CN211391498U - Stair climbing moving chassis based on double-crank and telescopic rod combined control - Google Patents

Abstract

The utility model relates to a stair-climbing mobile chassis based on the joint control of double cranks and telescopic rods, which comprises a body, two front legs are arranged at the front end of the body, and two rear legs are arranged at the rear end, and the bottom of each rear leg passes through A rear leg telescopic rod is connected to the rear wheel; a pair of cranks, a pair of connecting rods, two forearms, two forearm telescopic rods and two rear arms are respectively arranged on the left and right sides of the body; They are arranged in parallel, and the middle parts of the two cranks are connected to the side walls of the vehicle body. A connecting rod is respectively arranged at the top and bottom of the two cranks, and the two connecting rods and the two cranks form a bracket of a parallelogram structure, which is located between the two connecting rods. The front ends are provided with forearms, the ends of the forearms are provided with forearm telescopic rods, and the rear ends of the two links are provided with rear arms. The utility model has the advantages of simple structure and good stability, can smoothly perform the action of climbing stairs, and can be widely used in the field of transportation for climbing stairs.

Description

A stair-climbing mobile chassis based on the combined control of double cranks and telescopic rods

technical field

The utility model relates to a mobile chassis, in particular to a stair-climbing mobile chassis based on the joint control of double cranks and telescopic rods.

Background technique

It is very inconvenient to transport heavy objects on many floors without elevators, so there are many stair climbing devices in the society, which can facilitate the transportation of heavy objects to high floors. There are many types of stair-climbing mobile chassis in today's society. These stair-climbing mobile chassis can be generally divided into wheeled, crawler, and stepping types. Among them, although the crawler-type mobile stair-climbing chassis has good stability, the fuselage is relatively bulky, and at the same time, the loss of the crawler and the stairs itself is large; the stability control of most of the wheel-type stair-climbing mobile chassis is complicated and prone to instability. Accidents: The traditional step-by-step stair-climbing mobile chassis has general flexibility and control, and is more complicated in the control of the center of gravity stability, and sometimes accidents are prone to occur. Therefore, at the same time, the stair-climbing mobile chassis that meets the requirements of light weight and strong stability is lacking in the market.

SUMMARY OF THE INVENTION

In view of the above problems, the purpose of the present utility model is to provide a stair-climbing mobile chassis based on the joint control of double cranks and telescopic rods, which has a simple structure, runs smoothly during stair climbing, and is extremely difficult to cause instability and rollover accidents.

In order to achieve the above purpose, the utility model adopts the following technical solutions: a stair-climbing mobile chassis based on the joint control of double cranks and telescopic rods, which includes a body, front legs, rear legs, rear leg telescopic rods, cranks, connecting rods, forearms , a forearm telescopic rod and a rear arm; the front end of the body is provided with two front legs, the rear end of the body is provided with two rear legs, and the bottom of each rear leg passes through a The rear leg telescopic rod is connected to the rear wheel, and the bottom of the front leg is provided with a front wheel; on the left and right sides of the vehicle body are respectively provided a pair of the cranks, a pair of connecting rods, two forearms, two The forearm telescopic rod and the two rear arms are located on one side of the vehicle body, the two cranks are arranged in parallel, and the middle parts of the two cranks are connected with the side wall of the vehicle body, located on the two sides of the vehicle body. The top and bottom of the crank are respectively provided with a connecting rod, the two connecting rods and the two cranks form a bracket with a parallelogram structure, and the front arms are provided at the front ends of the two connecting rods, and are located at the front ends of the two connecting rods. The ends of the forearms are provided with the forearm telescopic rods, and the rear arms are provided at the rear ends of the two links.

Further, the two cranks located on both sides of the vehicle body and close to the rear legs are connected to the same reducer, and the reducer is connected to a motor arranged on the vehicle body.

Further, the body is provided with a level sensor for controlling and adjusting the length of the rear leg telescopic rod.

Further, a pressure sensor is respectively provided at the bottom of the four rear arms, and a sensor for controlling and adjusting the length of the forearm telescopic rod is fixed on each of the forearm, and the bottom of each forearm telescopic rod is A pressure sensor is provided.

Further, hinges are used between the crank and the body, and between the crank and the connecting rod.

Further, a fixed connection is adopted between the forearm arm and the rear arm and the connecting rod.

