the support rod, and be uniformly distributed on wheel.
Preferably, the wheel is equipped with end cap, and the support rod is rotatably connected at the end cap of wheel by a pin shaft,
The end cap is equipped with the first limit hole and the second limit hole；The support rod include be located at pin shaft two sides fixing end and
The fixing end of support end, support rod installs an elastic telescopic pin；The elastic telescopic pin is rotated in company with support rod around pin shaft, and
It can be positioned at the first limit hole or the second limit hole, when which is rotatably positioned at the first limit hole around pin shaft, branch
The support end of strut turns to the outside of felly；When the elastic telescopic pin is rotatably positioned at the second limit hole around pin shaft,
The support end of support rod turns to the inside of felly.
Preferably, the wheel is equipped with end cap, and the support rod is telescopically connected to vehicle by a slider-crank mechanism
The end cap of wheel；The slider-crank mechanism includes crank, is articulated with the connecting rod of crank and is articulated with the sliding block of connecting rod, the branch
Strut is fixedly connected on sliding block and can move along guide rail.
The present invention also provides a kind of vehicles of climbing stairs, described including vehicle frame, the first wheel being installed on vehicle frame
First wheel uses the above-mentioned wheel.
Preferably, which is trolley, and the first end of the vehicle frame is equipped with telescopic pull rod, the first wheel peace
Second end loaded on vehicle frame；The quantity of first wheel is two, and opposite is installed on vehicle frame.
Preferably, the wheel is hub motor wheel, and power supply and operation control device are equipped on vehicle frame.
Preferably, the vehicle frame is equipped with the second wheel by a fold mechanism.
It preferably, further include photographing module, image processing module, control module, the photographing module is to acquire target
The real-time image information of object, and it is sent to image processing module, described image processing module signal is connected to control module, described
Control module controls the rotation of two wheel hub electric locomotive wheels according to the image recognition information of image processing module.
It preferably, further include signal label, receiver, microprocessor, the signal label is worn on user's body simultaneously
Signal is sent, the receiver is installed on vehicle frame and the signal that the received signal label is sent is sent to micro process
Device, the microprocessor will control the rotation of two wheel hub electric locomotive wheels according to signal processing information after signal calculation processing.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the wheel of climbing stairs of the present invention；
Fig. 2 is the connection schematic diagram that support rod of the invention is connected to wheel；
Fig. 3 is that the wheel of climbing stairs of the present invention is in the schematic diagram under holding state；
Fig. 4 is that the wheel of climbing stairs of the present invention is in the schematic diagram under non-supported state；
Fig. 5 is that the wheel of climbing stairs in another embodiment of the present invention is in the schematic diagram under holding state；
Fig. 6 is that the wheel of climbing stairs in another embodiment of the present invention is in the schematic diagram under non-supported state；
Fig. 7 a- Fig. 7 c is to climb building flow diagram using the wheel of the climbing stairs of two support rods；
Fig. 8 is the structural schematic diagram using the wheel of the climbing stairs of three support rods；
Fig. 9 is the stereoscopic schematic diagram of the trolley of climbing stairs of the present invention；
Figure 10 is the connection schematic diagram of the first wheel, parcel shelf and column in the present invention；
Figure 11 is the stereoscopic schematic diagram under the trolley folded state of climbing stairs of the present invention；
Figure 12 a- Figure 12 c is that the trolley of climbing stairs of the present invention climbs building flow diagram；
Figure 13 is the schematic diagram under the trolley unfolded state of climbing stairs of the present invention；
Figure 14 is the connection schematic diagram of fold mechanism and vehicle frame in the present invention, is positioned at for elastic telescopic pin 53 in figure
When two location holes 55,42 relative frame 3 of the second wheel is in the first unfolded state.
Specific embodiment
A specific embodiment of the invention is described in detail with reference to the accompanying drawing, rather than to protection scope of the present invention
Limitation.It should be understood that the orientation or positional relationship of the instructions such as term "front", "rear", "left", "right", "upper", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.Term " first ", " second " are only used for simplifying verbal description to be different from similar object, and should not be understood as
Precedence relationship between specific order.
