CN211049920U - Open wheeled electronic stair climbing car - Google Patents
Open wheeled electronic stair climbing car Download PDFInfo
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- CN211049920U CN211049920U CN201921203500.XU CN201921203500U CN211049920U CN 211049920 U CN211049920 U CN 211049920U CN 201921203500 U CN201921203500 U CN 201921203500U CN 211049920 U CN211049920 U CN 211049920U
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Abstract
The utility model provides an open wheeled electronic stair-climbing car, including supporting assembly, wheel assembly and control assembly, support the main part support that the assembly constitutes electronic stair-climbing car, the wheel assembly is including all being equipped with 2 open wheel, follow-up auxiliary wheel and from the driving wheel, the control assembly is supplied power by power module, and it includes lift electric jar, universal control handle, variable speed assembly case, gyroscope, control button, range finding sensor and total controller. The utility model discloses make the old person of handicapped and disabled independently go on a journey without obstacle, perhaps only need very few external force to assist and just can realize freely going on a journey to this electronic stairs-mover can guarantee to go up and down stairs safely freely or cross other barriers, the effectual old person of handicapped and disabled's of having solved travel problem.
Description
Technical Field
The utility model relates to a climb the building car field, specifically, relate to an open wheeled electronic building car that climbs, in particular to can climb the electric mobile device of building.
Background
At present, most wheelchairs and electric wheelchairs can run on a flat road surface with the gradient less than 12 degrees, but cannot move up and down randomly when meeting stairs. However, nearly half of the existing urban residents in China live in buildings without elevators below 7 floors, so that a patient with mobility disability needs to walk on the back of a strong person when going downstairs, or the patient can go downstairs only by lifting at least 2 or more people with a wheelchair. The current situation brings great inconvenience to the lives of countless disabled persons and old persons with mobility inconvenience, and even some families have difficulty going down several times for the disabled persons and the old persons with mobility inconvenience one year because the nursing hands are not enough.
The real-time performance of the electric wheelchair control system in the current market is not ideal enough, a real intelligent wheelchair product is not realized, the product modularization degree is not ideal, and a human-computer interface is not friendly enough; when the stair climbing electric wheelchair on the market climbs a building, the jolting amplitude action is large, the comfort level and the safety factor given to a rider are not enough, the wheelchair meets a building without an elevator, and the disabled and the old cannot freely go upstairs and downstairs due to the structural problem of the wheelchair, so that the wheelchair can go forward only by pushing the wheelchair by other people. This situation brings great inconvenience and annoyance to the lives of the disabled and the elderly with mobility impairment.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a defect among the prior art, the utility model aims at providing an open wheeled electronic stair-climbing car, the utility model discloses make the old person of inconvenient action and disabled person independently go on a journey without obstacle, perhaps only need very few external force to assist and just can realize freely going on a journey to this electronic stair-climbing car can guarantee safely freely go up and down stairs or cross other barriers, the effectual old person of inconvenient action and disabled person's the problem of going on a journey of having solved.
According to one aspect of the utility model, an open wheel type electric stair climbing vehicle is provided, which comprises a support assembly, a wheel assembly and a control assembly;
the support assembly forms a main body support of the electric stair climbing vehicle and comprises an opening wheel support (1), a follow-up balance frame (5), a support connecting plate (8) and seats (10), wherein 2 support supports (1), 2 follow-up balance frames (5) and 2 support connecting plates (8) are arranged, the rear end of each follow-up balance frame (5) is vertically connected and fixed with the corresponding opening wheel support (1), the support connecting plates (8) are fixedly arranged between the front ends of the follow-up balance frames (5) and between the top ends of the opening wheel supports (1), the seats (10) are fixedly arranged above the follow-up balance frames (5), and foot rest plates (7) are fixedly connected to the front ends of the seats (10);
the wheel assembly comprises opening wheels (2), follow-up auxiliary wheels (3) and driven wheels (4), wherein the opening wheels (2), the follow-up auxiliary wheels (3) and the driven wheels (4) are arranged, the driven wheels (4) are connected with the front ends of the follow-up balance frames (5) through vertical connecting rods, the follow-up auxiliary wheels (3) are connected onto the driven wheels (4), and the opening wheels (2) are fixed at the bottom ends of the opening wheel brackets (1);
the control assembly is powered by a power supply module and comprises a lifting electric cylinder (6), a universal control handle (9), a speed change assembly box (11), a gyroscope (12), a control button (13), a distance measurement sensor and a master controller; the lifting electric cylinder (6) is arranged on the inner side of the follow-up balance frame (5), the gyroscope (12), the speed change assembly box (11), the master controller and the power supply module are all arranged below the seat (10), the speed change assembly box (11) is connected with the expanding wheel (2), the universal control handle (9) and the control button (13) are respectively arranged on two handrails of the seat (10), and the number of the distance measuring sensors is 2, and the distance measuring sensors are respectively arranged on a footrest (7) and a support connecting plate (8) at the rear end of the electric stair climbing vehicle; the lifting electric cylinder (6), the universal control handle (9), the variable speed assembly box (11), the gyroscope (12), the control button (13) and the distance measuring sensor are all connected with the master controller through a wire harness.
Preferably, the transmission assembly box (11) comprises a first fixing plate (111) and a second fixing plate (118) which are provided with 2 mounting holes, a first driving gear (112) and a first electromagnetic clutch (113) are respectively arranged on two sides of one mounting hole of the first fixing plate (111), the first electromagnetic clutch (113) is sequentially connected with the transmission case (117) and a second electromagnetic clutch (1110), and the second electromagnetic clutch (1110) and a third driving gear (119) are respectively arranged on two sides of one mounting hole of the second fixing plate (118); a connecting rod (1112) is arranged in the other mounting hole of the first fixing plate (111), a second driving gear (1115) is arranged at the top end of the connecting rod (1112) positioned on the outer side of the first fixing plate (111), a fourth electromagnetic clutch (1114), a driven chain wheel (1113) and a third electromagnetic clutch (1111) are sequentially sleeved on the connecting rod (1112) positioned on the inner side of the first fixing plate (111), and the third electromagnetic clutch (1111) and the fourth driving gear are respectively arranged on two sides of the other mounting hole of the second fixing plate (118); the first electromagnetic clutch (113), the second electromagnetic clutch (1110), the third electromagnetic clutch (1111) and the fourth electromagnetic clutch (1114) are all connected with a master controller.
