Stair climbing vehicle and stair climbing method

Abstract

The invention discloses a stair-climbing vehicle and a stair-climbing method, and belongs to the technical field of stair-climbing vehicles. The stair-climbing vehicle comprises a frame, a handlebar, a walking device, a stair-climbing device and a power device; the walking device comprises a power wheel, and the power wheel is installed at the tail end of the frame. The stair climbing device comprises a pushing and lifting mechanism, the lifting end of the pushing and lifting mechanism is located between the power wheel and the head end of the frame, the lifting end of the pushing and lifting mechanism can ascend and descend, and an acute included angle is formed between the lifting direction of the lifting end and the kicking face of the stair; the power device is used for driving the power wheel and the pushing and lifting mechanism. In the stage of going upstairs and downstairs, the power wheels can climb or fall down along the kicking surfaces of the stairs by utilizing mechanical force in the inclined direction of the pushing and lifting mechanism and matching with power of the power wheels, so that climbing or crossing of one stair is completed, the climbing mode is not divided into the sizes and the heights of the stairs, climbing of various types of stairs is achieved, and the climbing efficiency is improved. Therefore, the stair climbing vehicle is wider in application scene and can climb stairs in various shapes.

Description

Technical Field

[0001] This invention relates to the field of stair-climbing vehicle technology, and in particular to a stair-climbing vehicle and a stair-climbing method. Background Technology

[0002] Buildings without elevators, mountain staircases, and various non-standard staircases in city streets pose significant obstacles to people's travel and the transport of goods. To date, there are no vehicles on the market that can effectively climb these non-standard staircases.

[0003] Electric stair climbers on the market are mainly divided into two types: tracked and rotating legged.

[0004] ① Tracked Stair Climbing Machine: Tracked stair climbing machines generally consist of a motor, reducer, and track transmission mechanism. Operating method: The machine climbs upwards through the friction between the continuously rotating tracks and the edges of the stairs. Figure 34 As shown. The necessary condition for a tracked stair climber to crawl is that the steps must be of uniform size so that every angle of the step is on a single plane, allowing the climber to operate smoothly. Tracked stair climbers have a very narrow application scenario; they can only be used on standard staircases and cannot operate on complex staircases. However, residents encounter various non-standard staircases during their shopping trips, such as staircases in front of building entrances with different shapes, curbs, bridge steps, etc. Mountainous cities also have many mountain roads. If the goal is to bring items home, neither of the above-mentioned stair climbers can accomplish this task.

[0005] ② Rotating Leg Stair Climbing Machine: A rotating leg stair climbing machine typically consists of a motor, reducer, rotating legs, and wheels. Operation: The rotating legs move from one step to another by flipping them. Figure 35 As shown. Because the size of the rotating leg is fixed, the corresponding climbing steps must also be standard steps. It can only be used in standard staircases and cannot operate on complex staircases. There is a problem where the rotating leg cannot reach a step that is too high, resulting in a limited application scenario. Furthermore, due to the large rotation and undulation of the rotating leg, the torque requirement is also high, necessitating a high-power motor and reducer. These components are large and weigh over 30 kg, making them unsuitable for civilian use. They are generally used in specific staircase applications such as construction, warehouses, logistics, and moving. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned technical problems and provide a stair-climbing vehicle and a stair-climbing method. During the up and down stages, the mechanical force of the lifting mechanism in the inclined direction, combined with the power of the drive wheel, can make the drive wheel climb or fall along the riser of the step, completing the climbing or descent of a step. This climbing method is not limited by the size or height of the steps, and solves the climbing of various types of stairs, making the application scenarios of this stair-climbing vehicle more extensive, and enabling it to climb stairs of various shapes.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention discloses a stair-climbing vehicle, comprising: Frame; Handlebars, which are mounted at the rear end of the frame; A walking device, the walking device including a drive wheel, the drive wheel being mounted at the rear end of the vehicle frame; A stair-climbing device, comprising a lifting mechanism, wherein the mounting end of the lifting mechanism is fixedly connected to the frame, the lifting end of the lifting mechanism is located between the drive wheel and the front end of the frame, and the lifting direction of the lifting end of the lifting mechanism forms an acute angle with the riser of the step. And a power unit for driving the power wheel and the lifting mechanism.

[0008] Preferably, the walking device further includes an auxiliary support member, which is installed at the front end of the vehicle frame, and the auxiliary support member is a caster wheel or a support leg.

[0009] Preferably, the drive device includes a main motor, an auxiliary motor, a worm gear reducer, a clutch, a drive shaft, a transmission mechanism, a main gear, and an auxiliary gear; the main motor is fixedly connected to the vehicle frame, the motor shaft of the main motor is connected to the input shaft of the worm gear reducer, the output shaft of the worm gear reducer is coaxially fixedly connected to the drive shaft, the drive shaft is rotatably connected to the vehicle frame, and the drive shaft transmits driving force to the axle of the drive wheel through the transmission mechanism; the auxiliary motor is fixedly connected to the vehicle frame, and the auxiliary gear is coaxially fixedly connected to the motor shaft of the auxiliary motor; the main gear is rotatably connected to the drive shaft, and the drive shaft is connected to and disconnected from the main gear through the clutch; The lifting mechanism includes a vertical rack and a vertical slide groove. The vertical slide groove is fixedly connected to the vehicle frame, and the vertical rack is slidably connected in the vertical slide groove. The vertical rack meshes with the main gear and the auxiliary gear, and the bottom end of the vertical rack is the lifting end. Alternatively, the lifting mechanism may include a first link, a second link, a third link, and a fourth link. One end of the first link is hinged to the vehicle frame, and the other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to one end of the third link, and the other end of the third link is hinged to the vehicle frame. The third link is located below the first link. The end of the third link that is hinged to the vehicle frame is provided with a sector gear, which meshes with the main gear and the auxiliary gear. One end of the fourth link is fixedly connected to the other end of the second link, and the other end of the fourth link is the lifting end.

[0010] Preferably, the transmission mechanism includes a driving wheel, a driven wheel, and a transmission belt. The driving wheel is coaxially and fixedly connected to the power shaft, and the driven wheel is coaxially and fixedly connected to the motor shaft of the auxiliary motor. The driving wheel and the driven wheel are connected by the transmission belt. The driving wheel and the driven wheel are sprockets, and the transmission belt is a chain; Alternatively, the driving wheel and the driven wheel may be pulleys, and the transmission belt may be a belt; Alternatively, the driving wheel and the driven wheel may be gears, and the transmission belt may be a toothed belt.

[0011] Preferably, the clutch includes a first spline sleeve, a second spline sleeve, and an actuating mechanism; the first spline sleeve is coaxially fixedly connected to the main gear, the second spline sleeve is slidably connected to the power shaft via a guide key, and the actuating mechanism is used to drive the second spline sleeve to move along the power shaft.

[0012] Preferably, the actuation mechanism includes a clutch servo, an actuation plate, a guide rod, a pressure spring, and a clutch travel switch. The clutch servo is fixedly connected to the vehicle frame, and the rotation axis of the clutch servo is horizontally arranged. A drive cam is fixedly connected to the rotation axis of the clutch servo, and the drive cam is fixedly connected to the actuation plate. The guide rod is fixedly connected to the vehicle frame and is parallel to the power shaft. The actuation plate is slidably connected to the second spline sleeve and the guide rod. The pressure spring is sleeved on the second spline sleeve and is connected between the head end of the second spline sleeve and the actuation plate. The clutch travel switch is located on the movement path of the actuation plate toward the first spline sleeve. Alternatively, the actuation mechanism may include a clutch servo, an actuation plate, a guide rod, a hinge seat, a pressure spring, an actuation lever, and a clutch travel switch. The clutch servo is fixedly connected to the frame, and its rotation axis is vertically upward. A drive cam is fixedly connected to the rotation axis of the clutch servo. The actuation lever is vertically fixedly connected to the drive cam and hinged to the tail end of the actuation plate. The middle part of the actuation plate is hinged to the frame via the hinge seat. The head end of the actuation plate has a connecting lug with a slotted hole. The guide rod is vertically fixedly connected to the tail end of the second spline sleeve and slidably connected within the slotted hole. The pressure spring is sleeved on the second spline sleeve and connected between the head end of the second spline sleeve and the head end of the actuation plate. The clutch travel switch is located on the movement path of the tail end of the actuation plate away from the first spline sleeve.

[0013] Preferably, the lifting mechanism further includes a return limit switch; if the lifting mechanism includes a vertical rack with a stop contact, the return limit switch is located on the rising path of the stop contact; if the lifting mechanism includes a fourth link, the return limit switch is located on the rising path of the fourth link.

[0014] Preferably, it further includes a landing gear with support wheels, the landing gear being mounted at the rear end of the vehicle frame, and the drive wheel being located between the support wheels and the auxiliary support member.