Refering to fig. 1 and Fig. 2, the present embodiment provides a kind of wheel 1 of climbing stairs, which can justify in the prior art
Structural improvement is carried out on the basis of shape wheel.Wheel 1 be equipped with the wheel rotate synchronously and can holding state with it is non-supported
The support rod 2 converted between state.When support rod 2 protrudes out the outer rim of wheel 1,2 relative wheel 1 of support rod is in support shape
State, when support rod 2 rotates with wheel 1 and is held in upper level stairwell surface, wheel 1 is rotation with the support end 22 of support rod 2
Fulcrum is convenient to wheel 1 and runs on stair；When support rod 2 does not protrude out the outer rim of wheel 1, at 2 relative wheel 1 of support rod
In non-supported state, felly is contacted with road surface, and wheel 1 is conducive to that wheel 1 is stable to be run on using wheel shaft as rotating fulcrum
Road surface.1 structure of wheel of the climbing stairs is simple, reliable for operation.
In the present embodiment, wheel 1 is equipped with end cap 11, and support rod 2 is rotatably connected at the end of wheel 1 by a pin shaft 14
Lid 11, end cap 11 are equipped with the first limit hole 12 and the second limit hole 13.Support rod 2 includes being located at consolidating for 14 two sides of pin shaft
The fixing end 21 of fixed end 21 and support end 22, support rod 2 installs an elastic telescopic pin 23.The elastic telescopic pin 23 includes handle
End, positioning end and adjustable spring.It is exerted a force manually by user and pulls the handle end of elastic telescopic pin 23, may make elastic telescopic pin
23 positioning end is located away from the limit hole of end cap 11；User's release handle end makes positioning end fixed by the stretching force of adjustable spring
Positioned at the limit hole of end cap 11.Elastic telescopic pin 23 is rotated in company with support rod 2 around pin shaft 14, and can be positioned at the first limit hole
12 or second limit hole 13.When the elastic telescopic pin 23 is rotatably positioned at the first limit hole 12 around pin shaft 14, the branch of support rod 2
Support end 22 turns to the outside (as shown in Figure 3) of felly, and support rod 2 is in holding state.The elastic telescopic pin 23 surrounds
When pin shaft 14 is rotatably positioned at the second limit hole 13, the support end 22 of support rod 2 turns to the inside of felly (such as Fig. 4 institute
Show), support rod 2 is in non-supported state.The support rod 2 manually adjusts elastic telescopic pin 23 by user and realizes in holding state
With the conversion between non-supported state.
Refering to Fig. 5 and Fig. 6, in another embodiment, wheel 1 is equipped with end cap 11, and support rod 2 passes through a slider-crank mechanism
Telescopically it is connected to the end cap 11 of wheel 1.Slider-crank mechanism includes crank 24, the connecting rod 25 for being articulated with crank 24 and hinge
It is connected to the sliding block 26 of connecting rod 25.Support rod 2 includes fixing end 21 and support end 22.The fixing end 21 of support rod 2 is fixedly connected on
Sliding block 26, so that support rod 2 can be moved with sliding block 26 along guide rail 27.Crank 24 is connected to the output of motor (not shown)
Axis, by controlling the forward and reverse of motor, it can be achieved that the support end 22 of support rod 2 is stretched out or shunk in the outer rim of wheel 1.Electricity
When machine rotates forward, the support end 22 of support rod 2 slides along guide rail 27 and protrudes out the outer rim (as shown in Figure 5) of wheel 1, support rod 2
In holding state；When motor reversal, the support end 22 of support rod 2 slides along guide rail 27 and shrinks the outer rim in wheel 1 (as schemed
Shown in 6), support rod 2 is in non-supported state.The support rod 2 by user's control motor rotation realize holding state with it is non-
Conversion between holding state.Certainly, user also can realize support rod 2 in holding state and non-supported shape with manual crank
Conversion between state.
In the present embodiment, according to the size of the rank of stair high H and terrace D, diameter, the support rod 2 of wheel can be calculated
The quantity and support rod of use protrude out the length of felly.Rank is high: when terrace=1:1 (as shown in Figure 7a), support rod 2
Quantity be two, two support rods 2 are uniformly distributed on wheel 1, wheel diameter: terrace=1.1-1.2:1, support rod protrude out
The length of felly out: rank height=0.18-0.19:1, it can be ensured that wheel 1 rotates 180 degree and can climb to upper level stair.Rank
High: when terrace=1:1.2-1.5 (as shown in Figure 8), the quantity of support rod 2 is three, and three support rods 2 are uniform on wheel 1
Distribution, wheel diameter: terrace=1.5-1.6:1, support rod 2 protrude out the length of 1 outer rim of wheel: rank height=0.05-0.15:1, energy
Enough ensure that wheel 1 rotates 120 degree and can climb to upper level stair.Rank is high: when terrace=1:3-4, the quantity of support rod 2 is one,
It can ensure that the rotation of wheel 1 can be climbed to upper level step once enclosing.The support end 22 of support rod 2 is equipped with rubber block, Ke Yishi
Existing wheel 1 can also prevent 22 damaging contact face of support end to the buffering of contact surface.