Further, the body is fixedly connected with the front leg and the rear leg, the front leg is hinged with the front wheel, the rear leg is hinged with the rear wheel through the rear leg telescopic rod, and the two said The front wheels and the two rear wheels are each controlled by a controllable speed electric motor.

The utility model has the following advantages due to the adoption of the above technical solutions: 1. The utility model adopts the design of a double crank mechanism, a pair of cranks on both sides of the moving chassis for climbing stairs, and a hinged bracket at each end of each pair of cranks, and the cranks are powered by The connected motor is provided. The front and rear of the bracket are respectively a forearm and a rear arm, the forearm is equipped with a telescopic rod, which can be extended freely, and the rear arm is a fixed length rod. The two arms are automatically adjusted by the forearm telescopic rod, so that both can reach the stair plane at the same time during operation, so the bracket can adapt to stairs of different sizes. 2. When the utility model is in operation, the four force points formed by the front and rear tires and the four force points formed by the two sets of brackets are transformed into each other, so that the climbing mobile chassis has four forces regardless of which position it is in. Therefore, the stability of the stair-climbing mobile chassis is good, and the mechanism is a double rocker mechanism. The two sets of double rockers only need one motor to control, and the structure is relatively simple. The utility model can be widely used in stair-climbing transportation.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Detailed ways

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "top", "bottom", etc. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention . The present utility model will be described in detail below with reference to the accompanying drawings and embodiments.

The utility model provides a stair-climbing mobile chassis based on the joint control of double cranks and telescopic rods, which is a more lightweight, stable and safe new stair-climbing mobile chassis which adopts the joint control of a double rocker mechanism and a telescopic rod. As shown in FIG. 1 , the utility model includes a body 1, a front leg 2, a rear leg 3, a rear leg telescopic rod 4, a crank 5, a connecting rod 6, a forearm 7, a forearm telescopic rod 8 and a rear arm 9; The rest of the stair-climbing mobile chassis has a set on the left and right sides.

The chassis of the present invention adopts a symmetrical structure, the front end of the body 1 is provided with two front legs 2, the rear end of the body 1 is provided with two rear legs 3, and the bottom of each rear leg 3 is provided with a rear leg telescopic rod. 4 is connected with the rear wheel, and the bottom of the front leg 2 is provided with a front wheel. A pair of cranks 5 , a pair of connecting rods 6 , two forearms 7 , two forearm telescopic rods 8 and two rear arms 9 are respectively disposed on the left and right sides of the vehicle body 1 . Taking the left side of the vehicle body 1 as an example for detailed description, the two cranks 5 are arranged in parallel, and the middle parts of the two cranks 5 are connected with the side wall of the vehicle body 1; A connecting rod 6 and two cranks 5 constitute a bracket of a parallelogram structure. The front ends of the two links are provided with forearms 7 , and the ends of the forearms 7 are provided with forearm telescopic rods 8 ; the rear ends of the two links 6 are provided with rear arms 9 .

In the above embodiment, the crank 5 and the vehicle body 1 and between the crank 5 and the connecting rod 6 are all hinged. A fixed connection is adopted between the front arm 7 and the rear arm 9 and the connecting rod 6 .

In the above embodiments, the two cranks 5 located on both sides of the vehicle body 1 near the rear legs 3 are connected to the same reducer, which is connected to the motor arranged on the vehicle body 1, and the brackets of the parallelogram structure on both sides appear when moving. The arc-shaped movement track makes the brackets on both sides move up or down one step.

In the above-mentioned embodiments, the vehicle body 1 is provided with a level sensor for controlling and adjusting the length of the rear leg telescopic rod 4, so that the vehicle body 1 of the stair-climbing mobile chassis is always level during the process of climbing the stairs or traveling on the ground.

In the above-mentioned embodiments, a pressure sensor is respectively provided at the bottom of the four rear arms 9, and a sensor for controlling and adjusting the length of the forearm telescopic rod 8 is fixed on each forearm 7, and the bottom of each forearm telescopic rod 8 is A pressure sensor is provided. When the pressure sensor of the forearm 7 is stressed, and the pressure sensor of the rear arm 9 is not stressed, the forearm telescopic rod 8 is shortened until the front and rear pressure sensors sense the force at the same time; the pressure sensor of the rear arm 9 is stressed, and the pressure sensor of the forearm 7 is not affected. When the force is applied, the forearm telescopic rod 8 is extended until the front and rear pressure sensors sense the simultaneous force; when the front and rear arm pressure sensors are simultaneously stressed, there is no telescopic action. The forearm 7 and the rear arm 9 can reach the stair plane at the same time during operation by adjusting the length of the forearm telescopic rod 8, which greatly increases the stability and safety.

