CN108638754A - The wheel of climbing stairs and the vehicle of climbing stairs - Google Patents
The wheel of climbing stairs and the vehicle of climbing stairs Download PDFInfo
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- CN108638754A CN108638754A CN201810744795.5A CN201810744795A CN108638754A CN 108638754 A CN108638754 A CN 108638754A CN 201810744795 A CN201810744795 A CN 201810744795A CN 108638754 A CN108638754 A CN 108638754A
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- wheel
- supporting rod
- climbing stairs
- vehicle
- vehicle frame
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- 230000009194 climbing Effects 0.000 title claims abstract description 45
- 230000003137 locomotive effect Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 13
- 238000004040 coloring Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0028—Construction of wheels; methods of assembling on axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
- B62B5/026—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs with spiders or adapted wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of wheels of climbing stairs, the wheel is equipped with the supporting rod for rotating synchronously and being converted between holding state and non-supported state with the wheel, the supporting rod protrudes out the outer rim of wheel under holding state, which does not protrude out the outer rim of wheel under non-supported state.The wheel of climbing stairs of the present invention is equipped with a supporting rod, which rotates synchronously with wheel.When supporting rod protrudes out the outer rim of wheel, supporting rod relative wheel is in holding state, and with vehicle wheel rotation and when being held in upper level stairwell surface, wheel is convenient to wheel and runs on stair supporting rod using the support end of supporting rod as rotating fulcrum；When supporting rod does not protrude out the outer rim of wheel, supporting rod relative wheel is in non-supported state, and wheel is contacted with road surface, and for wheel using wheel shaft as rotating fulcrum, be conducive to wheel stability runs on road surface.The car wheel structure of the climbing stairs is simple, reliable for operation.
Description
Technical field
The present invention relates to the vehicles of the wheel and its climbing stairs of delivery vehicle more particularly to a kind of climbing stairs.
Background technology
Existing wheel is circle, is conducive to roll on road surface, but the wheel is not particularly suited for the fortune of stair or step
Row environment.Similarly, the delivery vehicle of the circular wheel is installed, such as：Wheelchair, shopping cart, trolley, children trolley or luggage
Case, also inconvenience run on stair or step.
Currently, releasing a kind of planetary gear in equilateral triangle in market（Stair climbing wheel）, which can run on stair or platform
Rank solves the problems, such as vehicle stair climbing, but has the following problems：Stability is poor, impact force is big.In addition, being equipped with
When the delivery vehicle of the planetary gear is displaced into the road surface of uneven, three idler wheels of planetary gear are easy alternately to contact around shaft
In road surface, cause vehicle body there is a phenomenon where pitching, fluctuation of service, user experience is poor, and runnability is not as good as general
Logical circular wheel.
In order to enable wheel can stable operation in road surface and run on stair or step, existing circular wheel also has
It waits innovating.
Invention content
The technical problem to be solved in the present invention is to provide one kind can stable operation in road surface and the wheel of stair climbing.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of wheel of climbing stairs, the wheel
Equipped with the supporting rod for rotating synchronously and being converted between holding state and non-supported state with the wheel, which is supporting
The outer rim of wheel is protruded out under state, which does not protrude out the outer rim of wheel under non-supported state.
The present invention has the advantages that compared to the prior art：The wheel of climbing stairs of the present invention is equipped with a support
Bar, the supporting rod are rotated synchronously with wheel.When supporting rod protrudes out the outer rim of wheel, supporting rod relative wheel is in support shape
State, supporting rod is with vehicle wheel rotation and when being held in upper level stairwell surface, and wheel is using the support end of supporting rod as rotating fulcrum, side
Stair are run on convenient for wheel；When supporting rod does not protrude out the outer rim of wheel, supporting rod relative wheel is in non-supported state,
Wheel is contacted with road surface, and for wheel using wheel shaft as rotating fulcrum, be conducive to wheel stability runs on road surface.The vehicle of the climbing stairs
Wheel construction is simple, reliable for operation.
Preferably, the quantity at least two of the supporting rod, and be uniformly distributed on wheel.