Refering to Fig. 7 a to Fig. 7 c, in the present embodiment, wheel 1 is when support rod 2 is under holding state, close to lowermost level
Stair, the support end 22 of support rod 2 is held in the surface of upper level stair, and wheel 1 is rotation with the support end 22 of support rod 2
Fulcrum realizes that wheel 1 rises to upper level stair.Structure is simple, can quick climbing stair.It can be with of course for the wheel 1
The stair of other sizes are adapted to, the support end 22 of support rod 2 extension type can be set as, protrude out vehicle to be lengthened or shortened
Take turns the length of outer rim.
The present invention also provides a kind of vehicle of climbing stairs using above-mentioned wheel 1, the wheel 1 of climbing stairs is installed on
On the vehicle frame of vehicle.The vehicle can be wheelchair, shopping cart, trolley, children trolley or luggage case.In order to the climbing stairs
Vehicle run on stair or step when support rod 2 is in holding state, can also be when support rod 2 be in non-supported state
Run on road surface.
Refering to Fig. 9 and Figure 10, in the present embodiment, the vehicle of climbing stairs is trolley, is conducive to trolley on stair
Cargo is delivered, user's physical strength is saved.Trolley includes the pull rod 31 for being telescopically connected to 3 first end of vehicle frame, is installed on vehicle frame 3
First wheel 41 of second end, the parcel shelf 32 to bearing goods for being installed on 3 second end of vehicle frame.First wheel 41 is adopted as
The wheel 1 of above-mentioned climbing stairs, the quantity of the first wheel 41 are two, and it is opposite be installed on vehicle frame 3, improve the steady of vehicle body
It is qualitative.Vehicle frame 3 is equipped with two columns 33 being oppositely arranged, and forms hollow through portion between two columns 33.Two turns of parcel shelf 32
Dynamic seat 34 is articulated with two columns 33 by pin shaft 35 respectively.Every one first wheel 41 is connected to column 33 by wheel fork 43.Column
Angled torsion device 36 is socketed on 33, wheel fork 43 is fixedly connected on angle torsion device 36.Every one first wheel 41 passes through angle
Degree torsion device 36 is rotatably connected at column 33.Two first wheels 41 can be contained in the through portion between two columns 33, with
Reduce volume when folding.
0 and Figure 11 refering to fig. 1, in the present embodiment, the rotation seat 34 of parcel shelf 32, which is equipped with, to be fixed the first wheel 41 and is working
The limiting slot 37 of rotational angle under state, angle torsion device 36 are equipped with the locating piece 38 being fastened in limiting slot 37.User turns round
When turning parcel shelf 32 and being folded, so that locating piece 38 is located away from limiting slot 37, the torsionspring in angle torsion device 36 promotees
So that the opposite column 33 of the first wheel 41 is rotated, and turns to the through portion between two columns 33.Parcel shelf 32 is collapsibly
It is connected to vehicle frame 3.Parcel shelf 32 is equipped with the evacuation notch 39 of accommodating wheel fork 43, is conducive to the first wheel 41 and is folded to two columns
Between 33.It is further reduced the folding volume of trolley in an idle state, and is conducive to reduce storage space.Conversely, user
When turn-back parcel shelf 32 is unfolded, the torsionspring in angle torsion device 36 promotes the opposite column 33 of the first wheel 41
It rotates backward, and perpendicular to vehicle frame 3, when locating piece 38 is fastened in limiting slot 37, the expansion of trolley can be realized.
2a to Figure 12 c refering to fig. 1, in the present embodiment, user pull trolley upstairs when so that two first wheels 41 are close
In the stair of lowermost level, user manually adjusts the state of support rod 2, so that support rod 2 is in holding state, user is with respect to first
Wheel 41 is located on higher stair, and user pulls pull rod 31 that the support end 22 of support rod 2 is made to be held in upper level stair
Surface, user applies biggish power, so that the first wheel 41 is rotating fulcrum with the support end 22 of support rod 2, realizes the first vehicle
Wheel 41 rises to upper level stair, repeats the operation several times, trolley may be implemented and rise to a floor.Trolley reaches corresponding
When destination, user adjusts support rod 2 to non-supported state, the fortune that pulling hand push car pull bar 31 can be stable on road surface
Row.
