CN104760629A - Ladder climbing mechanism - Google Patents
Ladder climbing mechanism Download PDFInfo
- Publication number
- CN104760629A CN104760629A CN201510132199.8A CN201510132199A CN104760629A CN 104760629 A CN104760629 A CN 104760629A CN 201510132199 A CN201510132199 A CN 201510132199A CN 104760629 A CN104760629 A CN 104760629A
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- China
- Prior art keywords
- crawling
- vehicle body
- front body
- crawling wheel
- wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a ladder climbing mechanism, wherein the ladder climbing mechanism comprises a front vehicle body, a back vehicle body and a driving device, wherein a pair of first climbing wheels is arranged at the front part of the front vehicle body; a pair of second climbing wheels is arranged at the back part of the front vehicle body; a pair of third climbing wheels is arranged at the front part of the back vehicle body; a pair of fourth climbing wheels is arranged at the back part of the back vehicle body; the front end of the back vehicle body is hinged to the back end of the front vehicle body; when the ladder climbing mechanism is driven on a flat ground, the back vehicle body and the front vehicle body are connected in a V form; the wheel bases between the third climbing wheels and the first climbing wheels are at least equal to the heights of steps; the total length of connecting the back vehicle body with the front vehicle body is less than the widths of the steps; and the driving device is used for driving the four pairs of climbing wheels to rotate. The ladder climbing mechanism not only can climb a ladder, whose step widths are greater than the total length, but also can be smoothly and quickly driven on the ground; and the ladder climbing mechanism is simple in structure, and is convenient to use.
Description
Technical field
The present invention relates to ladder climbing assistance devices field, particularly a kind of stair-climbing mechanism.
Background technology
For speeling stairway, current equipment mainly adopts following several stair-climbing mechanism:
1. crawler type: wheel utilizes track-face to contact with stair knuckle line and realizes stair climbing action, its shortcoming is the contact of crawler belt and stairway step is point cantact, easily damage step corner angle by pressure, and caterpillar belt structure is heavy, noise of advancing is large, slower in level walking hourly velocity.
2. planet gear type: utilize the wheel of satellite gear and stairway step to agree with to realize the object of stair climbing; Its shortcoming is when utilizing electrical motor or engine drive, stair climbing and be not easy to take into account at flat pavement running two states, and needing to set up complicated structure could realize.
3. sufficient formula mechanical arm type: the action simulation human or animal leg walking such as utilize mechanical arm to lift, to put down realizes the object of stair climbing; Its shortcoming is heavy construction, slower in level walking hourly velocity.
4. wheel machine is arm-type: mechanical arm is that the center of circle moves in a circle with rotating shaft, and radius of a circle agrees with stairway step, to realize the object of stair climbing step by step; Its shortcoming to travel on level road by pulsation-free, the object needing other mechanism to assist to realize level road to advance.
5. bull wheel footpath formula: the restriction being overcome wheel size by the mode adding larger wheels effective diameter, to realize the object of stair climbing.Its shortcoming is that volume is large, and needs the horsepower output increasing driving engine.
6. compound type: aforementioned 1-4 class mode is carried out two or more combinations, to realize stair climbing and the object at level walking.Its shortcoming is that mechanism is complicated.
Therefore, existing stair-climbing mechanism does not realize speeling stairway by simple structure simultaneously and on level land, carries out the object of walking fast.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of stair-climbing mechanism, thus overcome the shortcoming of object that existing stair-climbing mechanism do not realize speeling stairway by simple structure simultaneously and carry out fast walking on level land.
For achieving the above object, the invention provides a kind of stair-climbing mechanism, wherein, comprising: front body, its front portion is provided with a pair first crawling wheels, and the rear portion of this front body is provided with a pair second crawling wheels; Rear, its front portion is provided with a pair the 3rd crawling wheels, and the rear portion of this rear is provided with a pair the 4th crawling wheels; The front end of this rear and the rear end of described front body hinged; When travelling on level land, described rear is connected in " V " font with described front body, described 3rd crawling wheel is at least equal with the height of step with the wheelbase between described first crawling wheel, and described rear be connected with described front body after overall length be less than the width of described step; And actuating device, it rotates for driving described four pairs of crawling wheels.