Preferably, the wheel is equipped with end cap, and the supporting rod is rotatably connected at the end cap of wheel by an axis pin,
The end cap is equipped with the first limit hole and the second limit hole；The supporting rod include be located at axis pin both sides fixing end and
The fixing end of support end, supporting rod installs an elastic telescopic pin；The elastic telescopic pin is rotated in company with supporting rod around axis pin, and
It can be positioned at the first limit hole or the second limit hole, when which is rotatably positioned at the first limit hole around axis pin, branch
The support end of strut turns to the outside of felly；When the elastic telescopic pin is rotatably positioned at the second limit hole around axis pin,
The support end of supporting rod turns to the inside of felly.
Preferably, the wheel is equipped with end cap, and the supporting rod is telescopically connected to vehicle by a slider-crank mechanism
The end cap of wheel；The slider-crank mechanism includes crank, is articulated with the connecting rod of crank and is articulated with the sliding block of connecting rod, the branch
Strut is fixedly connected on sliding block and can be moved along guide rail.
The present invention also provides a kind of vehicle of climbing stairs, including vehicle frame, the first wheel for being installed on vehicle frame, it is described
First wheel uses the above-mentioned wheel.
Preferably, which is trolley, and the first end of the vehicle frame is equipped with telescopic pull rod, the first wheel peace
Second end loaded on vehicle frame；The quantity of first wheel is two, and opposite is installed on vehicle frame.
Preferably, the wheel is wheel hub motor wheel, and power supply and operation control device are equipped on vehicle frame.
Preferably, the vehicle frame is equipped with the second wheel by a fold mechanism.
Preferably, further include photographing module, image processing module, control module, the photographing module is acquiring target
The real-time image information of object, and it is sent to image processing module, described image processing module signal is connected to control module, described
Control module controls the rotation of two wheel hub electric locomotive wheels according to the image recognition information of image processing module.
Preferably, further include signal label, receiver, microprocessor, the signal label is worn on user's body simultaneously
Signal is sent, the receiver is installed on vehicle frame and the signal that the signal label of reception is sent is sent to microprocessor
Device, the microprocessor will control the rotation of two wheel hub electric locomotive wheels after signal calculation processing according to signal processing information.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of the wheel of climbing stairs of the present invention；
Fig. 2 is that the supporting rod of the present invention is connected to the connection diagram of wheel；
Fig. 3 is that the wheel of climbing stairs of the present invention is in the schematic diagram under holding state；
Fig. 4 is that the wheel of climbing stairs of the present invention is in the schematic diagram under non-supported state；
Fig. 5 is that the wheel of climbing stairs in another embodiment of the present invention is in the schematic diagram under holding state；
Fig. 6 is that the wheel of climbing stairs in another embodiment of the present invention is in the schematic diagram under non-supported state；
Fig. 7 a- Fig. 7 c are to climb building flow diagram using the wheel of the climbing stairs of two supporting rods；
Fig. 8 is the structural schematic diagram using the wheel of the climbing stairs of three supporting rods；
Fig. 9 is the stereoscopic schematic diagram of the trolley of climbing stairs of the present invention；
Figure 10 is the connection diagram of the first wheel, parcel shelf and column in the present invention；
Figure 11 is the stereoscopic schematic diagram under the trolley folded state of climbing stairs of the present invention；
Figure 12 a- Figure 12 c are that the trolley of climbing stairs of the present invention climbs building flow diagram；
Figure 13 is the schematic diagram under the trolley unfolded state of climbing stairs of the present invention；
Figure 14 is the connection diagram of fold mechanism and vehicle frame in the present invention, and being positioned at second in figure for elastic telescopic pin 53 determines
When the hole 55 of position, 42 relative frame 3 of the second wheel is in the first unfolded state.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings, rather than to protection scope of the present invention
Limitation.It should be noted that：The orientation or positional relationship of the instructions such as term "front", "rear", "left", "right", "upper", "lower" is base
It in orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than indicates or imply
Signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this
The limitation of invention.Term " first ", " second " are only used for simplifying verbal description to be different from similar object, and should not be understood as
Precedence relationship between specific order.
