CN102525753B - Bionic walking and stair climbing trolley - Google Patents
Bionic walking and stair climbing trolley Download PDFInfo
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- CN102525753B CN102525753B CN201110259014.1A CN201110259014A CN102525753B CN 102525753 B CN102525753 B CN 102525753B CN 201110259014 A CN201110259014 A CN 201110259014A CN 102525753 B CN102525753 B CN 102525753B
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Abstract
The invention provides a bionic walking and stair climbing trolley. A frame is provided with a stair climbing mechanism and a stair climbing driving mechanism. The stair climbing mechanism consists of walking rod groups which are symmetrically mounted on two sides of the frame and are synchronously driven to run, each walking rod group consists of two parallel walking rods driven eccentrically, each walking rod is provided with an eccentric wheel rotatably supported by a rolling bearing, and a 180-degree eccentric difference angel is formed between eccentric connecting points of an eccentric rod between the eccentric wheels of the two parallel walking rods of each walking rod group. The bionic walking and stair climbing trolley can walk as two legs of a human body. Compared with an existing stair climbing trolley, the bionic walking and stair climbing trolley has the advantages that stair climbing running safety is greatly improved, a flat ground walking function posture and a stair getting-up and getting-down function posture of the bionic walking and stair climbing trolley can be switched when the bionic walking and stair climbing trolley is used with a wheel lifting mechanism, and the bionic walking and stair climbing trolley is flexible in operation, and provides convenience for disabled persons and old persons to climb stairs.
Description
Technical field
What the present invention relates to is the mechanical ascending stair device that alternative physical activity realizes step ladder operation up and down.
Background technology
Multiple climbing ladder apparatus has been provided in prior art, wherein a part of upstairs going cart designs to carry weight on the back, as Chinese patent: the patent No. is " stair-climbing wheeled vehicle " of 200820006386.X, it adopts a coaxial upper drive to take turns the star wheel type stair-climbing mechanism of composition more, the Stairs climbing vehicle of this many wheel coaxial construction easily spins when ascending stair, skids, and is thus not suitable as band people ascending stair equipment.Another part is then to take action extremely inconvenient personage and the ascending stair equipment designed for legs and feet, and the isostructural ascending stair car of riding instead of walk of such as crawler type is exactly typical case wherein.These climbing ladder apparatus are while realizing ascending stair function, the technical problem that ubiquity mechanism is complicated, body gravity is unstable, must ability keeps ascending stair to run reluctantly under the helping of assistant balance, be difficult to the operation of complete independently ascending stair, State Transferring particularly on car body is become by level land during ladder, ascending stair to walk unhurriedly platform time State Transferring in, unbalance, easily sliding tiltedly, security performance is lower; In addition, the action of crawler type Stairs climbing vehicle is dumb, turns to difficulty, mechanism heavy.How to ensure walking terraced stability, simplify mechanism, weight reduction, also want that can to turn to flexibly at the platform of walking unhurriedly that area is narrow and small be its technical issues that need to address.
Summary of the invention
The goal of the invention of the present patent application is the bionic walking step tower wagon providing a kind of step ladder stable.The bionic walking step tower wagon technical scheme that the present patent application provides, its main technical content is: a kind of bionic walking step tower wagon, its vehicle frame is provided with Bu Ti mechanism and the terraced driving mechanism of step, Bu Ti mechanism is that symmetry is arranged on vehicle frame both sides, and the synchronous walking bar group run that drives is formed, walking bar group is made up of two parallel walking bars of eccentric drive, two walking bars all have parallel eccentric through rolling bearing rotational support, two eccentrics connect eccentric rod, eccentric rod differs 180 ° of eccentric declinates in two eccentric eccentric junction points, walking bar is equidistantly fixed with some socles in acute angle.
In above-mentioned overall technical architecture, walking bar upper end is that the tactile ladder in upper fin draws bar.Walking bar upper end refers to: with socle tilt towards walking bar one end for lower end, then the other end of walking bar is then upper end.
In above-mentioned overall technical architecture, vehicle frame is fixed with manned seat, wheel is arranged at seat both sides, and wheel is provided with elevating mechanism relative to vehicle frame.
