CN212730189U - Front suspension type crawler stair-climbing moped - Google Patents

Front suspension type crawler stair-climbing moped Download PDF

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Publication number
CN212730189U
CN212730189U CN202021931291.3U CN202021931291U CN212730189U CN 212730189 U CN212730189 U CN 212730189U CN 202021931291 U CN202021931291 U CN 202021931291U CN 212730189 U CN212730189 U CN 212730189U
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China
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crawler
walking
motor
electric telescopic
telescopic rod
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CN202021931291.3U
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Chinese (zh)
Inventor
赵明
程诚
张殿强
王令杰
田万宝
刘伟
晏振华
潘树贺
张晓军
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Anhui Ruibu Intelligent Equipment Co ltd
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Anhui Ruibu Intelligent Equipment Co ltd
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Abstract

The utility model discloses a front suspension type crawler stair climbing moped, which comprises a chair-shaped vehicle body, a left universal wheel, a right universal wheel, a left traveling crawler mechanism, a right traveling crawler mechanism, a left guiding crawler mechanism and a right guiding crawler mechanism, wherein the left traveling crawler mechanism and the right traveling crawler mechanism are respectively driven by a left motor and a right motor to operate correspondingly, the front parts of the left traveling crawler mechanism and the right traveling crawler mechanism are lifted off the ground, the middle parts of the left traveling crawler mechanism and the right traveling crawler mechanism are respectively driven by a left electric telescopic rod and a right electric telescopic rod to synchronously lift, and the rear parts of the left traveling; the left and right guiding crawler mechanisms are driven by the turnover mechanism to synchronously turn over, the front parts of the left and right guiding crawler mechanisms respectively and correspondingly share a driving wheel with the rear parts of the left and right walking crawler mechanisms, and the rear parts of the left and right guiding crawler mechanisms are lifted off the ground; the controller is respectively and electrically connected with the distance measuring sensor, the mercury switch, the left and right motors, the left and right electric telescopic rods and the driving motor of the turnover mechanism. The utility model discloses combine together wheeled vehicle using motor's the flexibility and crawler attachment's climbing advantage ingeniously, no matter go upstairs and downstairs, hinder more, it is all more convenient still that the family goes out to go, has realized by the person of taking independently the operation.

Description

Front suspension type crawler stair-climbing moped
Technical Field
The utility model relates to a wheelchair technical field specifically is a building vehicle using motor is climbed to forward suspension type track.
Background
The existing four-wheel wheelchair is an indispensable travel tool for the old, the weak and the disabled with the injured lower limbs, but the four-wheel wheelchair cannot go up and down stairs, so that the application range is limited, and a wheelchair user living in a building without an elevator cannot go up and down stairs, thereby influencing the appearance of the wheelchair to participate in social activities. China has rapidly entered into an aging society, and the traveling problem of the old is increasingly prominent.
In order to solve the problems, wheel-track composite stair-climbing wheelchairs appear in the market. The wheelchair is characterized in that a stair climbing crawler belt capable of stretching downwards is arranged below a common wheelchair, the crawler belt sinks to the ground when climbing stairs, the wheelchair is lifted, and the crawler belt is utilized to climb the stairs. It has the following drawbacks: firstly, when climbing a building, a building climbing key needs to be pressed for function conversion; secondly, when climbing stairs, the wheelchair can tilt backwards, and the front side of the wheelchair tilts up, so that the distance between a human body and the ground is too high, potential safety hazards are easily caused, and the passengers are scared; thirdly, the whole process of climbing stairs needs accompanying personnel to operate, and particularly at a semi-floor platform of the stairs, people need to hold the crawler belt slowly to move the crawler belt from the stairs to the flat ground due to the fact that no backward tilting prevention device is arranged.
Therefore, the wheel-track composite stair climbing wheelchair has poor overall flexibility and poor corridor trafficability, is difficult to apply to common residential buildings, has high cost and is difficult to popularize and use.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the technical defect that the compound building wheelchair that climbs of current wheel track exists, provide a compact structure simple, can independently operate and climb building vehicle using motor at the good forward suspension formula track of stair half-storey platform department trafficability characteristic.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a building vehicle using motor is climbed to forward suspension formula track, including chair type car body, left universal wheel and right universal wheel, its characterized in that are installed respectively to chair type car body front end both sides correspondence: the inner sides of the rear ends of the left walking crawler mechanism and the right walking crawler mechanism are respectively and correspondingly provided with a left guiding crawler mechanism and a right guiding crawler mechanism which can turn over;
the left walking crawler mechanism and the right walking crawler mechanism are driven to run by a left motor and a right motor respectively, the front parts of the left walking crawler mechanism and the right walking crawler mechanism are lifted off the ground and are respectively and correspondingly rotatably connected with two sides of the front part of the chair type vehicle body, a left electric telescopic rod and a right electric telescopic rod are respectively and correspondingly connected between the middle parts of the left walking crawler mechanism and the right walking crawler mechanism and two sides of the middle part of the chair type vehicle body and are driven by the left electric telescopic rod and the right electric telescopic rod to synchronously lift, and the rear parts of the left walking crawler mechanism and the right walking crawler mechanism and the left universal wheel and the right universal wheel travel together in a ground-clinging manner;
the left guide crawler mechanism and the right guide crawler mechanism are driven by the turnover mechanism to synchronously turn over, the front parts of the left guide crawler mechanism and the right guide crawler mechanism respectively correspond to the rear parts of the left walking crawler mechanism and the right walking crawler mechanism and share a driving wheel, and the rear parts of the left guide crawler mechanism and the right guide crawler mechanism are lifted off the ground;
the device is characterized by further comprising a controller, a distance measuring sensor and a mercury switch, wherein the distance measuring sensor is used for measuring the distance between the chair type vehicle body and the ground, the mercury switch is used for sensing the forward inclination and backward inclination of the chair type vehicle body and the inclination of the left walking crawler mechanism, the controller is respectively electrically connected with the distance measuring sensor and the mercury switch on the one hand, and is respectively electrically connected with a left motor, a right motor, a left electric telescopic rod, a right electric telescopic rod and a driving motor of the turnover mechanism on the other hand.