Refering to fig. 1 and Fig. 2, the present embodiment provides a kind of wheel 1 of climbing stairs, which can justify in the prior art
Structural improvement is carried out on the basis of shape wheel.Wheel 1 be equipped with the wheel rotate synchronously and can holding state with it is non-supported
The supporting rod 2 converted between state.When supporting rod 2 protrudes out the outer rim of wheel 1,2 relative wheel 1 of supporting rod is in support shape
State, when supporting rod 2 rotates with wheel 1 and is held in upper level stairwell surface, wheel 1 is rotation with the support end 22 of supporting rod 2
Fulcrum is convenient to wheel 1 and runs on stair；When supporting rod 2 does not protrude out the outer rim of wheel 1, at 2 relative wheel 1 of supporting rod
In non-supported state, felly is contacted with road surface, and wheel 1 is conducive to running on for the stabilization of wheel 1 using wheel shaft as rotating fulcrum
Road surface.The wheel 1 of the climbing stairs is simple in structure, reliable for operation.
In the present embodiment, wheel 1 is equipped with end cap 11, and supporting rod 2 is rotatably connected at the end of wheel 1 by an axis pin 14
Lid 11, end cap 11 are equipped with the first limit hole 12 and the second limit hole 13.Supporting rod 2 includes being located at consolidating for 14 both sides of axis pin
The fixing end 21 of fixed end 21 and support end 22, supporting rod 2 installs an elastic telescopic pin 23.The elastic telescopic pin 23 includes handle
End, positioning end and adjustable spring.It is exerted a force manually by user and pulls the handle end of elastic telescopic pin 23, may make elastic telescopic pin
23 positioning end is located away from the limit hole of end cap 11；User's release handle end so that positioning end is fixed by the stretching force of adjustable spring
Positioned at the limit hole of end cap 11.Elastic telescopic pin 23 is rotated in company with supporting rod 2 around axis pin 14, and can be positioned at the first limit hole
12 or second limit hole 13.When the elastic telescopic pin 23 is rotatably positioned at the first limit hole 12 around axis pin 14, the branch of supporting rod 2
Support end 22 turns to the outside of felly（As shown in Figure 3）, supporting rod 2 is in holding state.The elastic telescopic pin 23 surrounds
When axis pin 14 is rotatably positioned at the second limit hole 13, the support end 22 of supporting rod 2 turns to the inside of felly（Such as Fig. 4 institutes
Show）, supporting rod 2 is in non-supported state.The supporting rod 2 is adjusted elastic telescopic pin 23 by user and realized in holding state manually
With the conversion between non-supported state.
Refering to Fig. 5 and Fig. 6, in another embodiment, wheel 1 is equipped with end cap 11, and supporting rod 2 passes through a slider-crank mechanism
Telescopically it is connected to the end cap 11 of wheel 1.Slider-crank mechanism includes crank 24, is articulated with the connecting rod 25 and hinge of crank 24
It is connected to the sliding block 26 of connecting rod 25.Supporting rod 2 includes fixing end 21 and support end 22.The fixing end 21 of supporting rod 2 is fixedly connected on
Sliding block 26 so that supporting rod 2 can be moved with sliding block 26 along guide rail 27.Crank 24 is connected to motor（It is not shown in figure）Output
Axis, by controlling the forward and reverse of motor, it can be achieved that the support end 22 of supporting rod 2 is stretched out or shunk in the outer rim of wheel 1.Electricity
When machine rotates forward, the support end 22 of supporting rod 2 slides along guide rail 27 and protrudes out the outer rim of wheel 1（As shown in Figure 5）, supporting rod 2
In holding state；When motor reversal, the support end 22 of supporting rod 2 is slided along guide rail 27 and is shunk in the outer rim of wheel 1（Such as figure
Shown in 6）, supporting rod 2 is in non-supported state.The supporting rod 2 by user's control motor rotation realize holding state with it is non-
Conversion between holding state.Certainly, user also can realize supporting rod 2 in holding state and non-supported shape with manual crank
Conversion between state.