[0015] Preferably, the landing gear includes a landing gear servo, a mounting base, a first bracket, a second bracket, and a lifting block. The landing gear servo and the mounting base are both fixedly connected to the rear end of the vehicle frame. The first bracket and the second bracket each include a hinged end and a swing end. The hinged ends of the first bracket and the second bracket are hinged to the mounting base. The first bracket is located above the second bracket. The swing end of the first bracket overlaps the second bracket. The lifting block is fixedly connected to the swing end of the first bracket. The support wheel is located on the swing end of the second bracket. A limiting block is provided on the overlapping surface of the second bracket. The limiting block can abut against the end face of the swing end of the first bracket during the upward rotation of the second bracket. A through hole is provided on the overlapping surface of the second bracket. The through hole is located on the downward path of the lifting block. A constraint groove communicating with the through hole is provided on the surface of the second bracket. A lifting cam is fixedly connected to the rotating shaft of the landing gear servo. A lifting rod is provided at the end of the lifting cam. The lifting rod extends into the constraint groove. The lifting block is located on the upward path of the lifting rod.

[0016] Preferably, the system further includes a control device, which comprises a DLC controller, an upstairs distance measuring device, and a downstairs distance measuring device. Both the upstairs distance measuring device and the downstairs distance measuring device are suspended on the vehicle frame. The measuring head of the upstairs distance measuring device faces the rear of the rear end of the vehicle frame, and the measuring head of the downstairs distance measuring device faces downward. The upstairs distance measuring device, the downstairs distance measuring device, the stair-climbing device, the power unit, and the landing gear are all electrically connected to the DLC controller.

[0017] Preferably, the system includes a plurality of upward-moving distance measuring devices and a plurality of downward-moving distance measuring devices, wherein the plurality of upward-moving distance measuring devices are spaced apart along the width direction of the vehicle frame, and the plurality of downward-moving distance measuring devices are spaced apart along the width direction of the vehicle frame.

[0018] Preferably, the upstairs distance measuring device and the downstairs distance measuring device are photoelectric switches, laser rangefinders, or ultrasonic rangefinders.

[0019] Preferably, the control device further includes a pressure sensing device, which is installed at the lifting end of the lifting mechanism and is electrically connected to the DLC controller.

[0020] Preferably, the pressure sensing device includes a connecting seat, a contact rod, and a pressure-sensitive limit switch. The connecting seat is fixed to the lifting end of the pushing mechanism. The connecting seat has a vertically arranged sliding hole. A sliding rod is vertically arranged on the contact rod and is sleeved on the sliding hole. A limiting head is provided at the end of the sliding rod away from the contact rod. The diameter of the limiting head is larger than that of the sliding hole. A support spring is sleeved on the sliding rod. The diameter of the support spring is larger than that of the sliding hole. The contact rod is located below the connecting seat. The support spring is located between the contact rod and the connecting seat. The pressure-sensitive limit switch is fixed on the connecting seat and is located above the limiting head, and is located on the upward movement path of the limiting head.

[0021] Preferably, the vehicle frame is provided with a storage seat, and a power battery for providing electricity is installed in the storage seat.

[0022] This invention also discloses a stair-climbing method, which uses the aforementioned stair-climbing vehicle and includes the following steps: Ascending the stairs: The drive wheel is in contact with the riser of the stairs, the lifting end of the pushing mechanism descends, and the drive wheel is lifted at the same time as the drive wheel starts, so that the drive wheel climbs up the riser of the stairs to the tread. Descending the stairs: When the drive wheel reaches the junction of the tread and riser of the stairs, the lifting end of the pushing mechanism descends, causing the drive wheel to slide down the riser onto the tread.

[0023] The present invention achieves the following technical effects compared to the prior art: In the stair-climbing vehicle of this invention, during the ascending phase, the lifting force of the lifting mechanism in the inclined direction, combined with the power of the drive wheel, allows the drive wheel to climb along the riser surface of the step to the tread surface, completing the ascent of one step. During the descending phase, the supporting force of the lifting mechanism in the inclined direction, combined with the power of the drive wheel, allows the drive wheel to slowly descend along the riser surface of the step to the tread surface of the next step, completing the descent of one step. This stair-climbing method is applicable regardless of the size or height of the staircase, solving the climbing problem for various types of stairs. This makes the application scenarios of this stair-climbing vehicle more extensive, enabling it to climb stairs of various shapes, such as mountain roads, bridge steps, curbs, artistic staircases in parks, and various complex staircases in front of building entrances. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained by analyzing these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the stair-climbing vehicle (the lifting mechanism is a multi-link structure, and the auxiliary support component is a caster wheel) in an embodiment of the present invention; Figure 2 This is a side view of the stair-climbing vehicle (the lifting mechanism is a multi-link structure, and the auxiliary support is a caster wheel) in an embodiment of the present invention. Figure 3 This is a schematic diagram of the lowering structure of the lifting end of the multi-link structure of the stair-climbing vehicle in an embodiment of the present invention; Figure 4 This is a schematic diagram of the handlebar grip portion in an embodiment of the present invention; Figure 5 This is a schematic diagram of the lifting mechanism (multi-link structure) of the stair-climbing vehicle in an embodiment of the present invention; Figure 6 This is a three-dimensional structural diagram of the lifting mechanism (multi-link structure) in an embodiment of the present invention; Figure 7 This is a side view of the lifting mechanism (multi-link structure) in an embodiment of the present invention. Figure 8 This is a top-view structural schematic diagram of the lifting mechanism (multi-link structure) in an embodiment of the present invention; Figure 9 This is a schematic diagram of the lifting mechanism (multi-link structure) from a bottom-view perspective in an embodiment of the present invention; Figure 10This is a schematic diagram of the clutch structure in an embodiment of the present invention; Figure 11 for Figure 10 A partially enlarged schematic diagram of the clutch; Figure 12 This is a schematic diagram of the clutch disengagement structure in an embodiment of the present invention; Figure 13 This is a schematic diagram of the landing gear structure in an embodiment of the present invention; Figure 14 This is a schematic diagram of the landing gear after unlocking in an embodiment of the present invention; Figure 15 This is a schematic diagram of the pressure sensing device in an embodiment of the present invention; Figure 16 This is a schematic diagram of the pressure sensing device from another perspective in an embodiment of the present invention; Figure 17 This is a three-dimensional structural diagram of the stair-climbing vehicle (with a rack and pinion structure for the lifting mechanism and omnidirectional wheels for the auxiliary support) in an embodiment of the present invention. Figure 18 This is a side view of the stair-climbing vehicle (with a rack and pinion structure for the lifting mechanism and casters for the auxiliary support) in an embodiment of the present invention. Figure 19 This is a schematic diagram of the vertical rack descending process of the stair-climbing vehicle in an embodiment of the present invention; Figure 20 This is a three-dimensional structural diagram of the lifting mechanism (rack structure) in an embodiment of the present invention; Figure 21 This is a schematic diagram showing the connection relationship between the pressure sensing device, the clutch, and the lifting mechanism (rack structure) in an embodiment of the present invention. Figure 22 for Figure 21 Enlarged view of a portion of the clutch; Figure 23 This is a three-dimensional structural diagram of the rear end of the stair-climbing vehicle in an embodiment of the present invention; Figure 24 This is a schematic diagram illustrating the principle of the lifting mechanism (multi-link structure) driving the power wheel onto the steps in an embodiment of the present invention. Figure 25 This is a schematic diagram illustrating the principle of the lifting mechanism (multi-link structure) driving the power wheel onto the steps in an embodiment of the present invention. Figure 26 This is a schematic diagram illustrating the principle of the lifting mechanism (rack structure) driving the power wheel onto the steps in an embodiment of the present invention. Figure 27 This is a schematic diagram illustrating the principle of the lifting mechanism (rack structure) driving the power wheel onto the steps in an embodiment of the present invention; Figure 28This is a schematic diagram showing the direction of the lifting force during the process of the power wheel moving up the steps in an embodiment of the present invention; Figure 29 This is a schematic diagram of the travel route of the power wheel during the process of climbing the stairs in an embodiment of the present invention; Figure 30 This is a schematic diagram of the landing position of the lifting end of the pushing mechanism (multi-link structure) during the process of the power wheel descending the steps in an embodiment of the present invention; Figure 31 This is a schematic diagram of the landing position of the lifting end of the lifting mechanism (rack structure) during the process of the power wheel descending the steps in an embodiment of the present invention; Figure 32 This is a schematic diagram showing the positional relationship between the support wheel and the drive wheel during the process of descending the steps in an embodiment of the present invention; Figure 33 This is a schematic diagram of the movement path of the bottom end of the fourth link (i.e., the lifting end of the pushing mechanism) in an embodiment of the present invention. Figure 34 A schematic diagram illustrating the principle of a tracked stair climber ascending stairs; Figure 35 A schematic diagram illustrating the principle of a rotating leg-type stair climber going up stairs; Figure 36 This is a three-dimensional structural diagram of the stair-climbing vehicle (the lifting mechanism is a multi-link structure, and the auxiliary support is a support leg) in an embodiment of the present invention; Figure 37 This is a side view of the stair-climbing vehicle (the lifting mechanism is a multi-link structure, and the auxiliary support is a support leg) in an embodiment of the present invention. Figure 38 This is a three-dimensional structural diagram of the stair-climbing vehicle (the lifting mechanism is a rack and pinion structure, and the auxiliary support is a support leg) in an embodiment of the present invention; Figure 39 This is a circuit diagram of a double-button switch relay module; Figure 40 This is a schematic diagram of the circuit principle of the stair climber.