Further, left electric telescopic handle and right electric telescopic handle all to the below slope 45 backward, left electric telescopic handle and right electric telescopic handle's upper end corresponds respectively to be installed the both sides at chair type car body middle part are connected with the fixed plate between left electric telescopic handle and the upper half of right electric telescopic handle.
Furthermore, the left walking crawler mechanism and the right walking crawler mechanism respectively comprise a first bracket, a first driven wheel, a plurality of first guide wheels and a driving wheel are sequentially arranged on the first bracket from front to back, and walking crawlers are sleeved outside the first driven wheel, the plurality of first guide wheels and the driving wheel; the inner sides of the front parts of the first supports of the left walking crawler mechanism and the right walking crawler mechanism are respectively and correspondingly rotatably connected with the two sides of the front part of the chair-type vehicle body, and the middle parts of the first supports of the left walking crawler mechanism and the right walking crawler mechanism are respectively and correspondingly and rotatably connected with the lower ends of the left electric telescopic rod and the right electric telescopic rod; and a front cross shaft is rotatably arranged between the first driven wheels of the left walking crawler mechanism and the right walking crawler mechanism through a first bearing, and a rear cross shaft is rotatably arranged between the driving wheels of the left walking crawler mechanism and the right walking crawler mechanism through a second bearing.
Furthermore, the left motor and the right motor are respectively and correspondingly installed on the inner sides of the first supports of the left traveling crawler mechanism and the right traveling crawler mechanism, first driving gears are installed on output shafts of the left motor and the right motor, first driven gears are fixedly installed on the inner sides of driving wheels of the left traveling crawler mechanism and the right traveling crawler mechanism, and chains are sleeved outside the first driving gears and the first driven gears which are located on the same side.
Furthermore, each of the left guiding crawler mechanism and the right guiding crawler mechanism comprises a second support inclining 45 degrees to the rear upper part, a second driven wheel and a plurality of second guiding wheels are sequentially installed on the second support from top to bottom, and guiding crawlers are installed outside the second driven wheel, the plurality of second guiding wheels and the driving wheel; the lower extreme in the outside of left side direction crawler attachment and right side direction crawler attachment's second support be equipped with action wheel excircle assorted arc concave surface, the lower extreme of the inboard of left side direction crawler attachment and right side direction crawler attachment's second support respectively fixed connection be in the both ends of back cross axle.
Furthermore, the turnover mechanism comprises a driving motor arranged on the inner side of the first support of the right walking crawler mechanism, a second driving gear is arranged on an output shaft of the driving motor, and a second driven gear meshed with the second driving gear is arranged on the rear cross shaft.
Further, the distance measuring sensor including first ultrasonic ranging sensor, second ultrasonic ranging sensor and third ultrasonic ranging sensor, first ultrasonic ranging sensor and second ultrasonic ranging sensor correspond respectively and install the both sides of chair type car body front end, wherein first ultrasonic ranging sensor forward the below slope 45, second ultrasonic ranging sensor vertical downwards, third ultrasonic ranging sensor install the inboard rear end of left side walking track mechanism, and slope 45 to the back below.
Furthermore, the mercury switch comprises a first mercury switch for sensing that the chair-type vehicle body inclines forwards, a second mercury switch for sensing that the chair-type vehicle body inclines backwards and a third mercury switch for sensing that the left walking crawler mechanism inclines, wherein the first mercury switch, the second mercury switch and the third mercury switch are horizontally arranged, the first mercury switch and the second mercury switch are respectively arranged on one side of the middle part of the chair-type vehicle body, and the third mercury switch is arranged on the inner side of the left walking crawler mechanism.
Furthermore, a camera with a lens facing backward and a lithium battery for providing a working power supply for the left motor, the right motor, the driving motor, the controller and the camera are respectively installed at the bottom end of the middle part of the chair-type vehicle body, a display screen is installed on a handrail at one side of the chair-type vehicle body, and a control rod for operating the moped to move forward, backward, turn left, turn right or stop is installed on a handrail at the other side of the chair-type vehicle body; the camera, the display screen and the control rod are respectively electrically connected with the controller.
Furthermore, a first relay, a second relay and a third relay are correspondingly installed in power supply loops of the left motor, the right motor and the driving motor respectively, and the first relay, the second relay and the third relay are electrically connected with the controller respectively.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses a left and right crawler that advances, its front portion all lifts off ground, be higher than the universal wheel promptly, walk by universal wheel and its rear portion ground subsides at the in-process of level land operation, left and right crawler that advances simultaneously or retreat, also can one advance (corotation), another retreat (reversal) can realize turning to left or right, quick flexibility, the frictional force between ground that has significantly reduced, the resistance has been reduced, the life of track has been improved, fine corridor trafficability characteristic has.
2. The utility model discloses a left side, right side electric telescopic handle corresponds and drives a left side, right side crawler travel's rear portion goes up and down, a left side has been realized, right side crawler travel can wind its rotation installation position upset with the automobile body, make a left side, right side crawler travel its maximum angle of elevation under the stair state of going up and down can reach 45, and a left side, right side crawler travel's rear portion is promoted the back, can hug closely the bottom of automobile body seat almost, the focus of vehicle using motor has been reduced, stability and security when having improved vehicle using motor and going up and down stairs, and the person of taking sits and can stretch the hand and contact stair on the car, from the vision with feel all increased the sense of security of person of taking.