Preferably, a first direct current motor (114) and a speed change deflector rod (1120) are arranged on the outer side of the gearbox (117), a speed change fixture block (1119) is arranged on one side wall in the gearbox (117), the speed change fixture block (1119) is connected with the speed change deflector rod (1120), the speed change deflector rod (1120) is connected with a second direct current motor, and the second direct current motor is connected with a master controller; a rotating shaft and a rotating shaft of a first direct current motor (114) are arranged in the gearbox (117), and two ends of the rotating shaft are respectively connected with a first electromagnetic clutch (113) and a second electromagnetic clutch (1110); a second speed change gear (116) and a third speed change gear (1116) are arranged on a rotating shaft of the first direct current motor (114), a first speed change gear (115), a fourth speed change gear (1117) and a driving chain wheel (1118) are sleeved on the rotating shaft, and the driving chain wheel (1118) is arranged on the outer side of the gearbox (117) and is connected with a driven chain wheel (1113) through a chain; when the speed change fixture block (1119) is shifted towards the driving sprocket (1118), the second speed change gear (116) is meshed with the fourth speed change gear (1117), and when the speed change fixture block (1119) is shifted towards the direction far away from the driving sprocket (1118), the first speed change gear (115) is meshed with the third speed change gear (1116); first direct current motor (114) are rotatory through the control of first direct current motor controller, first direct current motor controller is connected with total controller, and total controller gives first direct current motor controller for the signal, and the action of first direct current motor (114) is controlled to first direct current motor controller. The first dc motor controller is powered by the power module, and the first dc motor (114) is powered by the first dc motor controller. The first speed changing gear (115) and the fourth speed changing gear (1117) rotate to drive the rotating shaft to rotate, and the rotating shaft drives the driving sprocket (1118), the first electromagnetic clutch (113) and the second electromagnetic clutch (1110) on the rotating shaft to rotate.
Preferably, the opening wheel (2), the follow-up auxiliary wheel (3) and the driven wheel (4) are arranged at the front and the rear of the stair climbing vehicle to be replaced, and a user can face the stairs or back to the stairs when the stair climbing vehicle climbs the stairs (meanwhile, the user can face the stairs or back to the stairs when going downstairs).
Preferably, the expanding wheel (2) comprises an expanding wheel connecting piece (21), an expanding minute wheel (22), an expanding gear (23), a rotating gear (24), a central shaft (25), an expanding wheel flange plate (26) and a bearing (27); a bearing (27) is arranged on the central shaft (25), and an opening wheel flange plate (26), an opening wheel connecting piece (21), an opening gear (23) and a rotating gear (24) are sequentially sleeved on the bearing (27); the opening wheel connecting piece (21) is connected with the opening sub wheel (22), and the rotating gear (24) and the opening gear (23) are respectively and independently arranged on the bearing (27) and respectively and independently rotate; 2 on the wheel (2) that opens of the electronic stairs-mover left and right sides open gear (23) are connected with fourth driving gear, second driving gear (1115) respectively, rotary gear (24) are connected with third driving gear (119), first driving gear (112) respectively.
Preferably, the expanding minute wheel (22) is provided in plurality.
Preferably, the number of the expanding minute wheels (22) is 4, but the number is not limited to 4.
Preferably, 4 lifting electric cylinders (6) are respectively and fixedly arranged at the front end and the rear end of the follow-up balance frames (5) on the two sides so as to adjust the height of the front end, the rear end, the left end and the right end of the seat (10). The number of the lifting electric cylinders (6) is not limited to 4, so that the height adjustment of the seat (10) is more accurate.
Preferably, be equipped with the acceleration button and the speed reduction button that control electronic stair climbing car speed is fast on universal brake valve lever (9) to and the display screen that shows speed, universal brake valve lever (9) are through 360 degrees rotary motion control electronic stair climbing car advance, are retreated and are turned to about.
Preferably, the master controller is internally provided with a wireless connection module and a control module, the control module is a single chip microcomputer, a P L C or an industrial personal computer, the wireless connection module is connected with the control module and is connected with the handheld controller in a wireless mode, and the handheld controller is provided with buttons such as a display screen, a stair climbing mode, a road leveling mode, an obstacle crossing mode, an advancing mode, a retreating mode, a left steering mode, a right steering mode, an accelerating mode, a decelerating mode and the like.
Preferably, the operation modes of the electric stair climbing vehicle comprise a stair climbing mode, a road leveling mode and an obstacle crossing mode, and the control mode of the operation modes is automatically identified and controlled by a master controller, or manually controlled by a control button (13) on an armrest, or wirelessly controlled by a handheld controller. The main controller automatically controls the main controller to automatically identify and select the operation mode after detecting the front road condition information through the distance measuring sensor and transmitting the information to the main controller, and then controls the operation of other power parts in the control assembly to enable the opening wheels of the stair climbing vehicle to make corresponding actions. The manual control is realized by a control button (13) on the handrail, when a stair climbing mode is required, the control button on the seat handrail is manually pressed, the control button sends a selected operation mode signal to the master controller, the master controller controls the electric stair climbing vehicle to operate in the stair climbing mode after receiving the signal, and the stair climbing vehicle climbs up a stair; when the control button is pressed again, the button is changed into a flat road running mode, and the stair climbing vehicle runs on the flat road. The control mode of the stair climbing vehicle can also control the stair climbing vehicle through a wireless connection mode, wireless control is carried out through selecting an operation mode button arranged on the handheld controller, the handheld controller sends out signals, and the control module communicates with the control module in a wireless mode and then signals other power components in the control assembly.
Preferably, the power module may be a dc 48V battery, or a dc 24V battery.
Preferably, the first dc motor and the second dc motor may be dc servo motors, or may be dc brushless motors.