[0026] Explanation of reference numerals in the attached figures: 1. Frame; 2. Handlebars; 3. Storage seat; 4. Drive wheel; 5. Casters; 6. Landing gear; 7. Support wheel; 8. Lifting mechanism; 9. Upward distance measuring device; 10. Downward distance measuring device; 11. Pressure sensor; 12. Main motor; 13. Auxiliary motor; 14. Worm gear reducer; 15. Clutch; 16. Drive shaft; 17. Main gear; 18. Auxiliary gear; 19. Drive wheel; 20. Driven wheel; 21. Drive belt; 22. Support leg; 201. Main switch; 202. Two-position switch; 601. Lifting and lowering servo; 602. Mounting base; 603. First bracket; 604. Second bracket; 605. Lifting block; 606. Limiting block; 607. Through hole; 608. Constraint groove; 609. Lifting cam; 610. Lifting rod; 801. Vertical rack; 802. Vertical groove; 803. First link; 804. Second link; 805. Third link; 806. Fourth link; 807. Sector gear; 808. Return limit switch; 809. Return frame; 810. Spherical positioning groove; 811. Spherical positioning head; 812. Positioning contact; 1001. Connecting base; 1002. Contact rod; 1003. Pressure-sensitive limit switch; 1004. Sliding rod; 1005. Support spring; 1006. Limit head; 1501, First spline sleeve; 1502, Second spline sleeve; 1503, Clutch servo; 1504, Drive cam; 1505, Toggle plate; 1506, Guide rod; 1507, Hinge seat; 1508, Clutch limit switch; 1509, Compression spring; 1510, Toggle lever. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments analyzed and obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The purpose of this invention is to provide a stair-climbing vehicle and a stair-climbing method to solve the problems existing in the prior art. During the up and down stages, the mechanical force of the lifting mechanism in the inclined direction, combined with the power of the drive wheel, can make the drive wheel climb or fall along the riser of the step to complete the climbing or descending of a step. This climbing method is not limited by the size or height of the steps, and solves the climbing of various types of stairs, making the application scenarios of this stair-climbing vehicle more extensive, and it can climb stairs of various shapes.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Example 1 like Figures 1 to 40As shown, this embodiment provides a stair-climbing vehicle, including: a frame 1, handlebars 2, a walking device, a stair-climbing device, and a power unit. The frame 1 primarily serves as the carrier for the mechanical components of the stair-climbing vehicle. The handlebars 2 are located at the rear end of the frame 1 for operator control. The overall shape of the handlebars 2 and frame 1 can be compared to a shopping cart. The walking device includes drive wheels 4, which are mounted at the rear end of the frame 1. Typically, there are two drive wheels 4, located on opposite sides of the frame 1, connected by an axle that provides rotational power. The number of drive wheels 4 can be adjusted as needed, such as using three or four drive wheels. The stair-climbing device includes a lifting mechanism 8, whose mounting end is fixedly connected to the frame 1. The lifting end of the lifting mechanism 8 is located between the drive wheels 4 and the front end of the frame 1. The lifting end of the lifting mechanism 8 is capable of raising and lowering. The lifting direction of the lifting end of the lifting mechanism 8 forms an acute angle α with the riser surface of the step, as shown in the reference. Figure 28 As shown. A power unit is used to drive the power wheel 4 and the lifting mechanism 8. It provides propulsion power to the power wheel 4 and lifting force to the lifting end of the lifting mechanism 8.

[0031] Working principle: ① Road travel: The operator holds the handlebars 2 at the rear end of the frame 1 and pushes the stair climber forward to control the orientation of the front end of the stair climber. The drive wheel 4 provides forward power to the stair climber under the drive of the power unit.

[0032] ② The ascending stage: mainly, under the push of the lifting mechanism 8, the power wheel 4 climbs up the riser surface of the step to the tread surface, completing the ascent of one step.

[0033] Specifically: The operator holds the handlebars 2 behind the rear end of the frame 1 and pulls the stair climber backward, so that the rear end of the stair climber faces the stairs. Driven by the power unit, the drive wheel 4 provides backward propulsion. When the drive wheel 4 contacts the riser of the first step, it pauses rotation. At this time, the lifting end of the pushing mechanism 8 descends to the ground tread and then continues to descend, providing the drive wheel 4 with a tilting lift towards the riser. This tilting lift consists of a horizontal pressure towards the riser and a vertical upward lift, connecting the drive wheel 4 to the riser. Simultaneously, the drive wheel 4 restarts. Under the combined action of the lift provided by the lifting end of the pushing mechanism 8 and the climbing force of the drive wheel 4, the drive wheel 4 moves upward along the riser, climbing to the tread of the first step. (Refer to...) Figures 24-28 As shown. Then, the lifting end of the pushing mechanism 8 rises and retracts. The drive wheel 4 continues to move towards the next step. When the drive wheel 4 touches the next step, the lifting end of the pushing mechanism 8 descends again, causing the drive wheel 4 to climb along the riser of the next step. This continues until all steps have been climbed. (See overall stair-climbing path reference.) Figure 29 As shown.

[0034] ③ Descending step stage: This mainly involves using the lifting mechanism 8 to allow the power wheel 4 to slowly slide down the riser of the step onto the tread, completing the descent of one step.

[0035] Specifically: The operator holds the handlebars 2 behind the rear end of the frame 1, with the front of the stair climber facing the direction of the descending stairs. Driven by the power unit, the drive wheel 4 provides forward propulsion. When the drive wheel 4 reaches the junction of the tread and riser of the last step, it pauses rotation. At this time, the lifting mechanism 8 descends to the tread of the next step and continues to descend, providing the drive wheel 4 with a support force tilted towards the tread. This tilted support force consists of a horizontal pressure towards the riser and a vertical upward support force, connecting the drive wheel 4 to the riser. As the lifting mechanism 8 gradually descends, the drive wheel 4 slowly slides down the riser of the next step, eventually reaching the tread of the next stair. (Refer to...) Figures 30-32 As shown. Then the lifting end of the pushing mechanism 8 rises and retracts. The drive wheel 4 continues to move towards the next step. When the drive wheel 4 touches the next step, the lifting end of the pushing mechanism 8 descends again, causing the drive wheel 4 to slide down along the riser of the next step. This continues until all steps have been descended.

[0036] The above process is for reference only and can be adjusted according to the actual situation.

[0037] In one embodiment, the walking device further includes an auxiliary support member, which is mounted on the front end of the frame 1. The auxiliary support member is a caster wheel 5 or a support leg 27.

[0038] refer to Figures 1 to 35 As shown, when the auxiliary support component is a caster wheel 5, there are usually two caster wheels 5, installed at the front end of the frame 1, with the two caster wheels 5 located on opposite sides of the frame 1. The two caster wheels 5 operate independently and do not affect each other. Of course, the number of caster wheels 5 can be adjusted as needed. When not in use, the stair climber is stably parked with the drive wheel 4 and caster wheels 5 on the ground. During movement, the drive wheel 4 and caster wheels 5 are usually on the ground. The operator controls the handlebars 2, and the drive wheel 4 provides power for forward movement. When turning is required, the orientation of the frame 1 needs to be changed, and the caster wheels 5 can adaptively rotate to achieve the change of direction.

[0039] refer to Figures 36 to 38As shown, when the auxiliary support is the support leg 27, there are usually two support legs 27, installed at the front end of the frame 1, with the two support legs 27 located on both sides of the frame 1. Of course, the number of support legs 27 can be adjusted as needed. When not in use, the stair climber is stably parked with the drive wheel 4 and support legs 27 on the ground. During movement, the operator usually needs to control the handlebars 2 to raise the front end of the frame 1, lifting the support legs 27 off the ground, and the drive wheel 4 provides power for forward movement. When turning is required, the direction of the frame 1 can be changed by controlling the handlebars 2.

[0040] The above process is for reference only; you can proceed according to the actual situation.