3. The utility model adopts the left and right guiding crawler mechanisms and the turnover mechanism for driving the left and right guiding crawler mechanisms to overturn when climbing stairs, and can guide the left and right traveling crawler mechanisms to climb the stairs, and when being unfolded, the left and right traveling crawler mechanisms are parallel and level with each other, thereby increasing the overall length of the crawler belt, increasing the contact surface of the stairs and improving the stability of the moped when climbing stairs; when the left and right guiding crawler mechanisms ascend or descend to the top end of the stair, after the rear parts of the left and right traveling crawler mechanisms are lifted, the left and right guiding crawler mechanisms can be turned downwards to contact the ground, so that the left and right traveling crawler mechanisms can slowly land when the left and right traveling crawler mechanisms ascend or descend to the top end of the stair; when the vehicle runs on the flat ground, the left and right guiding crawler mechanisms are lifted off the ground, and the normal running of the whole vehicle body cannot be influenced.
4. The utility model discloses an install at automobile body front end and to the 45 ultrasonic ranging sensor of below slope forward, when advancing the pit that meets the place ahead, can not detect echo signal for the controller makes automatic judgement realization and in time parks, has guaranteed the personal safety of person of taking.
5. The utility model discloses a rearmounted camera and leading display screen have realized backing a car visual function, can provide the scene picture after one's body in real time for inconvenient weak group, especially old person or physical disability personage, have made things convenient for the operation.
To sum up, the utility model discloses combine together wheeled vehicle using motor's the nimble climbing advantage with crawler, can adapt to abrupt slope, ladder, low-lying ground and the road conditions of height unevenness ingeniously, no matter go up and down stairs, cross the obstacle, keep away the hole, still outdoor trip etc. all very convenience, and with the low-speed operation, realized by the person of taking independently operation.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an enlarged schematic view of a portion a in fig. 1.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a third schematic structural diagram of the present invention.
Fig. 5 is the structure schematic diagram of the left and right traveling crawler mechanisms, the left guide crawler mechanism and the right guide crawler mechanism of the present invention.
Fig. 6 is a rear structure schematic diagram of the middle-left walking crawler mechanism of the present invention.
Fig. 7 is a schematic structural view of the middle driving wheel, the first driven gear, the rear cross shaft and the second support (inner side) of the present invention.
Fig. 8 is a schematic structural view of the present invention in a state of walking along the ground.
Fig. 9 is a schematic structural view of the present invention in an ascending or descending state.
Fig. 10 is a schematic structural view of the present invention when going upstairs or downstairs to reach the top of the stairs.
Fig. 11 is a schematic view of the state of the utility model during going upstairs or downstairs.
Fig. 12 is an electrical control schematic block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-12, a front suspension type crawler stair climbing moped comprises a chair-type vehicle body 1, wherein a left universal wheel 2 and a right universal wheel 3 are respectively and correspondingly mounted on two sides of the front end of the chair-type vehicle body 1, a left walking crawler mechanism 4 and a right walking crawler mechanism 5 are respectively arranged on two sides of the lower portion of the chair-type vehicle body 1, and a left guiding crawler mechanism 6 and a right guiding crawler mechanism 7 which can turn over are respectively and correspondingly arranged on the inner sides of the rear ends of the left walking crawler mechanism 4 and the right walking crawler mechanism 5;
the left walking crawler 4 and the right walking crawler 5 are driven by a left motor 8 and a right motor 9 respectively, the front parts of the left walking crawler 4 and the right walking crawler 5 are lifted off the ground and are respectively and correspondingly rotatably connected with the two sides of the front part of the chair-type vehicle body 1, a left electric telescopic rod 10 and a right electric telescopic rod 11 are respectively and correspondingly connected between the middle parts of the left walking crawler 4 and the right walking crawler 5 and the two sides of the middle part of the chair-type vehicle body 1 and synchronously lifted under the driving of the left electric telescopic rod 10 and the right electric telescopic rod 11 respectively, and the rear parts of the left walking crawler 4 and the right walking crawler 5 and the left universal wheel 2 and the right universal wheel 3 walk in a close fit manner;
the left guiding crawler mechanism 6 and the right guiding crawler mechanism 7 are driven by the turnover mechanism to synchronously turn over, the front parts of the left guiding crawler mechanism 6 and the right guiding crawler mechanism 7 respectively correspond to the rear parts of the left walking crawler mechanism 4 and the right walking crawler mechanism 5 and share a driving wheel 17, and the rear parts of the left guiding crawler mechanism 6 and the right guiding crawler mechanism 7 are lifted off the ground;
the device also comprises a controller 12, a distance measuring sensor for measuring the distance between the chair-type vehicle body 1 and the ground and a mercury switch for sensing the inclination of the forward-leaning, backward-leaning and left-walking crawler mechanisms of the chair-type vehicle body 1, wherein the controller 12 is electrically connected with the distance measuring sensor and the mercury switch on one hand, and is electrically connected with the left motor 8, the right motor 9, the left electric telescopic rod 10, the right electric telescopic rod 11 and a driving motor 29 of the turnover mechanism on the other hand.
The utility model discloses in, left electric telescopic handle 10 and right electric telescopic handle 11 all incline 45 to the below back, and left electric telescopic handle 10 and right electric telescopic handle 11's upper end corresponds the both sides of installing at 1 middle part of chair type car body respectively, is connected with fixed plate 13 between left electric telescopic handle 10 and the first half of right electric telescopic handle 11.
It should be noted that, by providing the fixing plate 13, the overall strength of the left electric telescopic rod 10 and the right electric telescopic rod 11 can be increased, so that the left electric telescopic rod 10 and the right electric telescopic rod 11 can be more stable and reliable in the process of extending and retracting.