In order to achieve the above object, the present invention further provides a method for operating an open wheeled electric stair climbing vehicle, comprising the following steps:
step one, the distance measuring sensor detects the front road condition information and sends road condition change information to the master controller (if the distance measuring sensor detects that the distance from the stair is about 300mm, the distance data can be freely set), the distance measuring sensor transmits road condition change signals to the master controller; or the control button (13) sends the running mode information selected by the rider to the general controller; or the handheld controller sends the running mode information selected by the rider to the overall controller; or the universal control handle (9) sends the speed change, forward movement, backward movement or steering information selected by the rider to the master controller; or the gyroscope (12) detects the inclination of the seat (10) and the ground level and sends the inclination information of the seat (10) to the master controller;
secondly, the master controller sends an operation instruction to the first direct current motor controller, the electromagnetic clutch, the second direct current motor or the lifting electric cylinder (6) according to the received information;
step three, the first direct current motor controller and the electromagnetic clutch operate according to an operating instruction to control the electric stair climbing vehicle to climb stairs, operate on the flat ground, cross obstacles and steer to run; or the second direct current motor controls the electric stair climbing vehicle to change speed, advance and retreat; or the lifting electric cylinder (6) can lift and adjust the height of the seat (10) according to the operation instruction.
Preferably, the stair climbing mode and the obstacle crossing mode comprise the following steps:
step one, the master controller sends an operation instruction to a first direct current motor controller, the first direct current motor controller controls a first direct current motor (114) to rotate according to the operation instruction, the master controller controls a third electromagnetic clutch (1111) and a fourth electromagnetic clutch (1114) to be attracted, and the first electromagnetic clutch (113) and the second electromagnetic clutch (1110) are controlled to be disconnected;
step two, the first direct current motor (114) drives a speed change gear to rotate through a rotating shaft of the first direct current motor (114) so as to drive a driving chain wheel (1118) to rotate, the driving chain wheel (1118) drives a driven chain wheel (1113) to rotate through a chain, the driven chain wheel (1113) drives a third electromagnetic clutch (1111) and a fourth electromagnetic clutch (1114) to rotate through a connecting rod (1112), the third electromagnetic clutch (1111) and the fourth electromagnetic clutch (1114) drive a fourth driving gear and a second driving gear (1115) to rotate respectively, the fourth driving gear and the second driving gear (1115) drive opening gears (23) in opening wheels (2) on the left side and the right side of the electric crawling vehicle to rotate respectively, and the opening gears (23) drive opening sub wheels (22) to open continuously;
thirdly, the first direct current motor continues to do work, the rotating shaft of the first direct current motor (114) drives the speed change gear to rotate so as to drive the first driving gear (112) and the third driving gear (119) to rotate, the first driving gear (112) and the third driving gear (119) respectively drive the rotating gears (24) in the opening wheels (2) on the left side and the right side of the electric crawling vehicle to rotate so as to drive the whole opening wheel (2) to rotate, and when one opening sub-wheel (22) contacts with a first step or an obstacle, the opening wheel (2) is driven by the power of the first direct current motor to overcome the gravity and the friction of the stair climbing vehicle, so that the opening wheel (2) rotates upwards to climb onto the step or cross the obstacle; the first direct current motor continues to do work to drive the opening wheel (2) to rotate upwards to climb the step, and the next opening sub-wheel (22) is in contact with the second step;
step four, after the opening wheel (2) climbs a certain step (the number of steps climbed by the opening wheel (2) is determined by the length of the vehicle body and the height of the steps), the follow-up auxiliary wheel (3) contacts with the edge of the first step to assist the following driven wheel (4) to climb the step, the opening wheel (2) continues to climb to the previous step to drive the driven wheel (4) to climb to the first step, at the moment, the whole electric stair climbing vehicle climbs the stairs, namely, the opening wheel (2) drives the driven wheel (4) to complete a cycle of climbing the stairs of the stair climbing vehicle; the first direct current motor continues to do work and rotate, and the next cycle is started.
Preferably, the level road mode comprises the following steps:
step one, the master controller sends an operation instruction to a first direct current motor controller, the first direct current motor controller controls a first direct current motor (114) to rotate according to the operation instruction, and the master controller controls a third electromagnetic clutch (1111) and a fourth electromagnetic clutch (1114) to be disconnected and controls a first electromagnetic clutch (113) and a second electromagnetic clutch (1110) to be attracted; the connecting rod (1112), the third electromagnetic clutch (1111) and the fourth electromagnetic clutch (1114) idle, and the opening sub-wheels (22) on the opening wheels (2) at the left side and the right side of the electric crawling vehicle are not opened and are combined into a whole wheel;
step two, the first direct current motor (114) drives the speed change gear to rotate through a rotating shaft of the first direct current motor (114) so as to drive the first electromagnetic clutch (113), the second electromagnetic clutch (1110), the first driving gear (112) and the third driving gear (119) to rotate;
and step three, the first driving gear (112) and the third driving gear (119) respectively drive the rotating gears (24) in the opening wheels (2) at the left side and the right side of the electric climbing vehicle to rotate, so that the whole opening wheels (2) are driven to rotate, and the electric climbing vehicle runs forwards.
Preferably, the variable speed running of the electric stair climbing vehicle comprises acceleration running and deceleration running;
when the stair climbing vehicle runs in an accelerated mode, the master controller controls the second direct current motor to run, the second direct current motor drives a speed change clamping block (1119) in front of a speed change shifting lever (1120) to shift towards the direction of a driving chain wheel (1118), the first speed change gear (115) is separated from a third speed change gear (1116), the fourth speed change gear (1117) is meshed with the second speed change gear (116), and the large gear drives the small gear to rotate, so that the running speed of the stair climbing vehicle is accelerated;
when the electric stair climbing vehicle runs in a decelerating mode, the master controller controls the second direct current motor to run, the second direct current motor drives the speed change clamping block (1119) in front of the speed change shifting lever (1120) to shift in the direction away from the driving chain wheel (1118), the fourth speed change gear (1117) is separated from the second speed change gear (116), the first speed change gear (115) is meshed with the third speed change gear (1116), and the pinion drives the gearwheel to rotate so as to slow down the running speed of the electric stair climbing vehicle.