[0041] In one embodiment, a landing gear 6 is also included, which has support wheels 7. The landing gear 6 is mounted at the rear end of the frame 1. The drive wheel 4 is located between the support wheel 7 and the auxiliary support (i.e., caster wheel 5 or support leg 27). The landing gear 6 with support wheels 7 allows the support wheels 7 to descend or retract, contacting or disengaging from the ground or the tread of the stairs. The purpose of providing support wheels 7 is that when the stair climber is descending, the different angles at which different people hold the handlebars 2 will cause the lowering position of the lifting end of the pushing mechanism 8 to be different. If the lowering position of the lifting end of the pushing mechanism 8 is not within the diameter range of the drive wheel 4, then the drive wheel 4 will not contact the stair tread when it descends to the bottom, and the force will be transmitted to the handlebars 2, making it difficult for people to hold the vehicle and causing instability. In order to allow the lifting end of the pushing mechanism 8 of the stair climber to extend to a reasonable position, a support point is needed to restrain the swaying of the handlebars 2. A landing gear 6 is designed to ensure that the lifting end of the pushing mechanism 8 descends to a specified range. The support wheel 7 and the drive wheel 4 can form a surface, as shown in the reference. Figure 32 As shown, the support wheel 7 and the power wheel 4 can stabilize the standing position of the stair-climbing vehicle, which in turn stabilizes the descent angle of the lifting end of the lifting mechanism 8, thus ensuring that the lifting end of the lifting mechanism 8 descends to the specified position. The landing gear 6 can be an existing landing gear, or you can refer to the specific configuration given in other embodiments of this example below.

[0042] In one embodiment, the lifting mechanism 8 is configured in two ways. However, both types of lifting mechanisms 8 can be driven by the same drive device. Therefore, the drive device will be described first, followed by the specific structures of the two types of lifting mechanisms 8. Wherein: The drive unit includes a main motor 12, an auxiliary motor 13, a worm gear reducer 14, a clutch 15, a drive shaft 16, a transmission mechanism, a main gear 17, and an auxiliary gear 18. The main motor 12 is fixedly connected to the frame 1. The motor shaft of the main motor 12 is connected to the input shaft of the worm gear reducer 14, making the main motor 12 a worm geared motor with a self-locking function (mainly the worm gear reducer 14 has a self-locking function). The main motor 12 has two main functions: firstly, it is the power source for driving the stair-climbing vehicle on flat ground; secondly, it is the power source for driving the lifting mechanism 8 to climb stairs. The output shaft of the worm gear reducer 14 is coaxially and fixedly connected to the drive shaft 16, which is rotatably connected to the frame 1. The drive shaft 16 transmits driving force to the axle of the drive wheel 4 through the transmission mechanism. The auxiliary motor 13 is fixedly connected to the frame 1, and the auxiliary gear 18 is coaxially and fixedly connected to the motor shaft of the auxiliary motor 13. The main gear 17 is rotatably connected to the power shaft 16. The power shaft 16 is connected to the main gear 17 via the clutch 15, realizing two modes: driving only the power wheel 4 and driving both the power wheel 4 and the lifting mechanism 8 simultaneously.

[0043] refer to Figures 17 to 21 , Figures 26 to 27 As shown, the first type of lifting mechanism 8 is a rack and pinion telescopic structure. Specifically, it includes a vertical rack 801 and a vertical slide 802. The vertical slide 802 is fixedly connected to the frame 1, and the vertical rack 801 is slidably connected within the vertical slide 802. The vertical rack 801 meshes with both the main gear 17 and the auxiliary gear 18. The bottom end of the vertical rack 801 is the lifting end of the lifting mechanism 8.

[0044] Working principle: ① Road travel: The main motor 12 drives the power shaft 16 to rotate through the turbine reducer 14. The power shaft 16 drives the power wheel 4 to rotate through the transmission mechanism, which enables the stair climber to move forward.

[0045] ② Ascending the Steps: The main motor 12 drives the power shaft 16 to rotate via the worm gear reducer 14, first bringing the power wheel 4 to the step tread. Then, the main motor 12 stops rotating, the power wheel 4 stops rotating, and the auxiliary motor 13 drives the auxiliary gear 18 to rotate, causing the vertical rack 801 to descend. After the bottom end of the vertical rack 801 contacts the tread, the clutch 15 connects the power shaft 16 and the main gear 17, the main motor 12 restarts, driving the power shaft 16 to rotate, the transmission mechanism drives the power wheel 4 to rotate, and the main gear 17 drives the vertical rack 801 to continue descending, driving the power wheel 4 to climb up the step tread. After the power wheel 4 climbs onto the step tread, the clutch 15 disconnects the power shaft 16 and the main gear 17, the auxiliary motor 13 drives the auxiliary gear 18 to rotate in the opposite direction, driving the vertical rack 801 back to its original position, completing the ascent of one step.

[0046] ③ The next step: The main motor 12 drives the drive shaft 16 to rotate via the worm gear reducer 14, first moving the drive wheel 4 to the junction of the step tread and the stair surface (preferably, the axis of the drive wheel 4 is located directly above the junction of the step tread and the stair surface). Then, the main motor 12 stops rotating, the drive wheel 4 stops rotating, and the auxiliary motor 13 drives the auxiliary gear 18 to rotate, causing the vertical rack 801 to descend. After the bottom end of the vertical rack 801 contacts the tread, the clutch 15 connects the drive shaft 16 and the main gear 17, the main motor 12 restarts, driving the drive shaft 16 to rotate slowly, the transmission mechanism drives the drive wheel 4 to rotate, and the main gear 17 drives the vertical rack 801 to slowly rise, driving the drive wheel 4 to slowly slide down the step tread. After the drive wheel 4 falls onto the tread of the next step, the clutch 15 disconnects the drive shaft 16 and the main gear 17, the auxiliary motor 13 drives the auxiliary gear 18 to reverse, and the vertical rack 801 quickly rises back to its original position, completing the descent of one step. When descending the stairs, the stair climber must be tilted at an angle (for reference). Figure 19 As shown), the first is to conform to the posture of a person holding a bicycle when going downstairs, and the second is to allow the vertical rack 801 to fall into the designated area.

[0047] refer to Figures 1 to 16 , Figures 24 to 25 As shown, the second type of lifting mechanism 8 is a multi-link mechanism. Specifically, it includes a first link 803, a second link 804, a third link 805, and a fourth link 806. One end of the first link 803 is hinged to the frame 1, and the other end of the first link 803 is hinged to one end of the second link 804. The other end of the second link 804 is hinged to one end of the third link 805, and the other end of the third link 805 is hinged to the frame 1. The third link 805 is located below the first link 803, and the end of the third link 805 that is hinged to the frame 1 is equipped with a sector gear 807. The sector gear 807 meshes with the main gear 17 and the auxiliary gear 18. One end of the fourth link 806 is fixedly connected to the other end of the second link 804, and the other end of the fourth link 806 is the lifting end.

[0048] The above process is for reference only and can be adjusted according to the actual situation.

[0049] Working principle: ① Road travel: The main motor 12 drives the power shaft 16 to rotate through the turbine reducer 14. The power shaft 16 drives the power wheel 4 to rotate through the transmission mechanism, which enables the stair climber to move forward.

[0050] ② Ascending the steps: The main motor 12 drives the power shaft 16 to rotate via the worm gear reducer 14, first bringing the power wheel 4 into contact with the step surface. Then, the main motor 12 stops rotating, the power wheel 4 stops rotating, the auxiliary motor 13 drives the auxiliary gear 18 to rotate, causing the sector gear 807 to rotate upwards, and the end of the third link 805 away from the sector gear 807 swings downwards, thereby causing the end of the first link 803 connected to the second link 804 to swing downwards, and the end of the fourth link 806, which serves as the lifting end, to swing downwards and contact the step surface. Then, the clutch 15 connects the power shaft 16 and the main gear 17, the main motor 12 restarts, drives the power shaft 16 to rotate, the transmission mechanism drives the power wheel 4 to rotate, and the main gear 17 drives the end of the fourth link 806, which serves as the lifting end, to continue swinging downwards, driving the power wheel 4 to climb up the step surface. After the drive wheel 4 climbs onto the tread of the step, the clutch 15 disconnects the drive shaft 16 from the main gear 17, and the auxiliary motor 13 drives the auxiliary gear 18 to rotate in the opposite direction, driving the fourth link 806, which serves as the lifting end, to swing back to its original position, thus completing the ascent of the first step.