Preferably, in technique scheme, when travelling on level land, the angle between described front body and described rear is 160 ° ~ 175 °.
Preferably, in technique scheme, when travelling on level land, the angle between described front body and described rear is 170 °.
Preferably, in technique scheme, described actuating device comprises four propulsions source, and these four propulsions source are connected with described four pairs of crawling wheels respectively.
Compared with prior art, the present invention has following beneficial effect:
Structure of the present invention is simple, and easy to use, it can either climb the stair that step width is greater than overall length of the present invention, and can steadily travel rapidly on the ground again, it is specially adapted to the travelling platform as driverless operation or intelligent robot.
Accompanying drawing explanation
Fig. 1 is the perspective view according to stair-climbing mechanism of the present invention.
Fig. 2 is the front view according to Fig. 1 of the present invention.
Main Reference Numerals illustrates:
1-front body, 2-first crawling wheel, 3-second crawling wheel, 4-rear, 5-the 3rd crawling wheel, 6-the 4th crawling wheel, 7-propulsion source.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of detailed description of the invention.
Clearly represent unless otherwise other, otherwise in whole specification sheets and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or component part, and do not get rid of other element or other component part.
As shown in Figure 1 to Figure 2, a kind of embodiment according to the specific embodiment of the invention is: a kind of stair-climbing mechanism, wherein, comprise: front body 1, rear 4, first crawling wheel 2, second crawling wheel 3, the 3rd crawling wheel 5, the 4th crawling wheel 6 and actuating device, as shown in Figure 1, the front portion of front body 1 is provided with a pair first crawling wheels 2, and the rear portion of front body 1 is provided with a pair second crawling wheels 3, the front portion of rear 4 is provided with a pair the 3rd crawling wheels 5, and the rear portion of rear 4 is provided with a pair the 4th crawling wheels 6.First crawling wheel 2 is identical with the 4th crawling wheel 6, and the second crawling wheel 3 is identical with the 3rd crawling wheel 5, and the wheelspan of the first crawling wheel 2 is greater than the wheelspan of the second crawling wheel 3.The tyre surface of each wheel of four pairs of crawling wheels all adopts the decorative pattern that can provide larger friction force.
The front end of rear 4 and the rear end of front body 1 hinged.As shown in Figure 2, when the present invention's entirety travels on level land, rear 4 is connected in " V " font with front body 1; Preferably, when travelling on level land, the angle between front body 1 and rear 4 is 160 ° ~ 175 °.Further preferably, when travelling on level land, the angle between front body 1 and rear 4 is 170 °, and front and back vehicle body can be made like this to keep " V " font to connect, and car load bending angle can be made again not to be too large, facilitate the equipment such as mounting robot.And when the present invention travels on level land, the wheelbase between the 3rd crawling wheel 5 with the first crawling wheel 2 is at least equal with the height of step, the overall length that front body 1 and rear 4 link together is less than the width of step.
Actuating device rotates for driving the first crawling wheel 2, second crawling wheel 3, the 3rd crawling wheel 5 and these four pairs of crawling wheels of the 4th crawling wheel 6.Preferably, as shown in Figure 1, actuating device comprises four propulsions source, 5, four propulsions source 5 and is connected with four pairs of crawling wheels respectively, is independently driven to enable often pair of crawling wheel.Four propulsions source 5 can be four motors or motors etc.
Structure of the present invention is simple, easy to use, is specially adapted to the travelling platform as driverless operation or intelligent robot, and the stair that the present invention can be greater than overall length of the present invention along step width are creeped, and steadily can travel rapidly again on level land.
When needs are walked on the ground, because front body 1 of the present invention is provided with the first crawling wheel 2 and the second crawling wheel 3, rear 4 is provided with the 3rd crawling wheel 5 and the 4th crawling wheel 6, therefore the present invention steadily can move rapidly on the ground as common vehicle.
