Electric stair climbing vehicle and control method thereof

Abstract

An electric stair climbing car and its control method, which includes a chassis, the front and rear parts of the chassis are respectively movably connected with a front rotating shaft (3) and a rear rotating shaft (20). The two ends of the front rotating shaft are movably connected with a cross-shaped front wheel frame (8), the two ends of the rear rotating shaft are fixedly connected with the rear wheel frame (16), and the ends of the rear wheel frame and the front wheel frame are provided with wheels. The front wheel frame rotates synchronously; a travel switch is installed on the chassis; the rotation of the front shaft and the rear shaft is controlled by a controller, which includes a single-chip microcomputer, a rotation angle sensor for detecting the rotation angle of the rear shaft, and a travel switch. The single-chip microcomputer is equipped with a control program According to the rotation angle signal and the contact signal of the travel switch, the rotation of the front shaft and the rear shaft are respectively controlled. The invention can automatically compensate the landing point of the wheels, can be adapted to various stairs, does not need to adjust the length of the spokes, and is convenient to use; the inclination angle of the chassis does not change when going up and down stairs, and the chassis does not bump.

Description

technical field [0001] The invention relates to an electric stair climbing vehicle, which is used for transporting goods. Background technique [0002] The structure of the electric stair climbing car generally includes a chassis on which a rotating shaft is installed movable. The rotating shaft is driven by a motor, and a wheel frame is installed on the top of the rotating shaft. Tumbling on the steps of the stairs (that is, vertical displacement and horizontal displacement at the same time), to achieve the action of climbing stairs. The height dimensions of various stair steps are generally basically the same, but their depth dimensions vary greatly, and the maximum difference can reach 40 mm. For example, for a certain staircase, its size is at the lower limit of the range, and each time the wheel frame rotates at a specified angle, the adjacent spokes can rest on the adjacent step plane, but for another staircase, its size is within the range For example, if the depth ...

AI Technical Summary

Problems solved by technology

For example, for a certain staircase, its size is at the lower limit of the range, and each time the wheel frame rotates at a specified angle, the adjacent spokes can rest on the adjacent step plane, but for another staircase, its size is within the range For example, if the depth of the step is 300mm (40mm larger than the lower limit), every time the wheel frame rotates at a specified angle, the landing point of the spoke will gradually approach the edge of the step. After the wheel frame rotates the specified angle for many times, the adjacent The spokes are most likely to rest on the same plane of the steps, and the wheel frame will be blocked by the vertical surface of the steps again when the wheel frame rotates again, and the climbing action cannot be completed; to solve this problem, the length of the spokes needs to be adjusted according to the specific size of the stairs before use , which makes it inconvenient to use

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