[0051] ③ The next step: The main motor 12 drives the power shaft 16 to rotate via the worm gear reducer 14, first causing the power wheel 4 to move to the junction of the step tread and the stair surface (preferably, the axis of the power wheel 4 is located directly above the junction of the step tread and the stair surface). Then the main motor 12 stops rotating, the power wheel 4 stops rotating, and the auxiliary motor 13 drives the auxiliary gear 18 to rotate, causing one end of the fourth link 806, which serves as the lifting end, to swing down. After the end of the fourth link 806, which serves as the lifting end, contacts the tread, the clutch 15 connects the power shaft 16 and the main gear 17, the main motor 12 restarts, driving the power shaft 16 to rotate slowly, the transmission mechanism drives the power wheel 4 to rotate, and the main gear 17 drives the end of the fourth link 806, which serves as the lifting end, to swing up slowly, causing the power wheel 4 to slide slowly down along the step surface. After the drive wheel 4 falls onto the tread of the next step, the clutch 15 disconnects the drive shaft 16 from the main gear 17, the auxiliary motor 13 drives the auxiliary gear 18 to reverse, and the fourth link 806, as one end of the lifting end, quickly rises back to its original position, completing the crossing and descent of one step.

[0052] The above process is for reference only and can be adjusted according to the actual situation.

[0053] The trajectory of the fourth link 806 is as follows Figure 33 As shown, it is slightly inclined, and this trajectory facilitates the movement of the drive wheel 4 up and down along the step surface. The third link 805 meshes with the main gear 17 through the sector gear 807. After the main gear 17 is connected to the drive shaft 16 through the clutch 15, the worm gear motor (composed of the main motor 12 and the worm gear reducer 14) further decelerates and increases the torque of the parts.

[0054] In one embodiment, the auxiliary motor 13 can be a 12-watt geared motor with a speed of 800 revolutions per minute. The function of the auxiliary motor 13 is to drive the lifting end of the lifting mechanism 8 to retract. The reason why the main motor 12 is not used to reverse and drive the lifting end of the lifting mechanism 8 to retract is because the reduction ratio of the main motor 12 and the worm gear reducer 14 is large, and the retraction is relatively slow. When the drive wheel 4 climbs onto the tread, the lifting end of the lifting mechanism 8 is still below the step. At this time, the stair climber is still moving forward. Therefore, the lifting end of the lifting mechanism 8 must be quickly retracted and placed on the step platform the moment the drive wheel 4 climbs onto the platform. Therefore, another motor is selected to retract the lifting end of the lifting mechanism 8 separately. Since the load on the lifting end of the lifting mechanism 8 is small, consisting only of the weight of the connecting rod (vertical rack 801) and friction, the auxiliary motor is sufficient.

[0055] In one embodiment, the transmission mechanism includes a driving pulley 19, a driven pulley 20, and a transmission belt 21. The driving pulley 19 is coaxially and fixedly connected to the drive shaft 16. The driven pulley 20 is coaxially and fixedly connected to the axle of the drive pulley 4. The driving pulley 19 and the driven pulley 20 are connected by the transmission belt 21. If the driving wheel 19 and the driven wheel 20 are sprockets, then the corresponding transmission belt 21 is a chain; If the driving pulley 19 and the driven pulley 20 are pulleys, then the corresponding transmission belt 21 is a belt. If the driving wheel 19 and the driven wheel 20 are gears, then the corresponding transmission belt 21 is a toothed belt.

[0056] The choice of which method to use depends on the specific needs. Generally, gears and toothed belts are preferred as they provide more stable transmission than the other two methods.

[0057] In one embodiment, the clutch 15 includes a first spline sleeve 1501, a second spline sleeve 1502, and an actuating mechanism. The first spline sleeve 1501 is coaxially fixedly connected to the main gear 17, and the second spline sleeve 1502 is slidably connected to the drive shaft 16 via a guide key, allowing the second spline sleeve 1502 to rotate with the drive shaft 16. The actuating mechanism drives the second spline sleeve 1502 to move along the drive shaft 16. Under the actuation of the actuating mechanism, the second spline sleeve 1502 moves toward the first spline sleeve 1501, and after engaging with the first spline sleeve 1501, the main gear 17 and the drive shaft 16 are connected. Under the actuation of the actuating mechanism, the second spline sleeve 1502 moves away from the first spline sleeve 1501, and after disengaging from the first spline sleeve 1501, the main gear 17 and the drive shaft 16 are disconnected.

[0058] The actuation mechanism has two different configurations.

[0059] The first type, reference Figures 10 to 12The actuation mechanism includes a clutch servo 1503, an actuation plate 1505, a guide rod 1506, a clutch travel switch 1508, and a pressure spring 1509. The clutch servo 1503 is fixedly connected to the frame 1. The rotation axis of the clutch servo 1503 is horizontally positioned, and a drive cam 1504 is fixedly connected to the rotation axis of the clutch servo 1503. The drive cam 1504 is fixedly connected to the actuation plate 1505. The guide rod 1506 is fixedly connected to the frame 1 and is parallel to the drive shaft 16. The actuation plate 1505 is slidably connected to the second spline sleeve 1502 and the guide rod 1506. The pressure spring 1509 is sleeved on the second spline sleeve 1502 and connects the head end of the second spline sleeve 1502 and the actuation plate 1505. The clutch limit switch 1508 is located on the movement path of the toggle plate 1505 toward the first spline sleeve 1501.

[0060] Working principle: The rotation of the clutch servo motor 1503 causes the drive cam 1504 to swing, which in turn causes the actuating plate 1505 to move axially along the second spline sleeve 1502. Through the compression spring 1509, the second spline sleeve 1502 can be pushed towards or away from the first spline sleeve 1501. During the movement towards the first spline sleeve 1501, it contacts the clutch limit switch 1508, indicating that the second spline sleeve 1502 and the first spline sleeve 1501 are successfully engaged. The clutch limit switch 1508 will then send a signal to stop the clutch servo motor 1503.

[0061] The second option is to refer to... Figure 22 The actuation mechanism includes a clutch servo 1503, an actuation plate 1505, a guide rod 1506, a hinge seat 1507, a clutch travel switch 1508, a pressure spring 1509, and an actuation lever 1510. The clutch servo 1503 is fixedly connected to the frame 1, and its rotation axis is vertically upward. A drive cam 1504 is fixedly connected to the rotation axis of the clutch servo 1503. The actuation lever 1510 is vertically fixedly connected to the drive cam 1504. The actuation lever 1510 is hinged to the tail end of the actuation plate 1505, and the middle part of the actuation plate 1505 is hinged to the frame 1 via the hinge seat 1507. The head end of the actuation plate 1505 has a connecting ear plate with a strip-shaped hole. The guide rod 1506 is vertically fixedly connected to the tail end of the second spline sleeve 1502. The guide rod 1506 is slidably connected within the slotted hole. A compression spring 1509 is sleeved on the second splined sleeve 1502, connecting the head end of the second splined sleeve 1502 and the head end of the actuating plate 1505. The clutch limit switch 1508 is located on the movement path of the actuating plate 1505 away from the first splined sleeve 1501.

[0062] Working principle: The rotation of the rotating shaft of the clutch servo 1503 drives the drive cam 1504 to swing, which in turn drives the actuating plate 1505 to rotate around the hinge seat 1507. The head end of the actuating plate 1505 swings horizontally, and through the compression spring 1509, it can push the second spline sleeve 1502 to move towards or away from the first spline sleeve 1501. During the movement of the head end of the actuating plate 1505 towards the first spline sleeve 1501, the tail end of the actuating plate 1505 will move away from the first spline sleeve 1501. When the tail end of the actuating plate 1505 contacts the clutch limit switch 1508, it means that the second spline sleeve 1502 and the first spline sleeve 1501 have successfully engaged. The clutch limit switch 1508 will then send a signal to stop the clutch servo 1503.

[0063] In one embodiment, the lifting mechanism 8 further includes a return limit switch 808.

[0064] If the lifting mechanism 8 adopts a rack and pinion structure, that is, includes a vertical rack 801, the vertical rack 801 is provided with a stop contact 812, and the return limit switch 808 is located on the rising path of the stop contact 812. When the stop contact 812 touches the return limit switch 808, it indicates that the vertical rack 801 has returned to its original position, and the return limit switch 808 will send a signal to control the auxiliary motor 13 to stop driving the vertical rack 801.

[0065] If the lifting mechanism 8 adopts a multi-link structure, that is, includes a fourth link 806, the return limit switch 808 is located on the rising path of the fourth link 806. When the fourth link 806 touches the return limit switch 808, it means that the fourth link 806 has returned to its original position, and the return limit switch 808 will send a signal to control the auxiliary motor 13 to stop driving the fourth link 806.

[0066] In one embodiment, a return frame 809 is mounted on the frame 1. The return frame 809 has a positioning opening, and spherical positioning grooves 810 are provided on both sides of the positioning opening. Spherical positioning heads 811 are provided on both sides of the fourth link 806. As the fourth link 806 rises, the spherical positioning heads 811 will engage with the spherical positioning grooves 810 to achieve positioning. A return limit switch 808 is installed inside the positioning opening, above the spherical positioning grooves 810.