In the utility model, the left walking crawler 4 and the right walking crawler 5 both comprise a first bracket 14, a first driven wheel 15, a plurality of first guide wheels 16 and a driving wheel 17 are sequentially arranged on the first bracket 14 from front to back, and a walking crawler 18 is sleeved outside the first driven wheel 15, the plurality of first guide wheels 16 and the driving wheel 17; the inner sides of the front parts of the first brackets 14 of the left walking crawler 4 and the right walking crawler 5 are respectively and correspondingly rotatably connected with the two sides of the front part of the chair-type vehicle body 1, and the middle parts of the first brackets 14 of the left walking crawler 4 and the right walking crawler 5 are respectively and correspondingly and rotatably connected with the lower ends of the left electric telescopic rod 10 and the right electric telescopic rod 11; a front cross shaft 19 is rotatably mounted between the first driven wheels 15 of the left and right crawler mechanisms 4 and 5 through a first bearing, and a rear cross shaft 21 is rotatably mounted between the driving wheels 17 of the left and right crawler mechanisms 4 and 5 through a second bearing 20.
It should be noted that, by providing the front cross shaft 19 and the rear cross shaft 21, the overall strength of the left crawler belt mechanism 4 and the right crawler belt mechanism 5 can be increased, so that the left crawler belt mechanism 4 and the right crawler belt mechanism 5 can be more stable and reliable in the operation process. In addition, both ends of the front cross shaft 19 are fitted with the first driven wheels 15 of the left and right crawler mechanisms 4 and 5 through first bearings; meanwhile, two ends of the rear cross shaft 21 are assembled with the driving wheels 17 of the left traveling crawler 4 and the right traveling crawler 5 through the second bearings 20, so that the left traveling crawler 4 and the right traveling crawler 5 can independently operate without mutual influence under the corresponding driving of the left motor 8 and the right motor 9.
The utility model discloses in, left motor 8 and right motor 9 correspond respectively and install the inboard at the first support 14 of left walking crawler 4 and right walking crawler 5, all install first driving gear 22 on the output shaft of left motor 8 and right motor 9, and the inboard equal fixed mounting of the action wheel 17 of left walking crawler 4 and right walking crawler 5 has first driven gear 23, and the first driving gear 22 that is located the homonymy is equipped with chain 24 with first driven gear 23 overcoat.
It should be noted that, the left motor 8 and the right motor 9 are respectively and correspondingly disposed on the inner sides of the left traveling crawler 4 and the right traveling crawler 5, so as to ensure safe operation of the left motor 8 and the right motor 9. During operation, the output shafts of the left motor 8 and the right motor 9 rotate, power is correspondingly transmitted to the driving wheels 17 of the left walking crawler belt mechanism 4 and the right walking crawler belt mechanism 5 through the first driving gear 22, the chain 24 and the first driven gear 23 in sequence, the driving wheels 17 are driven to rotate, and therefore the left walking crawler belt mechanism 4 and the right walking crawler belt mechanism 5 are correspondingly driven to operate.
In the utility model, the left guiding crawler 6 and the right guiding crawler 7 both comprise a second bracket 25 inclined 45 degrees to the rear upper side, a second driven wheel 26 and a plurality of second guiding wheels 27 are sequentially arranged on the second bracket 25 from top to bottom, and a guiding crawler 28 is arranged outside the second driven wheel 26, the plurality of second guiding wheels 27 and the driving wheel 17; the lower ends of the outer sides of the second supports 25 of the left guide crawler 6 and the right guide crawler 7 are provided with arc concave surfaces matched with the excircle of the driving wheel 17, and the lower ends of the inner sides of the second supports 25 of the left guide crawler 6 and the right guide crawler 7 are respectively and fixedly connected with the two ends of the rear cross shaft 21.
It should be noted that the front portions of the left guiding crawler 6 and the right guiding crawler 7 respectively correspond to the rear portions of the left traveling crawler 4 and the right traveling crawler 5 and share the same driving wheel 17, so that when the left traveling crawler 4 and the right traveling crawler 5 are turned over and correspond to be in the same line with the left traveling crawler 4 and the right traveling crawler 5, the synchronous operation of the guiding crawler 28 and the traveling crawler 18 can be ensured.
The utility model discloses in, tilting mechanism installs second driving gear 30 including installing the inboard driving motor 29 of first support 14 at right walking crawler 5 on driving motor 29's the output shaft, installs the second driven gear 31 with second driving gear 30 engaged with on the back cross axle 21.
It should be noted that the drive motor 29 is provided inside the right crawler 5, and the safe operation of the turnover mechanism including the drive motor 29 can be ensured. In operation, the output shaft of the driving motor 29 rotates to transmit power to the rear cross shaft 21 via the second driving gear 30 and the second driven gear 31, and the rear cross shaft 21 is driven to rotate, thereby driving the left crawler 4 and the right crawler 5 to synchronously turn over.
The utility model discloses in, distance measuring sensor is including first ultrasonic ranging sensor 32, second ultrasonic ranging sensor 33 and third ultrasonic ranging sensor 34, first ultrasonic ranging sensor 32 and second ultrasonic ranging sensor 33 correspond the both sides of installing at chair type car body 1 front end respectively, wherein first ultrasonic ranging sensor 32 inclines 45 to the below, second ultrasonic ranging sensor 33 is vertical downwards, third ultrasonic ranging sensor 34 installs the inboard rear end of left walking crawler attachment 4, and inclines 45 to the below of back.