Preferably, the steering driving of the electric stair climbing vehicle comprises left steering driving and right steering driving;
when the universal control handle (9) rotates to the right direction, the master controller controls the first electromagnetic clutch (113) positioned on the right side of the electric stair climbing vehicle to be disconnected and controls the second electromagnetic clutch (1110) positioned on the left side of the electric stair climbing vehicle to be attracted; the first electromagnetic clutch (113) idles, the right opening wheel (2) connected with the first electromagnetic clutch is in an unpowered state, the second electromagnetic clutch (1110) rotates, the left opening wheel (2) connected with the second electromagnetic clutch does power, and the left opening wheel (2) takes the right opening wheel (2) as the center of a circle to drive the electric stair climbing vehicle to rotate clockwise to finish steering driving to the right;
when the universal control handle (9) rotates leftwards, the master controller controls the second electromagnetic clutch (1110) positioned on the left side of the electric stair climbing vehicle to be disconnected and controls the first electromagnetic clutch (113) positioned on the right side of the electric stair climbing vehicle to be attracted; second electromagnetic clutch (1110) idle running, the left side that is connected with it opens wheel (2) and is in unpowered state, first electromagnetic clutch (113) are rotatory, and the right that is connected with it opens wheel (2) and has the power acting, and the right opens wheel (2) and uses opening wheel (2) on the left side as the centre of a circle, drives electronic stairs climbing vehicle and does anticlockwise rotary motion, accomplishes and turns to the driving to the left.
Preferably, the gyroscope (12) sends the detected inclination information of the seat (10) to a master controller, and the master controller sends a lifting instruction to the lifting electric cylinder (6); when one side of the seat (10) is lower than the horizontal plane, the master controller controls the lifting electric cylinder (6) on the same side to lift, so that the side of the seat (10) is lifted; when the other side of the seat (10) is higher than the horizontal plane, the master controller controls the lifting electric cylinder (6) on the same side to descend, so that the side of the seat (10) descends.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the utility model relates to an open wheeled electronic stairs-mover makes the inconvenient old person of action and disabled person independently go on a journey without obstacle, or only need very little external force to assist (the plant people, the person that the finger can't move can assist with external force) just can realize freely going on a journey, and this electronic stairs-mover can guarantee to go up and down stairs safely and freely or cross other barriers, has solved the inconvenient old person of action and disabled person's trip problem effectively;
(2) the utility model relates to an open wheeled electronic stair climbing car is equipped with and climbs building mode, level road mode and hinders the mode more, and the control mode of operational mode detects through range sensor, and the total controller automatic control selects the operational mode, or through the control button manual control on the handrail, or through the wireless control of hand-held controller, and is nimble changeable, satisfies multiple user demand;
(3) the utility model relates to an open wheeled electronic climbing stair car, can also obtain the variable speed through shifting gears before level road and climbing stair, when speed is zero or under the low-speed condition, press the acceleration button on the universal control handle, electronic climbing stair car can increase a speed ratio on the basis of current speed for electronic climbing stair car is traveling with higher speed; under the condition of higher speed, a speed reduction button on the universal control handle is pressed, and the electric stair climbing vehicle can descend by a speed ratio on the basis of the existing speed, so that the electric stair climbing vehicle runs at a reduced speed; the speed of the electric stair climbing vehicle can be automatically reduced to a reasonable slow speed after the electric stair climbing vehicle is powered off and is powered on again every time, so that the safety of a user is protected; meanwhile, the speed of the electric stair climbing vehicle can be displayed on a display screen on the universal control handle, so that the electric stair climbing vehicle is more visual and convenient;
(4) the utility model relates to an open wheeled electronic stairs-mover, action such as electronic stairs-mover gos forward, retreat, turns to can be operated through rotating universal control handle, and when the control rod moves forward, electronic stairs-mover can go forward steadily, and when the control rod rotated left, electronic stairs-mover can turn to the left, and when the control rod rotated right, electronic stairs-mover can turn to the right, and is easy and convenient to operate;
(5) the utility model relates to an open wheeled electronic stairs-mover, the gyroscope can detect the gradient of climbing car seat and ground level, when climbing car seat and ground are not at a horizontal plane, master controller control lift electric cylinder goes up and down, adjust the height of seat, make the seat all the time keep at same horizontal plane with ground, can not incline, not only effectively avoided the user to fall down the seat, greatly improved the factor of safety of taking, and the gyroscope detects sensitively, the lift electric cylinder can adjust the seat height in real time, basically does not jolt during the use, can not cause the user to fear and be uncomfortable;
(6) the utility model relates to an open wheeled electric stair climbing vehicle, which has simple structure, ingenious design and remarkable effect, and can help the disabled or the old with the weight of more than one hundred kilograms freely go upstairs and downstairs under the self-service or the operation of an adult;
(7) the utility model relates to an open electronic stair-climbing car of wheeled, easy operation is convenient, intelligent control, and is with low costs, and the practicality is strong, is fit for promoting on a large scale.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural perspective view of an open wheel type electric stair climbing vehicle;
FIG. 2 is a schematic structural side view of the expanding wheel type electric stair climbing vehicle;
FIG. 3 is a schematic structural view of the transmission assembly case;
FIG. 4 is a schematic top view of the transmission construction;
FIG. 5 is a perspective view of the transmission;
FIG. 6 is a schematic view of the inner side of the expanding wheel;
FIG. 7 is a schematic view of the outer side of the expander wheel;
fig. 8 is a first schematic view of the stair climbing of the open wheel type electric stair climbing vehicle;
fig. 9 is a second schematic view of the stair climbing of the open wheel type electric stair climbing vehicle;
fig. 10 is a perspective view showing a structure of the opened wheel type electric stair climbing vehicle in which wheels are reversely mounted.