When need along the width of step be greater than overall length of the present invention and the 3rd crawling wheel 5 of the present invention stair at least equal with the height of step with the wheelbase between the first crawling wheel 2 are upwards climbed time, first, the first crawling wheel 2 being positioned at the front portion of front body 1 contacts the vertical wall of the step of stair, be rotated further in process at this first crawling wheel 2, because the effect of friction force can produce a thrust upwards to this first crawling wheel 2 between itself and the vertical wall of step, simultaneously because front body 1 and rear 4 are connected in " V " font when keeping flat, when other three pairs of crawling wheels continue to move ahead, front body 1 is just forced and is produced upwards folding action relative to rear 4, thus the first crawling wheel 2 of the front portion being positioned at front body 1 upwards can be creeped along the vertical wall of step, front body 1 just progressively comes back, rear 4 continues forward near step simultaneously.Then, after second crawling wheel 3 at the rear portion being positioned at front body 1 also touches the vertical wall of step, the vertical wall of step equally to its generation thrust upwards, thus makes this also upwards creep along the vertical wall of step to the second crawling wheel 3.Then, when the 3rd crawling wheel 5 also touches the vertical wall of step, due to the wheelbase between the first crawling wheel 2 with the 3rd crawling wheel 5 at least equal with the height of step (namely equal with the height of vertical wall), first crawling wheel 2 just crosses the horizontal surface that vertical wall arrives step, pulling force forward can be produced to front body 1 when first crawling wheel 2 is walked on the horizontal surface of step, the 4th crawling wheel 6 being simultaneously positioned at the rear portion of rear 4 continues to produce thrust forward, 3rd crawling wheel 5 of the front portion of rear 4 is also upwards creeped along the vertical wall of step, rear 4 also progressively comes back, now the second crawling wheel 3 is likely in vacant state.If the wheelbase between the 3rd crawling wheel 5 and the first crawling wheel 2 is less than the height of step, then when the 3rd crawling wheel 5 is also upwards creeped along vertical wall, still on the vertical wall of step, just there is the danger making car load turn in the first crawling wheel 2.Again then, when after the second crawling wheel 3 also crosses the vertical wall of step and when the horizontal surface dropping to step is walked, the first crawling wheel 2 on front body 1 and the second crawling wheel 3 just can produce pulling force to rear 4, and rear 4 simultaneously continues upwards to creep under the effect of the 3rd crawling wheel 5 and the 4th crawling wheel 6.Finally, after the 3rd crawling wheel 5 of the front portion being positioned at rear 4 crosses the vertical wall of step, rear 4 is upturned along the hinged place of itself and front body 1, the 4th crawling wheel 6 being positioned at the rear portion of rear 4 is unsettled, and under the pulling force effect of pair crawling wheel of three above, front body 1 and rear 4 entirety continue to move forward, and the 4th crawling wheel 6 when the rear portion being positioned at rear 4 is also and then fallen after on step horizontal surface, just completes the action of once climbing up and over step.
When needs are creeped downwards along stair, first, the first crawling wheel 2 being positioned at the front portion of front body 1 leaves step horizontal surface, first crawling wheel 2 is in vacant state, when second crawling wheel 3 at the rear portion being positioned at front body 1 also leaves step horizontal surface, front body 1 continues to rotate, and the vertical wall that the first crawling wheel 2 and the second crawling wheel 3 against step is creeped downwards.Then, when the 3rd crawling wheel 5 of the front portion being positioned at rear 4 also leaves step horizontal surface, first crawling wheel 2 has touched the horizontal surface of next step, meeting produces pulling force forward to front body 1, front body 1 continues just to change to the attitude with the plane-parallel of next step gradually in the process of moving ahead, and the second crawling wheel 3 is likely in vacant state.Finally, until the 4th crawling wheel 6 being positioned at the rear portion of rear 4 leaves the horizontal surface of step and drops on the horizontal surface of next step, the action downward across a step just completes.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.