The technical scheme of the bionic walking step tower wagon that the present patent application provides, driven before and after two walking bars by eccentric and alternately lift step, the walking that falls is walked, as the walking of human body bipod, left and right two walking bar groups are synchronously upper and lower by step, landing on walking bar of each step has socle that is identical and front and back dispersion to drop on the step at walking bar place, car body obtains stable support, technical construction ensure that the safety that car body step ladder runs, can when without stair activity alone when helper, vehicle wheel lifting mechanism is coordinated to complete the function attitude conversion of step tower wagon between level walking and stair activity, especially platform place steering operation of walking unhurriedly is facilitated, can from level to level upper, lower step ladder.
Accompanying drawing explanation
Fig. 1 is the unitary construction schematic diagram of this bionic walking step tower wagon
Fig. 2 is the structural representation walking terraced mechanism section
Fig. 3 is the structural representation of rack-and-pinion seat elevating mechanism
Fig. 4 and Fig. 5 is two using state figure of wheel crank elevating mechanism respectively.
Detailed description of the invention
As shown in the figure, the vehicle frame of this bionic walking step tower wagon is provided with Bu Ti mechanism and the terraced driving mechanism of step, vehicle frame also fixedly mounts just like manned parts such as seats 1.Bu Ti mechanism is the two walking bar groups that symmetry is arranged on that vehicle frame both sides are synchronously driven operation by step ladder driving mechanism, and walk terraced driving mechanism and be made up of the transmission of motor, reductor and driving both sides walking bar group, its source of working power is in accumulator.Two parallel walking bars 2 of described walking bar group to be eccentric drive be walking alternate run are formed, two walking bars 2 are equipped with by the parallel eccentric 4 of rolling bearing 3 rotational support, rolling bearing 3 overcoat is fixed on walking bar 2, connected by eccentric rod between the eccentric 4 of two walking bars 2, and the eccentric junction point of this eccentric rod on two eccentrics has 180 ° of eccentric angle differences.When driving eccentric to rotate, when wherein a walking bar being proposed one deck step operation forward, another walking bar all the time steadily be supported on later layer step, when current line walking bar falls within front one deck step, walking bar in rear then just starts to mention, both sides walking bar group is synchronously forward and backward to replace, just as the walking of mankind's bipod, and manned step ladder steadily.Walking bar 2 is fixed with equidistantly and with the some socles 5 of walking bar 2 in identical acute angle, said acute angle is contrary with ascending stair direction, between socle 5 and walking bar 2 angle.Because different regions stairway step height and width specifications are had nothing in common with each other, be proven, socle 5 distribution design drops on the stairway step at place entirely without the need to pursuing socle, Fig. 1 is a schematic diagram, and only need make the socle floor-type support having dispersion before and after in each step that falls of walking bar, as shown in Figure 5.The tactile ladder that walking bar 2 upper end has in upper fin draws bar 6, and walking bar upper end refers to: walking bar with socle tilt towards one end for lower end, then the walking bar other end is then upper end.Tactile ladder draws on bar 6 and is fixed with some socles 5 equally, and when this car is close to step, the socle 5 that tactile ladder draws bar 6 has dropped on the first step of stair, can ascending stair smoothly, and ensures the stability that now ascending stair runs.Design due to step tower wagon is to provide convenience to the patient of difficulty in walking, people with disability, Bu Ti mechanism being combined with common wheelchair substantially, makes it to have wheelchair and the terraced double function of step concurrently, and wheel 7 place of seat 1 both sides is provided with vehicle wheel lifting mechanism.The realization structure of vehicle wheel lifting mechanism can have multiple, as adopted pinion and rack, as shown in figures 1 and 3, the gear 8 that hub for vehicle wheel is arranged forms rack and pinion engagement transmission with vehicle frame or seat tooth bar 9, driven wheel 8 rotates and rotates forward or backwards, when realizing level land, jump area under wheel, then walking bar is lifted relatively, make step tower wagon become common wheelchair, when ascending stair or descending stair, wheel rising, walking bar descend jump area relatively, the ascending stair of walking bar draws bar and is placed on step ladder, for ascending stair is ready.Can also adopt crank-type vehicle wheel lifting mechanism as shown in Figure 4,5, wheel 7 is arranged on crank 10 one end, and crank axle is provided with the axle allocation mechanism as click detent mechanism is formed.Pressure crank 10, wheel 7 lands, consistent with wheelchair function; Lift crank 10, locate its wheel lift position by ratchet and pawl arrangement, for step ladder is prepared.