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Examples
The embodiment provides an open wheel type electric stair climbing vehicle, the structure of which is shown in the attached drawings 1-7 in detail: comprises a supporting assembly, a wheel assembly and a control assembly;
the support assembly forms a main body support of the electric stair climbing vehicle and comprises an opening wheel support 1, a follow-up balance frame 5, a support connecting plate 8 and a seat 10, wherein 2 of the opening wheel support 1, the follow-up balance frame 5 and the support connecting plate 8 are arranged, the rear end of the follow-up balance frame 5 is vertically connected and fixed with the opening wheel support 1, the support connecting plate 8 is fixedly arranged between the front ends of the follow-up balance frame 5 and between the top ends of the opening wheel support 1, the seat 10 is fixedly arranged above the follow-up balance frame 5, and the front end of the seat 10 is fixedly connected with a footrest 7;
the wheel assembly comprises opening wheels 2, follow-up auxiliary wheels 3 and driven wheels 4 which are all provided with 2, the driven wheels 4 are connected with the front ends of the follow-up balance frames 5 through vertical connecting rods, the driven wheels 4 are connected with the follow-up auxiliary wheels 3, and the opening wheels 2 are fixed at the bottom ends of the opening wheel brackets 1;
the control assembly is powered by a power supply module and comprises a lifting electric cylinder 6, a universal control handle 9, a speed change assembly box 11, a gyroscope 12, a control button 13, a distance measuring sensor and a master controller; the lifting electric cylinder 6 is arranged on the inner side of the follow-up balance frame 5, the gyroscope 12, the speed change assembly box 11, the master controller and the power module are all arranged below the seat 10, the speed change assembly box 11 is connected with the expanding wheel 2, the universal control handle 9 and the control button 13 are respectively arranged on two handrails of the seat 10, and 2 distance measuring sensors are respectively arranged on the footrest 7 and the support connecting plate 8 at the rear end of the electric stair climbing vehicle; the lifting electric cylinder 6, the universal control handle 9, the variable speed assembly box 11, the gyroscope 12, the control button 13 and the distance measuring sensor are all connected with the master controller through a wire harness.
Further, the transmission assembly box 11 includes a first fixing plate 111 and a second fixing plate 118, which are provided with 2 mounting holes, a first driving gear 112 and a first electromagnetic clutch 113 are respectively disposed on two sides of one of the mounting holes of the first fixing plate 111, the first electromagnetic clutch 113 is sequentially connected with the transmission case 117 and a second electromagnetic clutch 1110, and the second electromagnetic clutch 1110 and a third driving gear 119 are respectively disposed on two sides of one of the mounting holes of the second fixing plate 118; a connecting rod 1112 is arranged in the other mounting hole of the first fixing plate 111, a second driving gear 1115 is arranged at the top end of the connecting rod 1112 positioned outside the first fixing plate 111, a fourth electromagnetic clutch 1114, a driven sprocket 1113 and a third electromagnetic clutch 1111 are sequentially sleeved on the connecting rod 1112 positioned inside the first fixing plate 111, and the third electromagnetic clutch 1111 and the fourth driving gear are respectively arranged at two sides of the other mounting hole of the second fixing plate 118; the first electromagnetic clutch 113, the second electromagnetic clutch 1110, the third electromagnetic clutch 1111 and the fourth electromagnetic clutch 1114 are all connected with a master controller.
Further, a first direct current motor 114 and a speed change shifting lever 1120 are arranged on the outer side of the gearbox 117, a speed change fixture block 1119 is arranged on one side wall in the gearbox 117, the speed change fixture block 1119 is connected with the speed change shifting lever 1120, the speed change shifting lever 1120 is connected with a second direct current motor, and the second direct current motor is connected with a master controller; a rotating shaft and a rotating shaft of the first direct current motor 114 are arranged in the gearbox 117, and two ends of the rotating shaft are respectively connected with the first electromagnetic clutch 113 and the second electromagnetic clutch 1110; a second speed change gear 116 and a third speed change gear 1116 are arranged on a rotating shaft of the first direct current motor 114, a first speed change gear 115, a fourth speed change gear 1117 and a driving sprocket 1118 are sleeved on the rotating shaft, and the driving sprocket 1118 is arranged on the outer side of the gearbox 117 and is connected with a driven sprocket 1113 through a chain; when the shifting fixture 1119 is shifted toward the driving sprocket 1118, the second shifting gear 116 is engaged with the fourth shifting gear 1117, and when the shifting fixture 1119 is shifted away from the driving sprocket 1118, the first shifting gear 115 is engaged with the third shifting gear 1116; the first dc motor 114 is controlled to rotate by a first dc motor controller, which is connected to the main controller. The general controller signals the first dc motor controller which controls the operation of the first dc motor 114. The first dc motor controller is powered by the power module, and the first dc motor 114 is powered by the first dc motor controller. The first speed change gear 115 and the fourth speed change gear 1117 rotate to drive the rotation shaft to rotate, and the rotation shaft drives the driving sprocket 1118, the first electromagnetic clutch 113 and the second electromagnetic clutch 1110 on the rotation shaft to rotate.
Furthermore, the positions of the opening wheel 2, the follow-up auxiliary wheel 3 and the driven wheel 4 arranged at the front and the rear of the stair climbing vehicle can be changed, so that a user can face the stairs and can also back to the stairs when the stair climbing vehicle climbs the stairs (meanwhile, the user can face the stairs and can also back to the stairs when going downstairs), as shown in the attached drawing 10.
Further, the expanding wheel 2 comprises an expanding wheel connector 21, an expanding minute wheel 22, an expanding gear 23, a rotating gear 24, a central shaft 25, an expanding wheel flange plate 26 and a bearing 27; the central shaft 25 is provided with a bearing 27, and the bearing 27 is sequentially sleeved with an opening wheel flange plate 26, an opening wheel connecting piece 21, an opening gear 23 and a rotating gear 24; the opening wheel connecting piece 21 is connected with the opening sub wheel 22, and the rotating gear 24 and the opening gear 23 are respectively and independently arranged on the bearing 27 and respectively and independently rotate; the 2 opening gears 23 on the opening wheels 2 on the left side and the right side of the electric stair climbing vehicle are respectively connected with a fourth driving gear and a second driving gear 1115, and the rotating gear 24 is respectively connected with a third driving gear 119 and a first driving gear 112.
Further, the expanding minute wheel 22 is provided in plurality.
Further, the number of the expanding minute wheel 22 is 4, but the number is not limited to 4.
Further, 4 lifting electric cylinders 6 are respectively and fixedly arranged at the front end and the rear end of the follow-up balance frames 5 at the two sides so as to adjust the height of the front end, the rear end, the left end and the right end of the seat 10. The number of the elevating electric cylinders 6 is not limited to 4 but may be more than 4, so that the height adjustment of the seat 10 is more accurate.