In the above-mentioned embodiments, the vehicle body 1 is fixedly connected with the front leg 2 and the rear leg 3, the front leg 2 is hinged with the front wheel, the rear leg 3 is hinged with the rear wheel through the rear leg telescopic rod 4, the two front wheels and the two rear wheels are hinged. The wheels are each controlled by a motor with a controllable speed. The front and rear four wheels controlled by the motor can realize forward, backward and turning actions by adjusting the motor speed.

When going upstairs, the forearm 7 and rear arm 9 of the bracket are moved from the lower plane to the higher plane by the rotation of the double crank 5 under the action of the motor driving force, and the pressure on the stair surface is generated, and the stair surface generates a reverse supporting force. Raise the stair-climbing chassis. The front wheel of the stair-climbing mobile chassis is lifted to a higher step, and the rear wheel is extended under the action of the rear leg telescopic rod 4, so the body 1 is kept horizontal. The principle is the same when going downstairs, but it works in the opposite direction.

To sum up, in the present invention, the motor drives the crank 5, so that the driving force is obtained, so that the crank 5 and the bracket make circular motion, and the supporting action of the front arm 7 and the rear arm 9 of the bracket makes the climbing mobile chassis move upward or downward. downward movement, and at the same time, the rear leg telescopic rod 4 is controlled by the level sensor to extend and retract, so that the vehicle body 1 is horizontal. The forearm 7 of the bracket can also automatically adjust the length of the forearm through the pressure sensor, thereby realizing the adaptation to stairs of different specifications. The mechanism of the mobile chassis for climbing stairs is simple, so it is relatively light.

The above-mentioned embodiments are only used to illustrate the present utility model, and the structure, size, setting position and shape of each component can be changed to some extent. The improvements and equivalent transformations made shall not be excluded from the protection scope of the present invention.

Claims (7)

1. A building-climbing mobile chassis based on the joint control of double cranks and telescopic rods, is characterized in that: comprising body, front legs, rear legs, rear leg telescopic rods, cranks, connecting rods, forearms, forearm telescopic rods and rear arms; The front end of the body is provided with two front legs, the rear end of the body is provided with two rear legs, and the bottom of each rear leg is connected to the rear wheel through a rear leg telescopic rod. A pair of cranks, a pair of connecting rods, two forearms, two forearm telescopic rods and two The rear arm is located on one side of the vehicle body, and the two cranks are arranged in parallel, and the middle parts of the two cranks are connected with the sidewall of the vehicle body, and a The connecting rod, the two connecting rods and the two cranks constitute a bracket of a parallelogram structure, the forearms are provided at the front ends of the two connecting rods, and the ends of the forearms are all provided There is the forearm telescopic rod, and the rear arms are provided at the rear ends of the two connecting rods. 2 . The mobile chassis for climbing stairs as claimed in claim 1 , wherein the two cranks located on both sides of the vehicle body and close to the rear legs are connected to the same reducer, and the reducer is connected to the same reducer. 3 . body motor connection. The stair-climbing mobile chassis according to claim 1, characterized in that: the body is provided with a level sensor for controlling and adjusting the length of the rear leg telescopic rod. The stair-climbing mobile chassis according to claim 1, characterized in that: a pressure sensor is respectively provided at the bottom of the four rear arms, and each of the forearms is fixed on the forearm for controlling and adjusting the telescoping of the forearm. A sensor for the length of the rod, and a pressure sensor is provided at the bottom of each of the forearm telescopic rods. The stair-climbing mobile chassis according to any one of claims 1 to 4, characterized in that : the crank and the vehicle body and between the crank and the connecting rod are all hinged. 6 . The mobile chassis for climbing stairs according to any one of claims 1 to 4 , wherein the forearm and the rear arm are fixedly connected to the connecting rod. 7 . The stair-climbing mobile chassis according to any one of claims 1 to 4, characterized in that: the body is fixedly connected to the front legs and the rear legs, and the front legs are hinged to the front wheels, and the The rear leg is hinged with the rear wheel through the rear leg telescopic rod, and the two front wheels and the two rear wheels are respectively controlled by a motor with a controllable speed.

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