In the present embodiment, according to the size of the rank of stair high H and terrace D, diameter, the supporting rod 2 of wheel can be calculated
The quantity and supporting rod of use protrude out the length of felly.Rank is high:Terrace=1:When 1（As shown in Figure 7a）, supporting rod 2
Quantity be two, two supporting rods 2 are uniformly distributed on wheel 1, wheel diameter:Terrace=1.1-1.2:1, supporting rod protrudes out
Go out the length of felly:Rank height=0.18-0.19:1, it can be ensured that wheel 1 rotates 180 degree and can climb to upper level stair.Rank
It is high:Terrace=1:1.2-1.5 when（As shown in Figure 8）, the quantity of supporting rod 2 is three, and three supporting rods 2 are uniform on wheel 1
Distribution, wheel diameter:Terrace=1.5-1.6:1, supporting rod 2 protrudes out the length of 1 outer rim of wheel:Rank height=0.05-0.15:1, energy
Enough ensure that wheel 1 rotates 120 degree and can climb to upper level stair.Rank is high:Terrace=1:When 3-4, the quantity of supporting rod 2 is one,
It can ensure that the rotation of wheel 1 can be climbed to upper level step once enclosing.The support end 22 of supporting rod 2 is equipped with rubber block, Ke Yishi
Existing wheel 1 is also prevented from 22 damaging contact face of support end to the buffering of contact surface.
Refering to Fig. 7 a to Fig. 7 c, in the present embodiment, wheel 1 is when supporting rod 2 is under holding state, close to lowermost level
Stair, the support end 22 of supporting rod 2 is held in the surface of upper level stair, and wheel 1 is rotation with the support end 22 of supporting rod 2
Fulcrum realizes that wheel 1 rises to upper level stair.It is simple in structure, it can quick climbing stair.It can be with of course for the wheel 1
The stair of other sizes are adapted to, the support end 22 of supporting rod 2 extension type can be set as, vehicle is protruded out to be lengthened or shortened
Take turns the length of outer rim.
The present invention also provides a kind of vehicle of the climbing stairs using above-mentioned wheel 1, the wheel 1 of climbing stairs is installed on
On the vehicle frame of vehicle.The vehicle can be wheelchair, shopping cart, trolley, children trolley or luggage case.In order to the climbing stairs
Vehicle run on stair or step when supporting rod 2 is in holding state, can also be when supporting rod 2 be in non-supported state
Run on road surface.
Refering to Fig. 9 and Figure 10, in the present embodiment, the vehicle of climbing stairs is trolley, is conducive to trolley on stair
Cargo is delivered, user's muscle power is saved.Trolley includes the pull rod 31 for being telescopically connected to 3 first end of vehicle frame, is installed on vehicle frame 3
First wheel 41 of second end, the parcel shelf 32 to bearing goods for being installed on 3 second end of vehicle frame.First wheel 41 is adopted as
The wheel 1 of above-mentioned climbing stairs, the quantity of the first wheel 41 are two, and it is opposite be installed on vehicle frame 3, improve the steady of vehicle body
It is qualitative.Vehicle frame 3 is equipped with two columns 33 being oppositely arranged, and hollow through portion is formed between two columns 33.Two turns of parcel shelf 32
Dynamic seat 34 is articulated with two columns 33 by axis pin 35 respectively.Every 1 first wheel 41 is connected to column 33 by wheel fork 43.Column
Angled torsion device 36 is socketed on 33, wheel fork 43 is fixedly connected on angle torsion device 36.Every 1 first wheel 41 passes through angle
Degree torsion device 36 is rotatably connected at column 33.Two first wheels 41 can be contained in the through portion between two columns 33, with
Reduce volume when folding.
0 and Figure 11 refering to fig. 1, in the present embodiment, the rotation seat 34 of parcel shelf 32, which is equipped with, to be fixed the first wheel 41 and is working
The limiting slot 37 of rotational angle under state, angle torsion device 36 are equipped with the locating piece 38 being fastened in limiting slot 37.User turns round
When turning parcel shelf 32 and being folded so that locating piece 38 is located away from limiting slot 37, and the torsionspring in angle torsion device 36 promotees
So that 41 opposite column 33 of the first wheel is rotated, and turns to the through portion between two columns 33.Parcel shelf 32 is collapsibly
It is connected to vehicle frame 3.Parcel shelf 32 is equipped with the evacuation notch 39 of accommodating wheel fork 43, is conducive to the first wheel 41 and is folded to two columns
Between 33.It is further reduced the folding volume of trolley in an idle state, and is conducive to reduce storage space.Conversely, user
When turn-back parcel shelf 32 is unfolded, the torsionspring in angle torsion device 36 promotes 41 opposite column 33 of the first wheel
It rotates backward, and perpendicular to vehicle frame 3, when locating piece 38 is fastened in limiting slot 37, you can realize the expansion of trolley.