Furthermore, be equipped with the acceleration button and the speed reduction button that control electronic stair climbing car speed is fast on universal brake valve lever 9 to and the display screen that shows speed, universal brake valve lever 9 is through 360 degrees rotary motion control electronic stair climbing car advancing, retreat and turn to about.
Furthermore, a wireless connection module and a control module are arranged in the master controller, the control module is a single chip microcomputer, a P L C or an industrial personal computer, the wireless connection module is connected with the control module and is connected with the handheld controller in a wireless mode, and buttons such as a display screen, a stair climbing mode, a road leveling mode, an obstacle crossing mode, an advancing mode, a retreating mode, a left steering mode, a right steering mode, an accelerating mode, a decelerating mode and the like are arranged on the handheld controller.
Furthermore, the operation modes of the electric stair climbing vehicle comprise a stair climbing mode, a road leveling mode and an obstacle crossing mode, and the control mode of the operation modes is automatically identified and controlled by a master controller, or manually controlled by a control button 13 on a handrail, or wirelessly controlled by a handheld controller. The main controller automatically controls the main controller to automatically identify and select the operation mode after detecting the front road condition information through the distance measuring sensor and transmitting the information to the main controller, and then controls the operation of other power parts in the control assembly to enable the opening wheels of the stair climbing vehicle to make corresponding actions. The manual control is realized by the control buttons 13 on the handrails, when a stair climbing mode is required, the control buttons on the handrails of the chair are manually pressed, the control buttons send selected operation mode signals to the master controller, and after the master controller receives the signals, the electric stair climbing vehicle is controlled to operate in the stair climbing mode and climb up the stairs; when the control button is pressed again, the button is changed into a flat road running mode, and the stair climbing vehicle runs on the flat road. The control mode of the stair climbing vehicle can also control the stair climbing vehicle through a wireless connection mode, wireless control is carried out through selecting an operation mode button arranged on the handheld controller, the handheld controller sends out signals, and the control module communicates with the control module in a wireless mode and then signals other power components in the control assembly.
Further, the power module may be a dc 48V battery, or a dc 24V battery, etc.
Further, the first dc motor and the second dc motor may be dc servo motors, or may be dc brushless motors.
The embodiment also provides an operation method of the open wheel type electric stair climbing vehicle, which comprises the following steps:
step one, the distance measuring sensor detects the front road condition information and sends road condition change information to the master controller (if the distance measuring sensor detects that the distance from the stair is about 300mm, the distance data can be freely set), the distance measuring sensor transmits road condition change signals to the master controller; or the control button 13 sends the running mode information selected by the rider to the overall controller; or the handheld controller sends the running mode information selected by the rider to the overall controller; or the universal control handle 9 sends the speed change, forward movement, backward movement or steering information selected by the rider to the master controller; or the gyroscope 12 detects the inclination of the seat 10 and the ground level and sends the inclination information of the seat 10 to the master controller;
step two, the master controller sends an operation instruction to the first direct current motor controller, the electromagnetic clutch, the second direct current motor or the lifting electric cylinder 6 according to the received information;
step three, the first direct current motor controller and the electromagnetic clutch operate according to an operating instruction to control the electric stair climbing vehicle to climb stairs, operate on the flat ground, cross obstacles and steer to run; or the second direct current motor controls the electric stair climbing vehicle to change speed, advance and retreat; or the lifting electric cylinder 6 can lift and adjust the height of the seat 10 according to the operation instruction.
Further, the stair climbing mode and the obstacle crossing mode comprise the following steps, and the stair climbing process is sequentially shown in fig. 8 and 9:
step one, the master controller sends an operation instruction to a first direct current motor controller, the first direct current motor controller controls a first direct current motor 114 to rotate according to the operation instruction, the master controller controls a third electromagnetic clutch 1111 and a fourth electromagnetic clutch 1114 to attract each other, and controls a first electromagnetic clutch 113 and a second electromagnetic clutch 1110 to be disconnected;
step two, the first direct current motor 114 drives a speed change gear to rotate through a rotating shaft of the first direct current motor 114 so as to drive a driving sprocket 1118 to rotate, the driving sprocket 1118 drives a driven sprocket 1113 to rotate through a chain, the driven sprocket 1113 drives a third electromagnetic clutch 1111 and a fourth electromagnetic clutch 1114 to rotate through a connecting rod 1112, the third electromagnetic clutch 1111 and the fourth electromagnetic clutch 1114 drive a fourth driving gear and a second driving gear 1115 to rotate respectively, the fourth driving gear and the second driving gear 1115 drive expanding gears 23 in expanding wheels 2 on the left side and the right side of the electric crawler to rotate respectively, and the expanding gears 23 drive expanding sub-wheels 22 to expand continuously;
thirdly, the first direct current motor continues to do work, the rotating shaft of the first direct current motor 114 drives the speed change gear to rotate so as to drive the first driving gear 112 and the third driving gear 119 to rotate, the first driving gear 112 and the third driving gear 119 respectively drive the rotating gears 24 in the opening wheels 2 at the left side and the right side of the electric climbing vehicle to rotate so as to drive the whole opening wheel 2 to rotate, and when one opening sub-wheel 22 contacts a first step or an obstacle, the opening wheel 2 is driven by the power of the first direct current motor to overcome the gravity and the friction of the climbing vehicle, so that the opening wheel 2 rotates upwards to climb the step or cross the obstacle; the first direct current motor continues to apply work to drive the opening wheel 2 to rotate upwards to climb the step, and the next opening wheel 22 is in contact with the second step;
step four, after the opening wheel 2 climbs a certain step (the number of steps climbed by the opening wheel (2) is determined by the length of the vehicle body and the height of the steps), the follow-up auxiliary wheel 3 contacts with the edge of the first step to assist the following driven wheel 4 to climb the step, the opening wheel 2 continues to climb to the previous step to drive the driven wheel 4 to climb to the first step, and at the moment, the whole electric stair climbing vehicle climbs the stairs, namely, the opening wheel 2 drives the driven wheel 4 to complete a cycle of climbing the stairs of the stair climbing vehicle; the first direct current motor continues to do work and rotate, and the next cycle is started.