When user pulls trolley to go downstairs, also support rod 2 is adjusted to holding state first, user is with respect to the first wheel 41
On higher stair, pulling is slightly enforced, cooperates the gravity of trolley itself and turning-over support bar 2 will be under trolley
Minimize the stair of grade, trolley user's control during downstairs is stopped the inclined direction of cart, to prevent trolley from inclining
?.When trolley reaches target road surface, user adjusts support rod 2 to non-supported state, pulls or push hand push car pull bar 31
Run on road surface.
Referring again to Fig. 9, in the present embodiment, the first wheel 41 of trolley is adopted as power wheel, such as: hub motor vehicle
Wheel.Power supply 39 and operation control device (not shown) are installed on vehicle frame 3.Operation control device is installed on pull rod 31 simultaneously
Signal is connected to hub motor wheel.Power supply 39 can provide operating power to two wheel hub electric locomotive wheels, and user passes through manipulation fortune
Row control device realizes the rotation of two wheel hub electric locomotive wheels.Be conducive to save user's physical strength, be especially convenient to trolley and run on building
Ladder.
3 and Figure 14 refering to fig. 1 in the present embodiment, is equipped with the second wheel 42, the quantity of the second wheel 42 is on vehicle frame 3
Two.Second wheel 42 is adopted as universal wheel.Second wheel 42 is connected to vehicle frame 3 by a fold mechanism 5.The fold mechanism 5
Including being fixedly connected on the fixing seat 51 of vehicle frame 3, being articulated with the mandril 52 of fixing seat 51.Second wheel 42 is connected to 52 bottom of mandril
End.Set in fixing seat 51 there are three the location hole of relatively fixed 51 rotational angle of seat of limitation mandril 52, mandril 52 be equipped with to
It is positioned at the elastic telescopic pin 53 of location hole.The setting position of every a positioning hole corresponds to mandril 52 relative to the rotation of fixed seat 51
Angle.User manually adjusts the state that elastic telescopic pin 53 may be implemented the expansion of 42 relative frame 3 of the second wheel or fold.Its
In, when elastic telescopic pin 53 is positioned at first positioning hole 54,42 relative frame 3 of the second wheel is in folded state；Elastic telescopic
When pin 53 is positioned at second location hole 55,42 relative frame 3 of the second wheel is in the first unfolded state；Elastic telescopic pin 53 positions
When third location hole 56,42 relative frame 3 of the second wheel is in the second unfolded state.First unfolded state and the second expansion shape
State can make vehicle frame 3 favour road surface, and 3 tilt angle of vehicle frame under the second unfolded state is greater than the vehicle under the first unfolded state
3 tilt angle of frame, the user for being conducive to different heights use trolley.Two second wheels 42 are conducive to hand push in a folded configuration
Vehicle is run on stair, prevents the second wheel 42 from colliding in stair, or saves storage space when storing trolley.Two second
Wheel 42 can cooperate the gravity of two first wheel 41 common loading carriage 3 and cargo in the deployed state, so that user pulls
Or when trolley being pushed to run on road surface, reduce the physical demands of user.When certain trolley runs on road surface, two second wheels
42 can also be in folded state, depend primarily on user demand, such as trolley is under light condition or cargo is lighter
Under state.
In the present embodiment, trolley further includes photographing module 6, image processing module, control module.Photographing module 6 to
The real-time image information of object is acquired, and is sent to image processing module, image processing module signal is connected to control module.
Control module controls the rotation of two wheel hub electric locomotive wheels according to the image recognition information of image processing module, and two universal wheels are driven in two
Hub motor vehicle wheel rotation.Trolley to follow user by the control mode that vision follows when running on road surface to move
It is dynamic, liberate the both hands of user；Two wheel hub electric locomotive wheel differentials can realize that trolley turns to when rotating.
It should be understood that object can be the user using trolley, it can also be other mobile devices.Other are moved
Dynamic equipment can be the other hand cart, and multiple trolleys may make to follow user mobile together in front and back queue shape.
The power supply 39 being installed on vehicle frame 3 provides operating power to photographing module 6, image processing module and control module.