Claims (4)
1. a stair-climbing mechanism, is characterized in that, comprising:
Front body, its front portion is provided with a pair first crawling wheels, and the rear portion of this front body is provided with a pair second crawling wheels;
Rear, its front portion is provided with a pair the 3rd crawling wheels, and the rear portion of this rear is provided with a pair the 4th crawling wheels; The front end of this rear and the rear end of described front body hinged;
When travelling on level land, described rear is connected in " V " font with described front body, described 3rd crawling wheel is at least equal with the height of step with the wheelbase between described first crawling wheel, and described rear be connected with described front body after overall length be less than the width of described step; And
Actuating device, it rotates for driving described four pairs of crawling wheels.
2. stair-climbing mechanism according to claim 1, is characterized in that, when travelling on level land, the angle between described front body and described rear is 160 ° ~ 175 °.
3. stair-climbing mechanism according to claim 2, is characterized in that, when travelling on level land, the angle between described front body and described rear is 170 °.
4. the stair-climbing mechanism according to any one of claim 1-3, is characterized in that, described actuating device comprises four propulsions source, and these four propulsions source are connected with described four pairs of crawling wheels respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510132199.8A CN104760629A (en) | 2015-03-25 | 2015-03-25 | Ladder climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510132199.8A CN104760629A (en) | 2015-03-25 | 2015-03-25 | Ladder climbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104760629A true CN104760629A (en) | 2015-07-08 |
Family
ID=53642816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510132199.8A Pending CN104760629A (en) | 2015-03-25 | 2015-03-25 | Ladder climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104760629A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128968A (en) * | 2015-09-01 | 2015-12-09 | 苏州达力客自动化科技有限公司 | Stair climbing robot |
| CN109805842A (en) * | 2019-01-12 | 2019-05-28 | 肖宇曦 | A kind of dragging machine for staircase steps cleaning |
| CN113386873A (en) * | 2020-03-13 | 2021-09-14 | 丰田自动车株式会社 | Three-row vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0751319A (en) * | 1993-08-19 | 1995-02-28 | Hisato Aramaki | Climbing motorized wheelchair |
| US20060145433A1 (en) * | 2003-01-09 | 2006-07-06 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
| CN201951509U (en) * | 2011-01-28 | 2011-08-31 | 宁波工程学院 | Wheel with function of climbing stairs |
| US8292007B2 (en) * | 2000-04-04 | 2012-10-23 | Irobot Corporation | Wheeled platforms |
| CN102303655B (en) * | 2011-06-20 | 2012-11-07 | 河北工业大学 | Wheel-legged combined-type robot platform |
| CN204688251U (en) * | 2015-03-25 | 2015-10-07 | 南宁市第一中学 | Stair-climbing mechanism |
-
2015
- 2015-03-25 CN CN201510132199.8A patent/CN104760629A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0751319A (en) * | 1993-08-19 | 1995-02-28 | Hisato Aramaki | Climbing motorized wheelchair |
| US8292007B2 (en) * | 2000-04-04 | 2012-10-23 | Irobot Corporation | Wheeled platforms |
| US20060145433A1 (en) * | 2003-01-09 | 2006-07-06 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
| CN201951509U (en) * | 2011-01-28 | 2011-08-31 | 宁波工程学院 | Wheel with function of climbing stairs |
| CN102303655B (en) * | 2011-06-20 | 2012-11-07 | 河北工业大学 | Wheel-legged combined-type robot platform |
| CN204688251U (en) * | 2015-03-25 | 2015-10-07 | 南宁市第一中学 | Stair-climbing mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128968A (en) * | 2015-09-01 | 2015-12-09 | 苏州达力客自动化科技有限公司 | Stair climbing robot |
| CN109805842A (en) * | 2019-01-12 | 2019-05-28 | 肖宇曦 | A kind of dragging machine for staircase steps cleaning |
| CN109805842B (en) * | 2019-01-12 | 2020-09-15 | 肖宇曦 | A drag cleaning machine for corridor ladder clearance |
| CN113386873A (en) * | 2020-03-13 | 2021-09-14 | 丰田自动车株式会社 | Three-row vehicle |
| CN113386873B (en) * | 2020-03-13 | 2023-01-10 | 丰田自动车株式会社 | Three-row vehicle |
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| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150708 |
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| RJ01 | Rejection of invention patent application after publication |