2a to Figure 12 c refering to fig. 1, in the present embodiment, user pull trolley upstairs when so that two first wheels 41 are close
In the stair of lowermost level, user manually adjusts the state of supporting rod 2 so that supporting rod 2 is in holding state, and user is with respect to first
Wheel 41 is located on higher stair, and user pulls pull rod 31 so that the support end 22 of supporting rod 2 is held in upper level stair
Surface, user apply larger power so that the first wheel 41 is rotating fulcrum with the support end 22 of supporting rod 2, realizes the first vehicle
Wheel 41 rises to upper level stair, repeats the operation several times, trolley may be implemented and rise to a floor.Trolley reaches corresponding
When destination, user adjusts supporting rod 2 to non-supported state, the fortune for pulling hand push car pull bar 31 that can stablize on road surface
Row.
When user pulls trolley to go downstairs, also supporting rod 2 is adjusted to holding state first, user is with respect to the first wheel 41
On higher stair, pulling is slightly enforced, coordinates the gravity of trolley itself and turning-over support bar 2 will be under trolley
Minimize the stair of grade, trolley user's control during downstairs is stopped the inclined direction of cart, to prevent trolley from inclining
.When trolley reaches target road surface, user adjusts supporting rod 2 to non-supported state, pulls or push hand push car pull bar 31
Run on road surface.
Referring again to Fig. 9, in the present embodiment, the first wheel 41 of trolley is adopted as power wheel, such as：Wheel hub motor vehicle
Wheel.Power supply 39 and operation control device are installed on vehicle frame 3（It is not shown in figure）.Operation control device is installed on pull rod 31 simultaneously
Signal is connected to wheel hub motor wheel.Power supply 39 can give two wheel hub electric locomotive wheels to provide power for operation, and user is transported by manipulating
Row control device realizes the rotation of two wheel hub electric locomotive wheels.Be conducive to save user's muscle power, be especially convenient to trolley and run on building
Ladder.
3 and Figure 14 refering to fig. 1 in the present embodiment, is equipped with the second wheel 42, the quantity of the second wheel 42 is on vehicle frame 3
Two.Second wheel 42 is adopted as universal wheel.Second wheel 42 is connected to vehicle frame 3 by a fold mechanism 5.The fold mechanism 5
Including being fixedly connected on the fixed seat 51 of vehicle frame 3, being articulated with the mandril 52 of fixed seat 51.Second wheel 42 is connected to 52 bottom of mandril
End.Set in fixed seat 51 and be relatively fixed the location hole of 51 rotational angle of seat there are three limitation mandril 52, mandril 52 be equipped with to
It is positioned at the elastic telescopic pin 53 of location hole.Installation position per a positioning hole corresponds to the rotation that mandril 52 is relatively fixed seat 51
Angle.User adjusts the state that elastic telescopic pin 53 may be implemented the expansion of 42 relative frame 3 of the second wheel or fold manually.Its
In, when elastic telescopic pin 53 is positioned at first positioning hole 54,42 relative frame 3 of the second wheel is in folded state；Elastic telescopic
When pin 53 is positioned at second location hole 55,42 relative frame 3 of the second wheel is in the first unfolded state；Elastic telescopic pin 53 positions
When third location hole 56,42 relative frame 3 of the second wheel is in the second unfolded state.First unfolded state and the second expansion shape
State can be so that vehicle frame 3 favours road surface, and 3 angle of inclination of vehicle frame under the second unfolded state is more than the vehicle under the first unfolded state
3 angle of inclination of frame, the user for being conducive to different heights use trolley.Two second wheels 42 are conducive to hand push in a folded configuration
Vehicle is run on stair, prevents the second wheel 42 from colliding in stair, or saves storage space when storing trolley.Two second
Wheel 42 can coordinate the gravity of 41 common loading carriage 3 and cargo of two first wheels in the deployed state so that user pulls
Or when trolley being pushed to run on road surface, reduce the physical demands of user.When certain trolley runs on road surface, two second wheels
42 can also be in folded state, depend primarily on user demand, such as trolley is under light condition or cargo is lighter
Under state.