Photographing module 6 is installed on the side of 3 first end of vehicle frame, and photographing module 6 is camera.Photographing module 6 is used for photographic subjects object
Image information when mobile, and image information is sent to image processing module.Certainly, photographing module 6 can also be for intelligence eventually
End equipment, such as: smart phone, tablet computer or camera.Vehicle frame 3 or pull rod 31 are equipped with installation intelligent terminal
Intelligent terminal can be installed on fixing piece by fixing piece, user.The production cost of trolley is reduced, and is convenient to big
Crowd uses.Photographing module 6 is wiredly connected to control module, and control module controls the open and close of photographing module 6.Compared to nothing
Line connection, wired connection are not influenced by wireless communication signal power, ensure that the reliability of signal transmission, and improve letter
Cease the speed of transmission.
Image processing module includes to identify the first identification function module of the shape information for following target, to identify
Follow the second identification function module of the colouring information in the shape of target.First identification function module is clapped according to photographing module 6
The shape information for the image information identification object taken the photograph；The second identification function module colouring information in shape for identification.
First identification function module and the second identification function module are the differentiations according to function distinguishing, rather than on physical entity.In other words,
One identification function module, the second identification function module can be same physical entity, be also possible to two different physical entities.
Before trolley starts to follow object, photographing module 6 acquires the image information of object, and is sent at image
Manage module；The shape information for the image information identification object that first identification function module takes according to photographing module 6, and make
It is shape referring to information；The second identification function module colouring information in shape for identification, and as color referring to information；Hand
When cart is mobile, photographing module 6 acquires the shape information and colouring information of object in real time, and will real-time collected shape letter
Breath is sent to image processing module as shape comparison information, while real-time collected colouring information being compared as color and is believed
Breath is sent to image processing module；First identification function module compares shape comparison information and shape referring to information, the second identification
Functional module compares color comparison information and color referring to information, when shape information and colouring information are consistent, control module
It controls two hub motor vehicle wheel rotations and follows object.In present embodiment, image processing module only identifies shape information
And the colouring information in shape, and nonrecognition compares in photographing module 6 background information and shape that acquire in real time color with light
The information of line variation, it is possible to which the time for reducing identification operation, be conducive to raising trolley follows sensitivity.
In another embodiment, trolley further includes signal label, receiver, microprocessor.Signal label is worn on use
On the body of family and signal is sent, receiver is installed on vehicle frame 3 and the signal that received signal label is sent is sent to micro- place
Manage device.Microprocessor will control the rotation of two wheel hub electric locomotive wheels, two universal wheels according to signal processing information after signal calculation processing
It is driven in the rotation of two wheel hub electric locomotive wheels.Trolley is followed when running on road surface by super wideband wireless control mode
It is mobile in user, liberate the both hands of user；Two wheel hub electric locomotive wheel differentials can realize that trolley turns to when rotating.
It should be understood that can to aid in the control mode that above-mentioned vision follows common for the super wideband wireless control mode
The mobile control for realizing trolley, improves trolley automatically with operation stability at any time.
The power supply 39 being installed on vehicle frame 3 provides operating power to microprocessor, receiver.Specifically, power supply 39 passes through
It is that microprocessor and other equipment are powered that POE interface, which is converted into 3.3V direct current by direct current stabilizer,.Microprocessor is adopted
With the chip STM32F series of CortexM3 kernel, 32 ARM microcontrollers.It is connect between receiver and microprocessor using SPI
Mouth carries out ultra wide band radio signal data communication.In the embodiment, it is additionally provided with memory module, memory module is connected by SPI interface
It is connected to microprocessor, is stored and processed for realizing the data of system.
UWB technology is that a kind of transmission rate is high (reaching as high as 1000Mbps or more), and transmission power is lower, penetration capacity compared with
It by force and is the wireless technology based on ultra-narrow pulse, carrierfree.Exactly these advantages, make it indoors positioning field obtained compared with
For accurate result.Based in UWB location algorithm frequently with TDOA ranging localization algorithm, specially using arrival time
Difference algorithm, smaller by extraneous factor interference effect, position error is low, has to channel fading insensitive, low interception capability, system
Complexity is low, can provide the advantages that positioning accuracy of Centimeter Level, and positioning accuracy has reached 1CM when test.Receiver passes through antenna
The signal for receiving signal label sending, the arrival time of unlike signal is handled, and generates reaching time-difference data packet, number
It is sent in microprocessor according to packet, for microprocessor according to the data in data packet come calculating location information, microprocessor can basis
Positional information calculation goes out the actual distance value between trolley and user.It is stored between trolley and user in memory module
Apart from given threshold.Actual distance value is compared by microprocessor with apart from given threshold, when actual distance value is greater than distance
When given threshold, microprocessor controls two wheel hub electric locomotive wheels and accelerates rotation, to reach apart from given threshold；Work as actual distance value
When less than apart from given threshold, microprocessor controls two wheel hub electric locomotive wheel underdrives, to reach apart from given threshold.