The utility model discloses in, the mercury switch is including the first mercury switch 35 that perception chair type car body 1 leaned forward, the second mercury switch 36 that perception chair type car body 1 leaned back and the third mercury switch 37 of 4 slopes of left side walking track mechanism of perception, first mercury switch 35, second mercury switch 36 and third mercury switch 37 all are the level setting, wherein first mercury switch 35 and second mercury switch 36 install the one side at chair type car body 1 middle part respectively, the inboard at left side walking track mechanism 4 is installed to third mercury switch 37.
It should be noted that the first mercury switch 35 is mainly provided to sense that the chair-type vehicle body 1 is tilted forward, and is suitable for the moped to go forward and down a slope, go forward and down a staircase, and go backward (climb) a staircase, and when the first mercury switch 35 senses that the chair-type vehicle body 1 is tilted forward, the first mercury switch 35 is turned on due to the tilt, so that the controller 12 sends an instruction to the left electric telescopic rod 10 and the right electric telescopic rod 11, and the left electric telescopic rod 10 and the right electric telescopic rod 11 are retracted until the first mercury switch 35 on the chair-type vehicle body 1 returns to a horizontal state, and then is stopped.
The second mercury switch 36 is provided to sense the backward tilting of the chair-type vehicle body 1, and is suitable for the forward and upward tilting of the power-assisted vehicle, when the second mercury switch 36 senses the backward tilting of the chair-type vehicle body 1, the second mercury switch 36 is turned on due to the tilting, so that the controller 12 sends an instruction to the left electric telescopic rod 10 and the right electric telescopic rod 11, and the left electric telescopic rod 10 and the right electric telescopic rod 11 are stopped when the second mercury switch 36 extending out to the chair-type vehicle body 1 returns to the horizontal state.
In the utility model, the bottom end of the middle part of the chair-type vehicle body 1 is respectively provided with a camera 38 with a lens facing the rear and a lithium battery 39 providing a working power supply for electronic devices such as a left motor 8, a right motor 9, a driving motor 29, a controller 12 and the camera 38, a display screen 40 is arranged on one side armrest of the chair-type vehicle body 1, and a control rod 41 for operating the moped to go forward, go backward, turn left, turn right or stop is arranged on the other side armrest of the chair-type vehicle body 1; the camera 38, the display 40 and the control lever 41 are electrically connected to the controller 12, respectively.
The utility model discloses in, correspond respectively in the power supply circuit of left side motor 8, right motor 9 and driving motor 29 and install first relay 42, second relay 43 and third relay 44, first relay 42, second relay 43 and third relay 44 are connected with controller 12 electricity respectively.
The invention is further described below with reference to the accompanying drawings:
in the utility model, the controller 12 adopts PLC; the first relay 42 and the second relay 43 are normally closed relays, and the third relay 44 is a normally open relay.
The operation state of the utility model is as follows:
1. in a ground-following walking state, the rear parts of the left walking crawler 4 and the right walking crawler 5 and the left universal wheel 2 and the right universal wheel 3 walk in a manner of being attached to the ground, the front parts of the left walking crawler 4 and the right walking crawler 5 are lifted off the ground, and the rear parts of the left guiding crawler 6 and the right guiding crawler 7 are lifted off the ground; at this time, the left electric telescopic rod 10 and the right electric telescopic rod 11 are both in the initial state.
When the rider operates the control rod 41 to enable the control rod 41 to be in the forward gear, the controller 12 outputs an instruction to control the left motor 8 and the right motor 9 to respectively rotate forwards to respectively drive the driving wheels of the left walking crawler belt mechanism 4 and the right walking crawler belt mechanism 5 to rotate forwards correspondingly, so that the left walking crawler belt mechanism 4 and the right walking crawler belt mechanism 5 synchronously move forwards, and the moped is enabled to move forwards. When the control lever 41 is in the "backward shift position", the left motor 8 and the right motor 9 respectively rotate in reverse, the controller 12 outputs an instruction to respectively drive the driving wheels of the left walking crawler 4 and the right walking crawler 5 to rotate in reverse, so that the left walking crawler 4 and the right walking crawler 5 synchronously backward, and the backward movement of the power-assisted vehicle is realized. When the control lever 41 is set to the "stop position", the controller 12 outputs a command to the first relay 42 and the second relay 43, respectively, the first relay 42 and the second relay 43 are turned off, the power supply circuits of the left motor 8 and the right motor 9 are turned off to stop the operation, and the moped is stopped.
When the control rod 41 is in the "left-turn gear", the controller 12 outputs an instruction to control the left motor 8 to rotate reversely and the right motor 9 to rotate forwardly, and the left motor 8 and the right motor 9 respectively drive the driving wheel of the left walking crawler 4 to rotate reversely and the driving wheel of the right walking crawler 5 to rotate forwardly, so that the left walking crawler 4 moves backwards and the right walking crawler 5 moves forwards, and the moped is steered to the left. Similarly, when the control lever 41 is in the "right-turn gear", the controller 12 outputs an instruction to control the left motor 8 to rotate forward and the right motor 9 to rotate backward, and the left traveling crawler 4 and the right traveling crawler 5 are driven to rotate forward and backward respectively, so that the left traveling crawler 4 moves forward and the right traveling crawler 5 moves backward, and the moped is steered to the right.
2. Under the state of going forward and going up a slope, the front side of chair type car body 1 lifts up and the hypsokinesis, and second mercury switch 36 can produce to the slope of rear below because of the hypsokinesis and switch on, sends switching signal to controller 12, and controller 12 sends the instruction to left electric telescopic handle 10 and right electric telescopic handle 11, and left electric telescopic handle 10 and right electric telescopic handle 11 stretch out, and the middle part of lifting chair type car body 1, seat portion stops when second mercury switch 36 resumes to the horizontality to guarantee the comfort level and the safety of person of taking. After the power-assisted vehicle reaches the flat ground on the top of the slope, the chair-type vehicle body tilts (leans forward) towards the front lower direction, so the first mercury switch 35 can be switched on due to the forward lower direction tilting, the controller 12 sends instructions to the left electric telescopic rod 10 and the right electric telescopic rod 11, the left electric telescopic rod 10 and the right electric telescopic rod 11 are retracted until the first mercury switch 35 is restored to the horizontal state and then are stopped, at the moment, the left electric telescopic rod 10 and the right electric telescopic rod 11 are also restored to the initial state, and the middle part of the chair-type vehicle body 1 is lowered to the initial position.