[0067] In one embodiment, the landing gear 6 includes a landing gear servo 601, a mounting base 602, a first bracket 603, a second bracket 604, and a lifting block 605. The landing gear servo 601 and the mounting base 602 are both fixedly connected to the rear end of the vehicle frame 1. Both the first bracket 603 and the second bracket 604 include a hinged end and a swing end. The hinged ends of both the first bracket 603 and the second bracket 604 are hinged to the mounting base 602, with the first bracket 603 located above the second bracket 604. The swing end of the first bracket 603 overlaps the second bracket 604. The lifting block 605 is fixedly connected to the swing end of the first bracket 603. A support wheel 7 is located on the swing end of the second bracket 604, and a limiting block 606 is provided on the overlapping surface of the second bracket 604. The limiting block 606 can abut against the end face of the swing end of the first bracket 603 during the upward rotation of the second bracket 604. A through hole 607 is provided on the overlapping surface of the second bracket 604. The through hole 607 is located on the descending path of the lifting block 605. A constraint groove 608 communicating with the through hole 607 is provided on the surface of the second bracket 604. The rotation axis of the landing gear servo 601 is horizontal and arranged along the width of the vehicle body. A lifting cam 609 is fixedly connected to the rotation axis of the landing gear servo 601. A lifting rod 610 is provided at the end of the lifting cam 609. The lifting rod 610 is horizontally arranged along the width of the vehicle body, extends into the constraint groove 608, and the lifting block 605 is located on the ascending path of the lifting rod 610.

[0068] Working principle: Landing gear 6 retraction process: The rotation shaft of the landing servo motor 601 rotates upward, driving the lifting cam 609 to swing upward. The lifting rod 610 pushes the lifting block 605 upward, causing the swing end of the first bracket 603 to disengage from the limiting block 606. The first bracket 603 is no longer limited, allowing the second bracket 604 to rotate upward. Driven by the lifting rod 610, the first bracket 603 and the second bracket 604 swing upward and retract, completing the retraction of the landing gear 6.

[0069] Landing gear 6 lowering process: The landing gear servo motor 601 rotates downward, driving the lifting cam 609 to swing down. The first bracket 603 and the second bracket 604 move down with the lifting rod 610. After the swing end of the first bracket 603 abuts against the limit block 606 again, the second bracket 604 is once again limited by the first bracket 603, completing the lowering of the landing gear 6.

[0070] In one embodiment, a control device is also included, comprising a DLC controller, an upstairs distance measuring device 9, and a downstairs distance measuring device 10. Both the upstairs distance measuring device 9 and the downstairs distance measuring device 10 are suspended from the frame 1. The measuring head of the upstairs distance measuring device 9 faces the rear of the rear end of the frame 1, while the measuring head of the downstairs distance measuring device 10 faces downwards. The upstairs distance measuring device 9, the downstairs distance measuring device 10, the stair-climbing device, the power unit, and the landing gear 6 are all electrically connected to the DLC controller. The suspension of both the upstairs distance measuring device 9 and the downstairs distance measuring device 10 ensures that they remain vertical when the angle of the stair-climbing vehicle changes under gravity. This ensures that the measuring head of the upstairs distance measuring device 9 always faces horizontally backwards, i.e., always towards the riser of the stair, while the measuring head of the downstairs distance measuring device 10 always faces downwards, maintaining measurement accuracy. Preferably, the upstairs distance measuring device 9 and the downstairs distance measuring device 10 can be hinged to the frame 1 via hinged lugs to achieve suspension. The frame 1 may be provided with a frame vertical plate, and the upstairs distance measuring device 9 and the downstairs distance measuring device 10 are installed on the front and rear sides of the frame vertical plate.

[0071] Working principle: Ascending Stairs Stage: When the stair-climbing distance measuring device 9 detects the riser of the stair and the distance between the riser and the stair-climbing distance measuring device 9 reaches the preset stair-climbing distance, it indicates that the power wheel 4 has already come into contact with the riser of the stair. At this time, under the control of the DLC controller, the power unit automatically starts. With the cooperation of the lifting mechanism 8 and the power wheel 4, the power wheel 4 climbs to the tread of the stair, thus solving the problem of different widths of the stair treads.

[0072] Descending Stairs Stage: When the drive wheel 4 reaches the edge of the stair (the junction of the tread and the riser), the stair-descent distance measuring device 10 will detect the next step (when the monitoring distance suddenly increases and exceeds the preset stair-descent distance, it means that the previous step has been moved to the next step. The preset stair-descent distance is usually set to one-quarter of the diameter of the drive wheel 4). Under the control of the DLC controller, the lifting end of the lifting mechanism 8 descends to the tread of the next step. As the drive wheel 4 moves to the riser of the step, the lifting end of the lifting mechanism 8 rises back, driving the drive wheel 4 to slide down the riser of the step to the tread of the next step, completing the stair-descent action.

[0073] In one embodiment, the system includes multiple up-stairs distance measuring devices 9 and multiple down-stairs distance measuring devices 10. The multiple up-stairs distance measuring devices 9 are spaced apart along the width direction of the vehicle frame 1. The multiple down-stairs distance measuring devices 10 are also spaced apart along the width direction of the vehicle frame 1. The multiple spacing between the up-stairs distance measuring devices 9 and down-stairs distance measuring devices 10 is primarily to prevent the stair-climbing vehicle from mistaking obstacles such as stones for steps. The multiple up-stairs distance measuring devices 9 and down-stairs distance measuring devices 10 effectively stagger obstacles; only when all up-stairs distance measuring devices 9 detect an object ahead will it be identified as the riser of a step. Similarly, only when all down-stairs distance measuring devices 10 detect a change in the downward distance will it be identified as the tread of a step. From a cost perspective, typically two up-stairs distance measuring devices 9 and two down-stairs distance measuring devices 10 are sufficient. The spacing between the two up-stairs distance measuring devices 9 should be as large as possible. Similarly, the spacing between the two down-stairs distance measuring devices 10 should also be as large as possible.

[0074] In one implementation, the DLC controller can use a 74LS08N AND gate logic chip. Of course, other types of chips can also be selected as needed.

[0075] In one embodiment, the upstairs distance measuring device 9 and the downstairs distance measuring device 10 are other distance measuring devices such as photoelectric switches, laser rangefinders, or ultrasonic rangefinders. Preferably, a photoelectric switch is used.

[0076] In one embodiment, the control device further includes a pressure sensor 11, which is installed at the lifting end of the lifting mechanism 8 and electrically connected to the DLC controller. When the lifting end of the lifting mechanism 8 descends, the pressure sensor 11 will contact the ground (the tread of the stairs) first. When the lifting mechanism 8 adopts a rack and pinion structure, the pressure sensor 11 is installed at the bottom end of the vertical rack 801. When the lifting mechanism 8 adopts a multi-link mechanism, the pressure sensor 11 is installed at the bottom end of the fourth link 806.

[0077] Working principle: When the pressure of the pressure sensor 11 increases, it indicates that the pressure sensor 11 has made contact with the ground (the tread of the steps). Then, under the control of the DLC controller, the auxiliary motor 13 stops driving the lifting end of the lifting mechanism 8, and then the clutch 15 is activated, and the main motor 12 is driven instead.

[0078] When the pressure of the pressure sensor 11 disappears, it indicates that the pressure sensor 11 has been removed from the ground (the tread of the step). In conjunction with the return limit switch 808 detecting that the lifting end of the lifting mechanism 8 has been reset, the auxiliary motor 13 can stop driving the lifting end of the lifting mechanism 8 to rise again.

[0079] In one embodiment, the pressure sensing device 11 includes a connecting base 1001, a contact rod 1002, and a pressure-sensitive limit switch 1003. The connecting base 1001 is fixed to the lifting end of the lifting mechanism 8, and has a vertically arranged sliding hole. A sliding rod 1004 is vertically arranged on the contact rod 1002, through which the sliding rod 1004 slides. A limiting head 1006 is provided at the end of the sliding rod 1004 away from the contact rod 1002. The diameter of the limiting head 1006 is larger than that of the sliding hole to prevent the sliding rod 1004 from sliding out of the sliding hole. A support spring 1005 is sleeved on the sliding rod 1004, and the diameter of the support spring 1005 is larger than that of the sliding hole. The contact rod 1002 is located below the connecting base 1001. The support spring 1005 is located between the contact rod 1002 and the connecting base 1001. The pressure-sensitive limit switch 1003 is fixed on the connecting base 1001, located above the limit head 1006, and on the upward movement path of the limit head 1006. The elastic force of the support spring 1005 is such that the weight of the stair-climbing vehicle is just enough to press the support spring 1005 to its lowest point. The pressure sensing device 11 has only two states: 1. the support spring 1005 is compressed; 2. the support spring 1005 is extended. When the drive wheel 4 moves along the riser of the step, the weight of the drive wheel 4 presses on the connecting base 1001, at which time the support spring 1005 is in a compressed state. When the drive wheel 4 moves from the riser of the step onto the tread of the step, the weight of the stair-climbing vehicle is transferred to the drive wheel 4, and the spring of the support spring 1005 is in an extended state.