In the present embodiment, trolley further includes photographing module 6, image processing module, control module.Photographing module 6 to
The real-time image information of object is acquired, and is sent to image processing module, image processing module signal is connected to control module.
Control module controls the rotation of two wheel hub electric locomotive wheels according to the image recognition information of image processing module, and two universal wheels are driven in two
Wheel hub motor vehicle wheel rotation.User is followed when trolley being allow to run on road surface by the control mode that vision follows to move
It is dynamic, liberate the both hands of user；Two wheel hub electric locomotive wheel differentials can realize that trolley turns to when rotating.
It should be noted that：Object can be the user using trolley, can also be other mobile devices.Other are moved
Dynamic equipment can be the other hand cart, and multiple trolleys may make to follow user to move together in front and back queue shape.
The power supply 39 being installed on vehicle frame 3 provides power for operation to photographing module 6, image processing module and control module.
Photographing module 6 is installed on the side of 3 first end of vehicle frame, and photographing module 6 is camera.Photographing module 6 is used for photographic subjects object
Image information when mobile, and image information is sent to image processing module.Certainly, photographing module 6 can also be that intelligence is whole
End equipment, such as：Smart mobile phone, tablet computer or camera.Vehicle frame 3 or pull rod 31 are equipped with installation intelligent terminal
Intelligent terminal can be installed on fixing piece by fixing piece, user.The production cost of trolley is reduced, and is convenient to big
Crowd uses.Photographing module 6 is wiredly connected to control module, and control module controls the open and close of photographing module 6.Compared to nothing
Line connects, and wired connection is not influenced by wireless communication signal power, ensure that the reliability of signal transmission, and improve letter
Cease the speed of transmission.
Image processing module includes the first identification function module for identifying the shape information for following target, identifying
Follow the second identification function module of the colouring information in the shape of target.First identification function module is clapped according to photographing module 6
The shape information for the image information identification object taken the photograph；The second identification function module colouring information in shape for identification.
First identification function module and the second identification function module are according to the differentiation on function distinguishing rather than physical entity.In other words,
One identification function module, the second identification function module can be same physical entities, can also be two different physical entities.
Before trolley starts to follow object, photographing module 6 acquires the image information of object, and is sent at image
Manage module；First identification function module identifies the shape information of object according to the image information that photographing module 6 takes, and makees
It is shape reference information；The second identification function module colouring information in shape for identification, and as color with reference to information；Hand
When cart moves, photographing module 6 acquires the shape information and colouring information of object in real time, and will real-time collected shape letter
Breath is sent to image processing module as shape comparison information, while real-time collected colouring information being compared as color and is believed
Breath is sent to image processing module；First identification function module compares shape comparison information with shape with reference to information, the second identification
Function module compares color comparison information and color with reference to information, when shape information and colouring information are consistent, control module
Two wheel hub motor vehicle wheel rotations of control simultaneously follow object.In present embodiment, image processing module only identifies shape information
And the colouring information in shape, and nonrecognition compares in photographing module 6 background information and shape that acquire in real time color with light
The information of line variation, it is possible to which the time for reducing identification operation, be conducive to raising trolley follows sensitivity.
In another embodiment, trolley further includes signal label, receiver, microprocessor.Signal label is worn on use
On the body of family and signal is sent, receiver is installed on vehicle frame 3 and the signal that received signal label is sent is sent to micro- place
Manage device.Microprocessor will control the rotation of two wheel hub electric locomotive wheels, two universal wheels after signal calculation processing according to signal processing information
It is driven in the rotation of two wheel hub electric locomotive wheels.It is followed by super wideband wireless control mode when trolley being allow to run on road surface
It is moved in user, has liberated the both hands of user；Two wheel hub electric locomotive wheel differentials can realize that trolley turns to when rotating.
It should be noted that：It is common that the super wideband wireless control mode can aid in the control mode that above-mentioned vision follows
The mobile control for realizing trolley, improves trolley automatically with operation stability at any time.
The power supply 39 being installed on vehicle frame 3 provides power for operation to microprocessor, receiver.Specifically, power supply 39 passes through
It is that microprocessor and other equipment are powered that POE interfaces are converted into 3.3V direct currents by direct current stabilizer.Microprocessor is adopted
With the chip STM32F series of CortexM3 kernels, 32 ARM microcontrollers.It is connect using SPI between receiver and microprocessor
Mouth carries out ultra wide band radio signal data communication.In the embodiment, it is additionally provided with memory module, memory module is connected by SPI interface
It is connected to microprocessor, is stored and processed for realizing the data of system.