3. In the state of going forward and going down the slope, the rear side of the chair-type vehicle body 1 is lifted and leans forward, the first mercury switch 35 is inclined forward and downward due to the forward leaning, the first mercury switch is turned on, a switching signal is sent to the controller 12, the controller 12 sends instructions to the left electric telescopic rod 10 and the right electric telescopic rod 11, the left electric telescopic rod 10 and the right electric telescopic rod 11 are contracted, the middle part of the chair-type vehicle body 1 is lowered, namely the seat part stops when the first mercury switch 35 returns to the horizontal state, and therefore the comfort level and the safety of a passenger are guaranteed. After the moped arrives at the flat ground of the slope bottom, because the chair-type vehicle body inclines towards the front and back lower sides (back tilting) at this moment, the second mercury switch 36 can be switched on because of the inclination towards the front and back lower sides, the controller 12 sends an instruction to the left electric telescopic rod 10 and the right electric telescopic rod 11, the left electric telescopic rod 10 and the right electric telescopic rod 11 stretch out to the second mercury switch 36 to be restored to the horizontal state, the left electric telescopic rod 10 and the right electric telescopic rod 11 are also restored to the initial state at this moment, and the middle part of the chair-type vehicle body 1 is lifted to the initial position.
4. When the vehicle advances to meet a pit or a cliff in front, the rider is limited by sight or reaction capability and cannot find the pit or the cliff in front in time, and the vehicle cannot stop by operating the control lever 41 in the first time, so that the vehicle runs into the pit; however, at this time, the first ultrasonic ranging sensor 32 inclined 45 ° downward to the front does not detect an echo signal, no ranging signal is sent, the controller 12 sends a command to the first relay 42 and the second relay 43, the first relay 42 and the second relay 43 are turned off, the power supply circuits of the left motor 8 and the right motor 9 are turned off, and the vehicle stops operating, and the vehicle is originally running at a low speed, so that the vehicle can stop moving quickly after the left motor 8 and the right motor 9 stop operating, and the vehicle does not fall into a deep pit in front.
5. When the moped runs to a staircase on the lower floor in front, the first ultrasonic ranging sensor 32 is parallel to the inclined plane of the staircase at the moment, so that an echo signal cannot be detected, the controller 12 sends a command to the first relay 42 and the second relay 43, the first relay 42 and the second relay 43 are disconnected, the power supply circuits of the left motor 8 and the right motor 9 are disconnected to stop working, and the moped stops running. Meanwhile, the second ultrasonic ranging sensor 33 which is vertically downward detects an echo signal generated by a stair below in a short distance, the controller 12 sends an instruction to the third relay 44, the third relay 44 is closed, a power supply loop of the driving motor 29 is conducted, the driving motor 29 works and rotates forward to drive the left guiding crawler 6 and the right guiding crawler 7 to turn over downwards, so that the rear parts of the left guiding crawler 6 and the right guiding crawler 7 are in contact with the ground, the rear side of the moped can be supported, the rear side of the moped tilts at the moment to facilitate the front side of the moped to enter the stair, when the moped enters the stair, the left guiding crawler 6 and the right guiding crawler 7 rotate slowly to be correspondingly aligned with the left walking crawler 4 and the right walking crawler 5 to increase the whole length of the crawler, and thus the contact surface of the stair is increased, at the moment, the rear parts of the left guide crawler 6 and the right guide crawler 7 and the left universal wheel 2 and the right universal wheel 3 walk closely together, and preparation for going down stairs is made. Because the rear side perk of vehicle using motor, consequently first mercury switch 35 can consequently incline and switch on to the front below, controller 12 sends the instruction to electric telescopic handle 10 and right electric telescopic handle 11 left side, left electric telescopic handle 10 and the shrink of right electric telescopic handle 11, the middle part of left walking crawler 4 and right walking crawler 5 of lifting, make left walking crawler 4 and right walking crawler 5 upwards overturn around its rotation installation position with chair type car body 1, and make the bottom surface of action wheel 17 press close to the seat position according to the inclination of stair. Meanwhile, the controller 12 sends instructions to the first relay 42 and the second relay 43, the first relay 42 and the second relay 43 are closed again, the power supply loops of the left motor 8 and the right motor 9 are conducted to continue low-speed operation, and the moped continues to advance.
6. When the left and right traveling crawler mechanisms 4 and 5 completely enter the stairs, the third ultrasonic ranging sensor 34 detects echo signals within a short distance, the controller 12 sends an instruction to the driving motor 29, the driving motor 29 reversely rotates to drive the left and right guiding crawler mechanisms 6 and 7 to turn upwards, so that the left and right guiding crawler mechanisms 6 and 7 are aligned with the left and right traveling crawler mechanisms 4 and 5 to increase the overall length of the crawler belt and increase the contact surface with the stairs, and at this time, the left and right traveling crawler mechanisms 4, 5, 6 and 7 travel along the stairs together, the stability of the moped when going down stairs is improved. In the process of going downstairs, the driving wheel 17 is close to the bottom surface of the seat part, so that the gravity center of the moped is reduced, the stability and the safety of the moped when going downstairs are improved, a rider can stretch out hands to contact with the stairs when sitting on the moped, and the safety of the rider is improved in vision and sense.