Further, the level road mode comprises the following steps:
step one, the master controller sends an operation instruction to a first direct current motor controller, the first direct current motor controller controls a first direct current motor 114 to rotate according to the operation instruction, and the master controller controls a third electromagnetic clutch 1111 and a fourth electromagnetic clutch 1114 to be disconnected and controls a first electromagnetic clutch 113 and a second electromagnetic clutch 1110 to be attracted; the connecting rod 1112, the third electromagnetic clutch 1111 and the fourth electromagnetic clutch 1114 idle, and the opening sub-wheels 22 on the opening wheels 2 at the left and right sides of the electric creeper truck are not opened and are combined into a whole wheel;
step two, the first direct current motor 114 drives the speed change gear to rotate through the rotating shaft of the first direct current motor 114 so as to drive the first electromagnetic clutch 113, the second electromagnetic clutch 1110, the first driving gear 112 and the third driving gear 119 to rotate;
and step three, the first driving gear 112 and the third driving gear 119 respectively drive the rotating gears 24 in the opening wheels 2 on the left and right sides of the electric stair climbing vehicle to rotate, so as to drive the whole opening wheels 2 to rotate, and the electric stair climbing vehicle runs forwards.
Further, the variable speed running of the electric stair climbing vehicle comprises acceleration running and deceleration running;
during the acceleration driving, the master controller controls the second direct current motor to operate, the second direct current motor drives the speed change clamping block 1119 in front of the speed change shifting lever 1120 to shift towards the driving sprocket 1118, the first speed change gear 115 is disengaged from the third speed change gear 1116, the fourth speed change gear 1117 is engaged with the second speed change gear 116, and the large gear drives the small gear to rotate, so that the driving speed of the stair climbing vehicle is accelerated;
during the deceleration driving, the master controller controls the second dc motor to operate, the second dc motor drives the speed changing block 1119 in front of the speed changing shift lever 1120 to shift in the direction away from the driving sprocket 1118, the fourth speed changing gear 1117 is separated from the second speed changing gear 116, the first speed changing gear 115 is engaged with the third speed changing gear 1116, and the pinion drives the bull gear to rotate, so as to slow down the driving speed of the electric stair climbing vehicle.
Further, the steering driving of the electric stair climbing vehicle comprises left steering driving and right steering driving;
when the universal control handle 9 rotates to the right direction, the master controller controls the first electromagnetic clutch 113 positioned on the right side of the electric stair climbing vehicle to be disconnected and controls the second electromagnetic clutch 1110 positioned on the left side of the electric stair climbing vehicle to be attracted; the first electromagnetic clutch 113 idles, the right opening wheel 2 connected with the first electromagnetic clutch is in an unpowered state, the second electromagnetic clutch 1110 rotates, the left opening wheel 2 connected with the second electromagnetic clutch is powered to do work, and the left opening wheel 2 takes the right opening wheel 2 as the center of a circle to drive the electric stair climbing vehicle to rotate clockwise to finish the right steering driving;
when the universal control handle 9 rotates leftwards, the master controller controls the second electromagnetic clutch 1110 positioned on the left side of the electric stair climbing vehicle to be disconnected, and controls the first electromagnetic clutch 113 positioned on the right side of the electric stair climbing vehicle to be attracted; the second electromagnetic clutch 1110 idles, the left opening wheel 2 connected with the second electromagnetic clutch is in an unpowered state, the first electromagnetic clutch 113 rotates, the right opening wheel 2 connected with the first electromagnetic clutch has power to do work, and the right opening wheel 2 drives the electric stair climbing vehicle to do anticlockwise rotation motion by taking the left opening wheel 2 as a circle center to finish left-turning driving.
Further, the gyroscope 12 sends the detected inclination information of the seat 10 to a master controller, and the master controller sends a lifting instruction to the lifting electric cylinder 6; when one side of the seat 10 is lower than the ground, the master controller controls the lifting electric cylinder 6 on the same side to lift, so that the side of the seat 10 is lifted; when the other side of the seat 10 is higher than the ground, the general controller controls the lifting electric cylinder 6 on the same side to descend, so that the side of the seat 10 descends.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (9)
1. An open wheel type electric stair climbing vehicle is characterized by comprising a support assembly, a wheel assembly and a control assembly;
the support assembly forms a main body support of the electric stair climbing vehicle and comprises an opening wheel support (1), a follow-up balance frame (5), a support connecting plate (8) and seats (10), wherein 2 support supports (1), 2 follow-up balance frames (5) and 2 support connecting plates (8) are arranged, the rear end of each follow-up balance frame (5) is vertically connected and fixed with the corresponding opening wheel support (1), the support connecting plates (8) are fixedly arranged between the front ends of the follow-up balance frames (5) and between the top ends of the opening wheel supports (1), the seats (10) are fixedly arranged above the follow-up balance frames (5), and foot rest plates (7) are fixedly connected to the front ends of the seats (10);
the wheel assembly comprises opening wheels (2), follow-up auxiliary wheels (3) and driven wheels (4), wherein the opening wheels (2), the follow-up auxiliary wheels (3) and the driven wheels (4) are arranged, the driven wheels (4) are connected with the front ends of the follow-up balance frames (5) through vertical connecting rods, the follow-up auxiliary wheels (3) are connected onto the driven wheels (4), and the opening wheels (2) are fixed at the bottom ends of the opening wheel brackets (1);
the control assembly is powered by a power supply module and comprises a lifting electric cylinder (6), a universal control handle (9), a speed change assembly box (11), a gyroscope (12), a control button (13), a distance measurement sensor and a master controller; the lifting electric cylinder (6) is arranged on the inner side of the follow-up balance frame (5), the gyroscope (12), the speed change assembly box (11), the master controller and the power supply module are all arranged below the seat (10), the speed change assembly box (11) is connected with the expanding wheel (2), the universal control handle (9) and the control button (13) are respectively arranged on two handrails of the seat (10), and the number of the distance measuring sensors is 2, and the distance measuring sensors are respectively arranged on a footrest (7) and a support connecting plate (8) at the rear end of the electric stair climbing vehicle; the lifting electric cylinder (6), the universal control handle (9), the variable speed assembly box (11), the gyroscope (12), the control button (13) and the distance measuring sensor are all connected with the master controller.