Above embodiments are only to illustrate the present invention and not limit the technical scheme described by the invention；Therefore, although
The present invention has been described in detail referring to the above embodiments for this specification, still, those skilled in the art
It should be appreciated that still can modify to the present invention or equivalent replacement；And all do not depart from the spirit and scope of the present invention
Technical solution and its improvement should all be covered within the scope of the claims of the present invention.
Claims (10)
1. a kind of wheel of climbing stairs, it is characterised in that: the wheel, which is equipped with, to be rotated synchronously with the wheel and can support shape
The support rod converted between state and non-supported state, the support rod protrude out the outer rim of wheel under holding state, the support rod
The outer rim of wheel is not protruded out under non-supported state.
2. the wheel of climbing stairs according to claim 1, it is characterised in that: the quantity of the support rod is at least two
It is a, and be uniformly distributed on wheel.
3. the wheel of climbing stairs according to claim 1, it is characterised in that: the wheel is equipped with end cap, the support
Bar is rotatably connected at the end cap of wheel by a pin shaft, and the end cap is equipped with the first limit hole and the second limit hole；Institute
Stating support rod includes the fixing end and support end for being located at pin shaft two sides, and the fixing end of support rod installs an elastic telescopic pin；
The elastic telescopic pin is rotated in company with support rod around pin shaft, and can be positioned at the first limit hole or the second limit hole, should
When elastic telescopic pin is rotatably positioned at the first limit hole around pin shaft, the support end of support rod turns to the outside of felly；
When the elastic telescopic pin is rotatably positioned at the second limit hole around pin shaft, the support end of support rod turns to the interior of felly
Side.
4. the wheel of climbing stairs according to claim 1, it is characterised in that: the wheel is equipped with end cap, the support
Bar is telescopically connected to the end cap of wheel by a slider-crank mechanism；
The slider-crank mechanism includes crank, is articulated with the connecting rod of crank and is articulated with the sliding block of connecting rod, the support rod
It is fixedly connected on sliding block and can be moved along guide rail.
5. a kind of vehicle of climbing stairs, it is characterised in that: including vehicle frame, the first wheel being installed on vehicle frame, described first
Wheel uses wheel described in any one of Claims 1-4.
6. the vehicle of climbing stairs according to claim 5, it is characterised in that: the vehicle is trolley, the vehicle frame
First end is equipped with telescopic pull rod, and first wheel is installed on the second end of vehicle frame；The quantity of first wheel is two
A and opposite is installed on vehicle frame.
7. the vehicle of climbing stairs according to claim 6, it is characterised in that: the wheel is hub motor wheel, vehicle
Power supply and operation control device are installed on frame.
8. the vehicle of climbing stairs according to claim 7, it is characterised in that: the vehicle frame is installed by a fold mechanism
There is the second wheel.
9. the vehicle of climbing stairs according to claim 8, it is characterised in that: further include photographing module, image procossing mould
Block, control module, the photographing module are sent to image processing module to acquire the real-time image information of object, institute
It states image processing module signal and is connected to control module, the control module is according to the image recognition information control of image processing module
Make the rotation of two wheel hub electric locomotive wheels.
10. the vehicle of climbing stairs according to claim 8, it is characterised in that: further include signal label, receiver, micro-
Processor, the signal label are worn on user's body and send signal, and the receiver is installed on vehicle frame and will receive
The signal that sends of the signal label be sent to microprocessor, the microprocessor by after signal calculation processing according to signal at
It manages information and controls the rotation of two wheel hub electric locomotive wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821085826.2U CN208682517U (en) | 2018-07-09 | 2018-07-09 | The wheel of climbing stairs and the vehicle of climbing stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821085826.2U CN208682517U (en) | 2018-07-09 | 2018-07-09 | The wheel of climbing stairs and the vehicle of climbing stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108638754A (en) * | 2018-07-09 | 2018-10-12 | 常州摩本智能科技有限公司 | The wheel of climbing stairs and the vehicle of climbing stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108638754A (en) * | 2018-07-09 | 2018-10-12 | 常州摩本智能科技有限公司 | The wheel of climbing stairs and the vehicle of climbing stairs |
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