When the moped reaches the bottom end of the stair, the first ultrasonic ranging sensor 32 detects an echo signal, the controller 12 sends a command to the driving motor 29, the driving motor 29 continues to rotate reversely, and the left guiding crawler 6 and the right guiding crawler 7 are driven to continue to turn upwards to the initial positions, namely to incline 45 degrees backwards and upwards.
7. In the stair climbing state, the utility model adopts a mode of going backwards (climbing) to go upstairs, when going upstairs, the left guiding crawler 6 and the right guiding crawler 7 inclined 45 degrees to the upper back can contact the stairs firstly and go upstairs along the stairs, in the process of going upstairs, the left walking crawler 4 and the right walking crawler 5 can contact the stairs gradually, when the left walking crawler 4 and the right walking crawler 5 completely enter the stairs, the rear side of the chair-type vehicle body 1 is lifted up and tilted forward, the third mercury switch 37 can be inclined forwards and downwards due to the forward tilting to be conducted, the controller 12 sends instructions to the left electric telescopic rod 10 and the right electric telescopic rod 11 on one hand, the left electric telescopic rod 10 and the right electric telescopic rod 11 are contracted to lift the middle parts of the left walking crawler 4 and the right walking crawler 5, so that the left walking crawler 4 and the right walking crawler 5 overturn upwards around the rotating installation parts of the left walking crawler 4 and the right walking crawler 5 and the chair-type vehicle body 1, the driving wheel 17 is close to the bottom surface of the seat part, the gravity center of the moped is reduced, the stability and the safety of the moped when the moped goes upstairs are improved, and a rider can stretch out hands to contact the stairs when sitting on the moped, so that the safety of the rider is improved in vision and sense; on the other hand, the third relay 44 sends an instruction, the third relay 44 is closed, a power supply loop of the driving motor 29 is conducted, the driving motor 29 works and rotates forwards, the left guiding crawler belt mechanism 6 and the right guiding crawler belt mechanism 7 are driven to overturn downwards, the left guiding crawler belt mechanism 6 and the right guiding crawler belt mechanism 7 are enabled to be flush with the left walking crawler belt mechanism 4 and the right walking crawler belt mechanism 5, the overall length of the crawler belt is increased, the contact surface of the stair is increased, at the moment, the left guiding crawler belt mechanism 4, the right walking crawler belt mechanism 5, the left guiding crawler belt mechanism 6 and the right guiding crawler belt mechanism 7 walk along the stair together, and the stability of the moped when the moped goes up the stair is improved.
When the moped arrives at the top end of the stairs, the third ultrasonic ranging sensor 34 is parallel to the ground at the moment, so that no echo signal can be detected, the controller sends an instruction to the third relay 44, the third relay 44 is closed, a power supply loop of the driving motor 29 is conducted, the driving motor 29 works and rotates forwards, the left guiding crawler belt mechanism 6 and the right guiding crawler belt mechanism 7 are driven to overturn downwards, the rear portions of the left guiding crawler belt mechanism 6 and the right guiding crawler belt mechanism 7 are in contact with the ground, the rear side of the moped can be supported, the rear side serves as a buffer, and the left walking crawler belt mechanism 4 and the right walking crawler belt mechanism 5 are prevented from falling down instantly when rushing out of the stairs to cause potential safety hazards.
Additionally, the utility model discloses a rearmounted camera 38 and leading display screen 40 have realized backing a car visual function, can provide the scene picture after one's body in real time for inconvenient weak group, especially old person or physical disability personage, have made things convenient for the operation.
Although the present description is described in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity only, and those skilled in the art should be able to integrate the description as a whole, and the embodiments can be appropriately combined to form other embodiments as will be understood by those skilled in the art.
Therefore, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. The utility model provides a building vehicle using motor is climbed to forward suspension formula track, including chair type car body, left universal wheel and right universal wheel, its characterized in that are installed respectively to chair type car body front end both sides correspondence: the inner sides of the rear ends of the left walking crawler mechanism and the right walking crawler mechanism are respectively and correspondingly provided with a left guiding crawler mechanism and a right guiding crawler mechanism which can turn over;
the left walking crawler mechanism and the right walking crawler mechanism are driven to run by a left motor and a right motor respectively, the front parts of the left walking crawler mechanism and the right walking crawler mechanism are lifted off the ground and are respectively and correspondingly rotatably connected with two sides of the front part of the chair type vehicle body, a left electric telescopic rod and a right electric telescopic rod are respectively and correspondingly connected between the middle parts of the left walking crawler mechanism and the right walking crawler mechanism and two sides of the middle part of the chair type vehicle body and are driven by the left electric telescopic rod and the right electric telescopic rod to synchronously lift, and the rear parts of the left walking crawler mechanism and the right walking crawler mechanism and the left universal wheel and the right universal wheel travel together in a ground-clinging manner;
the left guide crawler mechanism and the right guide crawler mechanism are driven by the turnover mechanism to synchronously turn over, the front parts of the left guide crawler mechanism and the right guide crawler mechanism respectively correspond to the rear parts of the left walking crawler mechanism and the right walking crawler mechanism and share a driving wheel, and the rear parts of the left guide crawler mechanism and the right guide crawler mechanism are lifted off the ground;
the device is characterized by further comprising a controller, a distance measuring sensor and a mercury switch, wherein the distance measuring sensor is used for measuring the distance between the chair type vehicle body and the ground, the mercury switch is used for sensing the forward inclination and backward inclination of the chair type vehicle body and the inclination of the left walking crawler mechanism, the controller is respectively electrically connected with the distance measuring sensor and the mercury switch on the one hand, and is respectively electrically connected with a left motor, a right motor, a left electric telescopic rod, a right electric telescopic rod and a driving motor of the turnover mechanism on the other hand.