2. The expanding wheeled electric stair climbing vehicle according to claim 1, wherein the transmission assembly box (11) comprises a first fixing plate (111) and a second fixing plate (118) with 2 mounting holes, a first driving gear (112) and a first electromagnetic clutch (113) are respectively arranged on two sides of one of the mounting holes of the first fixing plate (111), the first electromagnetic clutch (113) is sequentially connected with the transmission case (117) and a second electromagnetic clutch (1110), and the second electromagnetic clutch (1110) and a third driving gear (119) are respectively arranged on two sides of one of the mounting holes of the second fixing plate (118); a connecting rod (1112) is arranged in the other mounting hole of the first fixing plate (111), a second driving gear (1115) is arranged at the top end of the connecting rod (1112) positioned on the outer side of the first fixing plate (111), a fourth electromagnetic clutch (1114), a driven chain wheel (1113) and a third electromagnetic clutch (1111) are sequentially sleeved on the connecting rod (1112) positioned on the inner side of the first fixing plate (111), and the third electromagnetic clutch (1111) and the fourth driving gear are respectively arranged on two sides of the other mounting hole of the second fixing plate (118); the first electromagnetic clutch (113), the second electromagnetic clutch (1110), the third electromagnetic clutch (1111) and the fourth electromagnetic clutch (1114) are all connected with a master controller.
3. The expanding wheeled electric stair climbing vehicle according to claim 2, wherein a first direct current motor (114) and a speed change shift lever (1120) are arranged on the outer side of the gearbox (117), a speed change fixture block (1119) is arranged on one side wall in the gearbox (117), the speed change fixture block (1119) is connected with the speed change shift lever (1120), the speed change shift lever (1120) is connected with a second direct current motor, and the second direct current motor is connected with a master controller; a rotating shaft and a rotating shaft of a first direct current motor (114) are arranged in the gearbox (117), and two ends of the rotating shaft are respectively connected with a first electromagnetic clutch (113) and a second electromagnetic clutch (1110); a second speed change gear (116) and a third speed change gear (1116) are arranged on a rotating shaft of the first direct current motor (114), a first speed change gear (115), a fourth speed change gear (1117) and a driving chain wheel (1118) are sleeved on the rotating shaft, and the driving chain wheel (1118) is arranged on the outer side of the gearbox (117) and is connected with a driven chain wheel (1113) through a chain; when the speed change fixture block (1119) is shifted towards the driving sprocket (1118), the second speed change gear (116) is meshed with the fourth speed change gear (1117), and when the speed change fixture block (1119) is shifted towards the direction far away from the driving sprocket (1118), the first speed change gear (115) is meshed with the third speed change gear (1116); the first direct current motor (114) is controlled to rotate through a first direct current motor controller, and the first direct current motor controller is connected with a master controller.
4. The expanding wheel type electric stair climbing vehicle according to claim 3, wherein the expanding wheel (2) comprises an expanding wheel connector (21), an expanding minute wheel (22), an expanding gear (23), a rotating gear (24), a central shaft (25), an expanding wheel flange plate (26) and a bearing (27); a bearing (27) is arranged on the central shaft (25), and an opening wheel flange plate (26), an opening wheel connecting piece (21), an opening gear (23) and a rotating gear (24) are sequentially sleeved on the bearing (27); the opening wheel connecting piece (21) is connected with the opening sub wheel (22), and the rotating gear (24) and the opening gear (23) are respectively and independently arranged on the bearing (27) and respectively and independently rotate; 2 on the wheel (2) that opens of the electronic stairs-mover left and right sides open gear (23) are connected with fourth driving gear, second driving gear (1115) respectively, rotary gear (24) are connected with third driving gear (119), first driving gear (112) respectively.
5. The expanding wheeled electric stair climbing vehicle according to claim 4, wherein the expanding divided wheels (22) are provided in plurality.
6. The expanding wheel type electric stair climbing vehicle as claimed in claim 1, wherein the number of the lifting electric cylinders (6) is 4, and the lifting electric cylinders are respectively and fixedly arranged at the front end and the rear end of the follow-up balance frames (5) at two sides to adjust the height of the front end, the rear end, the left end and the right end of the seat (10).
7. The expanding wheel type electric stair climbing vehicle as claimed in claim 1, wherein the universal control handle (9) is provided with an acceleration button and a deceleration button for controlling the speed of the electric stair climbing vehicle, and a display screen for displaying the speed, and the universal control handle (9) controls the electric stair climbing vehicle to move forward, backward and turn left and right through 360-degree rotation.
8. The expanding wheel type electric stair climbing vehicle according to claim 1, wherein a wireless connection module and a control module are arranged in the master controller, the control module is a single chip microcomputer, a P L C or an industrial personal computer, and the wireless connection module is connected with the control module and connected with a handheld controller in a wireless mode.
9. The expanding wheeled electric stair climbing vehicle as claimed in claim 8, wherein the operation modes of the electric stair climbing vehicle comprise a stair climbing mode, a road leveling mode and an obstacle crossing mode, and the control modes of the operation modes are controlled by an automatic identification control of a master controller, or manually controlled by a control button (13) on an armrest, or wirelessly controlled by a handheld controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921203500.XU CN211049920U (en) | 2019-07-29 | 2019-07-29 | Open wheeled electronic stair climbing car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921203500.XU CN211049920U (en) | 2019-07-29 | 2019-07-29 | Open wheeled electronic stair climbing car |
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| CN211049920U true CN211049920U (en) | 2020-07-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110279528A (en) * | 2019-07-29 | 2019-09-27 | 上海尊颐智能科技有限公司 | A kind of opening wheeled electrical stairs-mover and its operation method |
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2019
- 2019-07-29 CN CN201921203500.XU patent/CN211049920U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110279528A (en) * | 2019-07-29 | 2019-09-27 | 上海尊颐智能科技有限公司 | A kind of opening wheeled electrical stairs-mover and its operation method |
| CN110279528B (en) * | 2019-07-29 | 2023-11-24 | 上海尊颐智能科技有限公司 | Open wheel type electric stair climbing vehicle and operation method thereof |
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