[0080] Working principle: Ascending the steps: When the lifting end of the lifting mechanism 8 descends, the contact rod 1002 will contact the tread of the step before the lifting end of the lifting mechanism 8. As the lifting end of the lifting mechanism 8 continues to descend, the contact rod 1002 will press the support spring 1005, putting it in a compressed state and accumulating elastic potential energy. At this time, the sliding rod 1004 will move upward along the sliding hole of the connecting seat 1001 to make the limit head 1006 move upward. When the limit head 1006 contacts the pressure-sensitive limit switch 1003, it indicates that the lifting end of the lifting mechanism 8 has descended to the correct position. At this time, the auxiliary motor 13 stops driving.

[0081] Downward step stage: When the lifting end of the lifting mechanism 8 rises, the connecting seat 1001 will rise along with the lifting end of the lifting mechanism 8. The support spring 1005 will release its elastic potential energy and extend. At this time, the contact rod 1002 has not yet left the tread. As the lifting end of the lifting mechanism 8 continues to rise, until the limit head 1006 disengages from the pressure-sensitive limit switch 1003, and then, in conjunction with the return limit switch 808 detecting that the lifting end of the lifting mechanism 8 has reset, the auxiliary motor 13 can stop driving the lifting end of the lifting mechanism 8 to rise.

[0082] In one embodiment, the auxiliary motor 13 is connected to a torque controller. During the descent, when the auxiliary motor 13 drives the lifting mechanism 8 to descend to the tread of the next step, a preset torque is applied to cause the auxiliary motor 13 to slip. This torque setting is such that the lifting mechanism 8's lifting end (connecting rod or vertical rack 801) maintains tension without extending to the point of lifting the stair climber. Its function is to allow the spring in the pressure sensing device 11 to sense the weight of the vehicle when the drive wheel 4 rolls down the step.

[0083] In one embodiment, the frame 1 is provided with a storage seat 3 for placing goods. A power battery for providing electricity is installed inside the storage seat 3. The power battery may be a 12V rechargeable battery.

[0084] In one embodiment, a dual-button switch relay module is also included. This module controls the power on and off of the device, with a relay as its output. Its main function is to control the starting and stopping of each motor and servo motor via photoelectric switches and limit switches. Essentially, it's a control module with one power button and one power off button. This module is a self-locking relay module; the relay is engaged when the power button is pressed and remains engaged until the power off button is pressed. The voltage and polarity of each motor can be configured independently. The input terminals can be controlled by each limit switch and photoelectric switch. The module's power supply voltage is 12V. (See reference...) Figure 37 Circuit diagram of a double-button switch relay module.

[0085] In one embodiment, the handlebar 2 is provided with a grip for holding. The grip is provided with a main switch 201 and a two-position switch 202.

[0086] Working principle: Going upstairs: Turn on the main switch 201: Connect the 12V battery. — Move the two-position switch 202 to the upstairs position; the 12V power supply directly powers the main motor 12. — The drive wheel 19 on the drive shaft 16 drives the drive wheel 4 to rotate, allowing the stair climber to move on flat ground. When the stair climber encounters a stair, the upstairs distance measuring device 9 (upstairs photoelectric switch) activates the clutch 15 (by activating the clutch servo 1503 via the opening end of the double-button switch module) when the drive wheel 4 reaches the step's kick surface. The clutch 15 engages, causing the lifting mechanism 8 to descend, thus pushing the drive wheel 4 upwards along the step's kick surface. When the drive wheel 4 rolls onto the step surface, the weight of the vehicle body is transferred from the connecting rod to the drive wheel 4. During the transition of the support spring 1005 of the pressure sensing device 11 on the lifting end of the lifting mechanism 8 from a compressed state to an extended state, it triggers the pressure-sensitive travel switch 1003 (normally closed). After the pressure-sensitive travel switch 1003 closes, it controls the clutch servo 1503 to shut down via the stop port of the double-button switch module, and the clutch 15 disengages. The clutch travel switch 1508 is a normally closed switch. When the clutch 15 engages and disengages, the clutch travel switch 1508 triggers the open port of the double-button switch module (auxiliary motor), causing the auxiliary motor 13 to rotate. Due to the high speed of the auxiliary motor 13, the lifting end of the lifting mechanism 8 is rapidly retracted. When the lifting end of the lifting mechanism 8 retracts, it triggers the return travel switch 808. The return travel switch 808 is connected to the stop port of the double-button switch module (auxiliary motor), and the auxiliary motor 13 stops rotating, while the lifting end of the lifting mechanism 8 remains retracted. This completes the closed loop of the upstairs movement.

[0087] Descending the stairs: When it is necessary to go downstairs, switch 202 to the downstairs position. At this time, the power supply of the main motor 12 and the auxiliary motor 13 is reversed, and the motors reverse. The stair-climbing vehicle travels in the opposite direction to going upstairs. When the stair-climbing vehicle goes downstairs, the downstairs distance measuring device 10 (downstairs photoelectric switch) starts the auxiliary motor 13 when it encounters the next step. The auxiliary motor 13 drives the lifting end of the pushing mechanism 8 to descend rapidly and contact the tread of the next step, triggering the pressure-sensitive limit switch 1003. The auxiliary motor 13 stops working, and the lifting end of the pushing mechanism 8 stops descending. At this time, the power wheel 4 moves to the edge of the step, and the weight of the vehicle body is transferred to the pressure sensing device 11. The support spring 1005 on the pressure sensing device 11 is compressed, triggering the pressure-sensitive limit switch 100. 3. Activate the clutch servo 1503 to engage the clutch 15. After the clutch 15 is engaged, the lifting end of the push-up mechanism 8 slowly rises, causing the drive wheel 4 to roll downwards along the step's kick surface. (Because the main motor 12 has a self-locking function with the worm gear reducer 14, the rising speed of the lifting end of the push-up mechanism 8 will not accelerate downwards due to the weight of the vehicle body.) After the drive wheel 4 lands, the lifting end of the push-up mechanism 8 continues to rise until it triggers the return travel switch 808, disengaging the clutch 15. The lifting end of the push-up mechanism 8 then remains retracted. This completes the closed loop of the downstairs sequence.

[0088] Overall circuit diagram of the stair-climbing vehicle (for reference) Figure 40 As shown: The power supply section consists of three parts: 1. Main switch 201, connected to the power battery. 2. 5V power supply for each servo motor; power is supplied by turning on the main switch 201, unaffected by toggle switches. 3. Two-position switch 202, an 8-pin toggle switch with one position for going upstairs and the other for going downstairs. This position switch supplies power to the limit switches, photoelectric switches, and main motor 12. When the switch is in the upstairs position, power is supplied to the photoelectric switches, limit switches, and main motor 12 related to the upstairs process; power is not supplied to the photoelectric switches and limit switches related to the downstairs process. When the switch is in the downstairs position, the positive and negative terminals of the main motor 12's power supply are reversed, the vehicle travels in the opposite direction, and power is only supplied to the photoelectric switches and limit switches related to the downstairs process.

[0089] Second, the photoelectric switches and AND gate logic circuit consist of three parts: two upstairs photoelectric switches (upstairs ranging device 9) and two downstairs photoelectric switches (downstairs ranging device 10) and an AND gate circuit. This part of the circuit is designed so that when only two upstairs photoelectric switches or two downstairs photoelectric switches simultaneously sense an object, the AND gate circuit will send a signal. The AND gate chip can connect to two sets of photoelectric switches.

[0090] Third, the limit switches are divided into two parts: up-floor limit switches and down-floor limit switches, totaling five (two pressure-sensitive limit switches 1003, two return limit switches 808, and one clutch limit switch 1508), which are located in different positions and are marked on the connection diagrams for different devices.

[0091] Fourth, the dual-button switch module is divided into three parts: 1. A switch module that controls the engagement and disengagement of the clutch servo 1503; 2. A module that controls the lifting servo 601; 3. A switch module that controls the shutdown of the auxiliary motor 13. The power supply for the auxiliary motor 13 is separate from the power supply module. That is, the forward and reverse rotation of the auxiliary motor 13 is achieved through a two-position switch 202, and the start and stop are controlled by the switch module.

[0092] Example 2 like Figures 1 to 40 As shown, this embodiment provides a stair-climbing method, which uses the stair-climbing vehicle in Embodiment 1, and includes the following steps: Ascending the steps: The drive wheel 4 is in contact with the riser of the steps, and the lifting end of the pushing mechanism 8 descends. At the same time as the drive wheel 4 is started, the drive wheel 4 is lifted up, so that the drive wheel 4 climbs up the riser of the steps to the tread. Descending the stairs: When the drive wheel 4 reaches the junction of the tread and riser of the stairs, the lifting end of the lifting mechanism 8 descends, causing the drive wheel 4 to slide down the riser of the stairs onto the tread.