2. The front suspension type crawler stair-climbing moped as recited in claim 1, wherein: and the left electric telescopic rod and the right electric telescopic rod are inclined 45 degrees towards the rear lower part, the upper ends of the left electric telescopic rod and the right electric telescopic rod are respectively and correspondingly installed on two sides of the middle part of the chair-shaped vehicle body, and a fixing plate is connected between the upper half parts of the left electric telescopic rod and the right electric telescopic rod.
3. The front suspension type crawler stair-climbing moped as recited in claim 2, wherein: the left walking crawler mechanism and the right walking crawler mechanism respectively comprise a first support, a first driven wheel, a plurality of first guide wheels and a driving wheel are sequentially arranged on the first support from front to back, and walking crawlers are sleeved outside the first driven wheel, the plurality of first guide wheels and the driving wheel; the inner sides of the front parts of the first supports of the left walking crawler mechanism and the right walking crawler mechanism are respectively and correspondingly rotatably connected with the two sides of the front part of the chair-type vehicle body, and the middle parts of the first supports of the left walking crawler mechanism and the right walking crawler mechanism are respectively and correspondingly and rotatably connected with the lower ends of the left electric telescopic rod and the right electric telescopic rod; and a front cross shaft is rotatably arranged between the first driven wheels of the left walking crawler mechanism and the right walking crawler mechanism through a first bearing, and a rear cross shaft is rotatably arranged between the driving wheels of the left walking crawler mechanism and the right walking crawler mechanism through a second bearing.
4. The front suspension type crawler stair-climbing moped as recited in claim 3, wherein: the left motor and the right motor are correspondingly installed on the inner sides of first supports of the left walking crawler mechanism and the right walking crawler mechanism respectively, first driving gears are installed on output shafts of the left motor and the right motor, first driven gears are fixedly installed on the inner sides of driving wheels of the left walking crawler mechanism and the right walking crawler mechanism respectively, and the first driving gears and the first driven gears are sleeved with chains on the same side.
5. The front suspension type crawler stair-climbing moped as recited in claim 3, wherein: the left guiding crawler mechanism and the right guiding crawler mechanism respectively comprise a second support inclining 45 degrees to the rear upper part, a second driven wheel and a plurality of second guiding wheels are sequentially arranged on the second support from top to bottom, and guiding crawlers are arranged outside the second driven wheel, the plurality of second guiding wheels and the driving wheel; the lower extreme in the outside of left side direction crawler attachment and right side direction crawler attachment's second support be equipped with action wheel excircle assorted arc concave surface, the lower extreme of the inboard of left side direction crawler attachment and right side direction crawler attachment's second support respectively fixed connection be in the both ends of back cross axle.
6. The front suspension type crawler stair-climbing moped according to claim 5, wherein: the turnover mechanism comprises a driving motor arranged on the inner side of a first support of the right walking crawler mechanism, a second driving gear is arranged on an output shaft of the driving motor, and a second driven gear meshed with the second driving gear is arranged on the rear cross shaft.
7. The front suspension type crawler stair-climbing moped as recited in claim 1, wherein: the range unit is characterized in that the range unit comprises a first ultrasonic range unit, a second ultrasonic range unit and a third ultrasonic range unit, the first ultrasonic range unit and the second ultrasonic range unit are respectively and correspondingly installed on two sides of the front end of the chair-type vehicle body, the first ultrasonic range unit is inclined by 45 degrees towards the front lower side, the second ultrasonic range unit is vertical downwards, and the third ultrasonic range unit is installed at the rear end of the inner side of the left-walking crawler mechanism and inclined by 45 degrees towards the rear lower side.
8. The front suspension type crawler stair-climbing moped as recited in claim 1, wherein: the mercury switch comprises a first mercury switch for sensing forward tilting of the chair-type vehicle body, a second mercury switch for sensing backward tilting of the chair-type vehicle body and a third mercury switch for sensing tilting of the left walking crawler mechanism, wherein the first mercury switch, the second mercury switch and the third mercury switch are horizontally arranged, the first mercury switch and the second mercury switch are respectively arranged on one side of the middle part of the chair-type vehicle body, and the third mercury switch is arranged on the inner side of the left walking crawler mechanism.
9. The front suspension type crawler stair-climbing moped according to any one of claims 1 to 8, wherein: the bottom end of the middle part of the chair-type vehicle body is respectively provided with a camera with a lens facing backwards and a lithium battery for providing a working power supply for the left motor, the right motor, the driving motor, the controller and the camera, a display screen is arranged on one side handrail of the chair-type vehicle body, and a control rod for operating the moped to move forwards, backwards, turn left, turn right or stop is arranged on the other side handrail of the chair-type vehicle body; the camera, the display screen and the control rod are respectively electrically connected with the controller.
10. The front suspension type crawler stair-climbing moped as recited in claim 9, wherein: the power supply circuit of the left motor, the power supply circuit of the right motor and the power supply circuit of the driving motor are respectively and correspondingly provided with a first relay, a second relay and a third relay, and the first relay, the second relay and the third relay are respectively and electrically connected with the controller.
CN202021931291.3U 2020-09-07 2020-09-07 Front suspension type crawler stair-climbing moped Active CN212730189U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202021931291.3U CN212730189U (en) 2020-09-07 2020-09-07 Front suspension type crawler stair-climbing moped

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202021931291.3U CN212730189U (en) 2020-09-07 2020-09-07 Front suspension type crawler stair-climbing moped

Publications (1)

Publication Number Publication Date
CN212730189U true CN212730189U (en) 2021-03-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202021931291.3U Active CN212730189U (en) 2020-09-07 2020-09-07 Front suspension type crawler stair-climbing moped

Country Status (1)

Country Link
CN (1) CN212730189U (en)

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