Claims (5)
1. a bionic walking step tower wagon, it is characterized in that vehicle frame being provided with Bu Ti mechanism and the terraced driving mechanism of step, Bu Ti mechanism is arranged on vehicle frame both sides by symmetry, and the synchronous walking bar group run that drives is formed, walking bar group is made up of two parallel walking bars (2) of eccentric drive, walking bar is provided with by the eccentric of rolling bearing rotational support (4), the overcoat of described rolling bearing is fixed on walking bar, the eccentric junction point of the eccentric rod between the eccentric of two parallel walking bars is mutually in 180 ° of eccentric declinates, walking bar is equidistantly fixed with some socles (5) in acute angle.
2. bionic walking according to claim 1 step tower wagon, is characterized in that walking bar upper end is that tactile ladder in upper fin draws bar (6).
3. bionic walking step tower wagon according to claim 1, it is characterized in that vehicle frame being fixed with manned seat (1), wheel is arranged at seat both sides, and wheel is provided with vehicle wheel lifting mechanism relative to vehicle frame.
4. bionic walking step tower wagon according to claim 3, is characterized in that vehicle wheel lifting mechanism is that the gear (8) that hub for vehicle wheel is arranged forms rack and pinion engagement transmission with vehicle frame or seat tooth bar (9).
5. bionic walking step tower wagon according to claim 3, it is characterized in that vehicle wheel lifting mechanism is crank-type vehicle wheel lifting mechanism, wheel (7) is arranged on crank (10) one end, and crank axle is provided with axle allocation mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110259014.1A CN102525753B (en) | 2010-11-15 | 2011-09-02 | Bionic walking and stair climbing trolley |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206060747 | 2010-11-15 | ||
| CN201020606074 | 2010-11-15 | ||
| CN201020606074.7 | 2010-11-15 | ||
| CN201110259014.1A CN102525753B (en) | 2010-11-15 | 2011-09-02 | Bionic walking and stair climbing trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102525753A CN102525753A (en) | 2012-07-04 |
| CN102525753B true CN102525753B (en) | 2015-04-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110259014.1A Expired - Fee Related CN102525753B (en) | 2010-11-15 | 2011-09-02 | Bionic walking and stair climbing trolley |
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| Country | Link |
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| CN (1) | CN102525753B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI550428B (en) * | 2015-11-06 | 2016-09-21 | Univ Nat Cheng Kung | Multi-legged stair-climbingmechanism and design method therefor |
| CN111839920B (en) * | 2020-07-22 | 2021-10-08 | 燕山大学 | Crawler-type stair climbing robot with auxiliary grapple |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5263547A (en) * | 1987-04-23 | 1993-11-23 | Haas & Alber Haustechnik Und Apparatebau Gmbh | Stair climbing device |
| CN2805821Y (en) * | 2005-08-31 | 2006-08-16 | 郑汉生 | Automatic anti-fall protection device for ascending |
| CN101073526A (en) * | 2007-05-06 | 2007-11-21 | 姜晓东 | Electric walking non-obstructive wheel chair |
| CN201055482Y (en) * | 2007-05-06 | 2008-05-07 | 姜晓东 | Electric walking type non-obstacle wheelchair |
| CN101622169A (en) * | 2007-02-12 | 2010-01-06 | 斯甘有限责任公司 | Stair-climbing wheeled vehicle |
| CN101843546A (en) * | 2010-07-13 | 2010-09-29 | 韩金奎 | Wheel chair boosting device |
-
2011
- 2011-09-02 CN CN201110259014.1A patent/CN102525753B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5263547A (en) * | 1987-04-23 | 1993-11-23 | Haas & Alber Haustechnik Und Apparatebau Gmbh | Stair climbing device |
| CN2805821Y (en) * | 2005-08-31 | 2006-08-16 | 郑汉生 | Automatic anti-fall protection device for ascending |
| CN101622169A (en) * | 2007-02-12 | 2010-01-06 | 斯甘有限责任公司 | Stair-climbing wheeled vehicle |
| CN101073526A (en) * | 2007-05-06 | 2007-11-21 | 姜晓东 | Electric walking non-obstructive wheel chair |
| CN201055482Y (en) * | 2007-05-06 | 2008-05-07 | 姜晓东 | Electric walking type non-obstacle wheelchair |
| CN101843546A (en) * | 2010-07-13 | 2010-09-29 | 韩金奎 | Wheel chair boosting device |
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| CN102525753A (en) | 2012-07-04 |
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