UWB technology is that a kind of transmission rate is high (reaching as high as 1000Mbps or more), and transmission power is relatively low, penetration capacity compared with
By force and it is the wireless technology based on ultra-narrow pulse, carrierfree.Exactly these advantages, make it indoors positioning field obtained compared with
For accurate result.Based in UWB location algorithms frequently with TDOA ranging localization algorithms, specially using arrival time
Difference algorithm, smaller by extraneous factor interference effect, position error is low, has to channel fading insensitive, low interception capability, system
Complexity is low, can provide the advantages that positioning accuracy of Centimeter Level, and positioning accuracy has reached 1CM when test.Receiver passes through antenna
The signal that signal label is sent out is received, the arrival time of unlike signal is handled, generates reaching time-difference data packet, number
It is sent in microprocessor according to packet, for microprocessor according to the data in data packet come calculating location information, microprocessor can basis
Positional information calculation goes out the actual distance value between trolley and user.It is stored between trolley and user in memory module
Apart from given threshold.Actual distance value is compared by microprocessor with apart from given threshold, when actual distance value is more than distance
When given threshold, microprocessor controls two wheel hub electric locomotive wheels and accelerates rotation, to reach apart from given threshold；Work as actual distance value
When less than apart from given threshold, microprocessor controls two wheel hub electric locomotive wheel underdrives, to reach apart from given threshold.
Above example is only to illustrate the present invention and not limits technical solution described in the invention；Therefore, although
This specification reference the above embodiments are to present invention has been detailed description, still, those skilled in the art
It should be appreciated that still can modify to the present invention or equivalent replacement；And all do not depart from the spirit and scope of the present invention
Technical solution and its improvement should all be covered in scope of the presently claimed invention.
Claims (10)
1. a kind of wheel of climbing stairs, it is characterised in that：The wheel, which is equipped with, to be rotated synchronously with the wheel and can support shape
The supporting rod converted between state and non-supported state, the supporting rod protrude out the outer rim of wheel under holding state, the supporting rod
The outer rim of wheel is not protruded out under non-supported state.
2. the wheel of climbing stairs according to claim 1, it is characterised in that：The quantity of the supporting rod is at least two
It is a, and be uniformly distributed on wheel.
3. the wheel of climbing stairs according to claim 1, it is characterised in that：The wheel is equipped with end cap, the support
Bar is rotatably connected at the end cap of wheel by an axis pin, and the end cap is equipped with the first limit hole and the second limit hole；Institute
It includes the fixing end and support end for being located at axis pin both sides to state supporting rod, and the fixing end of supporting rod installs an elastic telescopic pin；
The elastic telescopic pin is rotated in company with supporting rod around axis pin, and can be positioned at the first limit hole or the second limit hole, should
When elastic telescopic pin is rotatably positioned at the first limit hole around axis pin, the support end of supporting rod turns to the outside of felly；
When the elastic telescopic pin is rotatably positioned at the second limit hole around axis pin, the support end of supporting rod turns to the interior of felly
Side.
4. the wheel of climbing stairs according to claim 1, it is characterised in that：The wheel is equipped with end cap, the support
Bar is telescopically connected to the end cap of wheel by a slider-crank mechanism；
The slider-crank mechanism includes crank, is articulated with the connecting rod of crank and is articulated with the sliding block of connecting rod, the supporting rod
It is fixedly connected on sliding block and can be moved along guide rail.
5. a kind of vehicle of climbing stairs, it is characterised in that：Including vehicle frame, the first wheel being installed on vehicle frame, described first
Wheel uses wheel any one of Claims 1-4.
6. the vehicle of climbing stairs according to claim 5, it is characterised in that：The vehicle is trolley, the vehicle frame
First end is equipped with telescopic pull rod, and first wheel is installed on the second end of vehicle frame；The quantity of first wheel is two
A and opposite is installed on vehicle frame.
7. the vehicle of climbing stairs according to claim 6, it is characterised in that：The wheel is wheel hub motor wheel, vehicle
Power supply and operation control device are installed on frame.
8. the vehicle of climbing stairs according to claim 7, it is characterised in that：The vehicle frame is installed by a fold mechanism
There is the second wheel.
9. the vehicle of climbing stairs according to claim 8, it is characterised in that：Further include photographing module, image procossing mould
Block, control module, the photographing module are sent to image processing module to acquire the real-time image information of object, institute
It states image processing module signal and is connected to control module, the control module is according to the image recognition information control of image processing module
Make the rotation of two wheel hub electric locomotive wheels.
10. the vehicle of climbing stairs according to claim 8, it is characterised in that：Further include signal label, receiver, micro-
Processor, the signal label are worn on user's body and send signal, and the receiver is installed on vehicle frame and will receive
The signal that sends of the signal label be sent to microprocessor, the microprocessor by after signal calculation processing according to signal at
It manages information and controls the rotation of two wheel hub electric locomotive wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744795.5A CN108638754A (en) | 2018-07-09 | 2018-07-09 | The wheel of climbing stairs and the vehicle of climbing stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744795.5A CN108638754A (en) | 2018-07-09 | 2018-07-09 | The wheel of climbing stairs and the vehicle of climbing stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638754A true CN108638754A (en) | 2018-10-12 |
Family
ID=63750765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810744795.5A Pending CN108638754A (en) | 2018-07-09 | 2018-07-09 | The wheel of climbing stairs and the vehicle of climbing stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108638754A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021008175A1 (en) * | 2019-07-12 | 2021-01-21 | 江苏美的清洁电器股份有限公司 | Obstacle-surmounting wheel device and self-walking robot |
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| GB1188943A (en) * | 1966-09-08 | 1970-04-22 | Queen Mary College | Climbing Wheels. |
| EP0658402A1 (en) * | 1993-12-14 | 1995-06-21 | Commissariat A L'energie Atomique | A robotic vehicle provided with a device for surmounting obstacles |
| US5938396A (en) * | 1997-06-26 | 1999-08-17 | Audet; Bernard | Tool box carrier |
| KR20040094126A (en) * | 2003-05-01 | 2004-11-09 | 동 현 이 | Line wheel composed of plural wheels and transfer mechanism for moving along stairs or slope, such as baby carriage or handcart |
| CN104323895A (en) * | 2014-10-25 | 2015-02-04 | 管中林 | Wheelchair capable of climbing stairs and running on field |
| US20150137487A1 (en) * | 2013-11-18 | 2015-05-21 | Chung-Hsiu Su | Foldable cart |
| CN105717927A (en) * | 2016-04-13 | 2016-06-29 | 京东方科技集团股份有限公司 | Bearing device and control method used for bearing device |
| CN208682517U (en) * | 2018-07-09 | 2019-04-02 | 常州摩本智能科技有限公司 | The wheel of climbing stairs and the vehicle of climbing stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB1188943A (en) * | 1966-09-08 | 1970-04-22 | Queen Mary College | Climbing Wheels. |
| EP0658402A1 (en) * | 1993-12-14 | 1995-06-21 | Commissariat A L'energie Atomique | A robotic vehicle provided with a device for surmounting obstacles |
| US5938396A (en) * | 1997-06-26 | 1999-08-17 | Audet; Bernard | Tool box carrier |
| KR20040094126A (en) * | 2003-05-01 | 2004-11-09 | 동 현 이 | Line wheel composed of plural wheels and transfer mechanism for moving along stairs or slope, such as baby carriage or handcart |
| US20150137487A1 (en) * | 2013-11-18 | 2015-05-21 | Chung-Hsiu Su | Foldable cart |
| CN104323895A (en) * | 2014-10-25 | 2015-02-04 | 管中林 | Wheelchair capable of climbing stairs and running on field |
| CN105717927A (en) * | 2016-04-13 | 2016-06-29 | 京东方科技集团股份有限公司 | Bearing device and control method used for bearing device |
| CN208682517U (en) * | 2018-07-09 | 2019-04-02 | 常州摩本智能科技有限公司 | The wheel of climbing stairs and the vehicle of climbing stairs |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021008175A1 (en) * | 2019-07-12 | 2021-01-21 | 江苏美的清洁电器股份有限公司 | Obstacle-surmounting wheel device and self-walking robot |
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