[0093] In one implementation, the specific process is as follows: The process of the stair-climbing vehicle descending the steps is as follows: When the drive wheel 4 reaches the edge of the step (the junction of the tread and the riser), the descending distance measuring device 10 detects the next step and activates the lifting mechanism 8 to descend to the tread of the next step. As the drive wheel 4 moves to the riser of the step, the lifting mechanism 8 rises back, driving the drive wheel 4 to slide down the riser of the step to the tread of the next step, thus completing the descent.

[0094] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A stair-climbing vehicle, characterized in that, include: Frame; Handlebars, which are mounted at the rear end of the frame; A walking device, the walking device including a drive wheel, the drive wheel being mounted at the rear end of the vehicle frame; A stair-climbing device, comprising a lifting mechanism, wherein the mounting end of the lifting mechanism is fixedly connected to the frame, the lifting end of the lifting mechanism is located between the drive wheel and the front end of the frame, and the lifting direction of the lifting end of the lifting mechanism forms an acute angle with the riser of the step. And a power unit for driving the power wheel and the lifting mechanism.

2. The stair-climbing vehicle according to claim 1, characterized in that, The walking device also includes an auxiliary support component, which is installed at the front end of the vehicle frame. The auxiliary support component is a caster wheel or a support leg.

3. The stair-climbing vehicle according to claim 1 or 2, characterized in that, The drive unit includes a main motor, an auxiliary motor, a worm gear reducer, a clutch, a drive shaft, a transmission mechanism, a main gear, and an auxiliary gear. The main motor is fixedly connected to the vehicle frame, and the motor shaft of the main motor is connected to the input shaft of the worm gear reducer. The output shaft of the worm gear reducer is coaxially and fixedly connected to the drive shaft. The drive shaft is rotatably connected to the vehicle frame, and the drive shaft transmits driving force to the axle of the drive wheel through the transmission mechanism. The auxiliary motor is fixedly connected to the vehicle frame, and the auxiliary gear is coaxially and fixedly connected to the motor shaft of the auxiliary motor. The main gear is rotatably connected to the drive shaft, and the drive shaft is connected to and disconnected from the main gear through the clutch. The lifting mechanism includes a vertical rack and a vertical slide groove. The vertical slide groove is fixedly connected to the vehicle frame, and the vertical rack is slidably connected in the vertical slide groove. The vertical rack meshes with the main gear and the auxiliary gear, and the bottom end of the vertical rack is the lifting end. Alternatively, the lifting mechanism may include a first link, a second link, a third link, and a fourth link. One end of the first link is hinged to the vehicle frame, and the other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to one end of the third link, and the other end of the third link is hinged to the vehicle frame. The third link is located below the first link. The end of the third link that is hinged to the vehicle frame is provided with a sector gear, which meshes with the main gear and the auxiliary gear. One end of the fourth link is fixedly connected to the other end of the second link, and the other end of the fourth link is the lifting end.

4. The stair-climbing vehicle according to claim 3, characterized in that, The transmission mechanism includes a driving wheel, a driven wheel, and a transmission belt. The driving wheel is coaxially and fixedly connected to the power shaft, and the driven wheel is coaxially and fixedly connected to the motor shaft of the auxiliary motor. The driving wheel and the driven wheel are connected by the transmission belt. The driving wheel and the driven wheel are sprockets, and the transmission belt is a chain; Alternatively, the driving wheel and the driven wheel may be pulleys, and the transmission belt may be a belt; Alternatively, the driving wheel and the driven wheel may be gears, and the transmission belt may be a toothed belt.

5. The stair-climbing vehicle according to claim 3, characterized in that, The clutch includes a first spline sleeve, a second spline sleeve, and a shifting mechanism; the first spline sleeve is coaxially fixedly connected to the main gear, the second spline sleeve is slidably connected to the power shaft via a guide key, and the shifting mechanism is used to drive the second spline sleeve to move along the power shaft.

6. The stair-climbing vehicle according to claim 5, characterized in that, The actuation mechanism includes a clutch servo, an actuation plate, a guide rod, a pressure spring, and a clutch travel switch. The clutch servo is fixedly connected to the vehicle frame, and the rotation axis of the clutch servo is horizontally arranged. A drive cam is fixedly connected to the rotation axis of the clutch servo, and the drive cam is fixedly connected to the actuation plate. The guide rod is fixedly connected to the vehicle frame and is parallel to the power shaft. The actuation plate is slidably connected to the second spline sleeve and the guide rod. The pressure spring is sleeved on the second spline sleeve and is connected between the head end of the second spline sleeve and the actuation plate. The clutch travel switch is located on the movement path of the actuation plate toward the first spline sleeve. Alternatively, the actuation mechanism may include a clutch servo, an actuation plate, a guide rod, a hinge seat, a pressure spring, an actuation lever, and a clutch travel switch. The clutch servo is fixedly connected to the frame, and its rotation axis is vertically upward. A drive cam is fixedly connected to the rotation axis of the clutch servo. The actuation lever is vertically fixedly connected to the drive cam and hinged to the tail end of the actuation plate. The middle part of the actuation plate is hinged to the frame via the hinge seat. The head end of the actuation plate has a connecting lug with a slotted hole. The guide rod is vertically fixedly connected to the tail end of the second spline sleeve and slidably connected within the slotted hole. The pressure spring is sleeved on the second spline sleeve and connected between the head end of the second spline sleeve and the head end of the actuation plate. The clutch travel switch is located on the movement path of the tail end of the actuation plate away from the first spline sleeve.

7. The stair-climbing vehicle according to claim 1, characterized in that, The lifting mechanism further includes a return limit switch; if the lifting mechanism includes a vertical rack, the vertical rack is provided with a stop contact, and the return limit switch is located on the rising path of the stop contact; if the lifting mechanism includes a fourth link, the return limit switch is located on the rising path of the fourth link.

8. The stair-climbing vehicle according to claim 2, characterized in that, It also includes a landing gear with support wheels, which is mounted at the rear end of the vehicle frame, with the drive wheel located between the support wheels and the auxiliary support.

9. The stair-climbing vehicle according to claim 8, characterized in that, The landing gear includes a landing gear servo, a mounting base, a first bracket, a second bracket, and a lifting block. The landing gear servo and the mounting base are both fixedly connected to the rear end of the vehicle frame. The first bracket and the second bracket each include a hinged end and a swing end. The hinged ends of the first bracket and the second bracket are hinged to the mounting base. The first bracket is located above the second bracket. The swing end of the first bracket overlaps the second bracket. The lifting block is fixedly connected to the swing end of the first bracket. The support wheel is located on the swing end of the second bracket. A limiting block is provided on the overlapping surface of the second bracket. The limiting block can abut against the end face of the swing end of the first bracket during the upward rotation of the second bracket. A through hole is provided on the overlapping surface of the second bracket. The through hole is located on the downward path of the lifting block. A constraint groove communicating with the through hole is provided on the surface of the second bracket. A lifting cam is fixedly connected to the rotating shaft of the landing gear servo. A lifting rod is provided at the end of the lifting cam. The lifting rod extends into the constraint groove. The lifting block is located on the upward path of the lifting rod.

10. The stair-climbing vehicle according to claim 8, characterized in that, It also includes a control device, which comprises a DLC controller, an upstairs distance measuring device, and a downstairs distance measuring device; both the upstairs distance measuring device and the downstairs distance measuring device are suspended on the vehicle frame, with the measuring head of the upstairs distance measuring device facing the rear of the rear end of the vehicle frame and the measuring head of the downstairs distance measuring device facing downwards; the upstairs distance measuring device, the downstairs distance measuring device, the stair climbing device, the power unit, and the landing gear are all electrically connected to the DLC controller.

11. The stair-climbing vehicle according to claim 10, characterized in that, It includes multiple upward distance measuring devices and multiple downward distance measuring devices. The multiple upward distance measuring devices are spaced apart along the width direction of the vehicle frame, and the multiple downward distance measuring devices are spaced apart along the width direction of the vehicle frame.

12. The stair-climbing vehicle according to claim 11, characterized in that, The upstairs distance measuring device and the downstairs distance measuring device are photoelectric switches, laser rangefinders, or ultrasonic rangefinders.

13. The stair-climbing vehicle according to claim 10, characterized in that, The control device also includes a pressure sensing device, which is installed at the lifting end of the lifting mechanism and is electrically connected to the DLC controller.

14. The stair-climbing vehicle according to claim 13, characterized in that, The pressure sensing device includes a connecting seat, a contact rod, and a pressure-sensitive travel switch. The connecting seat is fixed to the lifting end of the pushing mechanism and has a vertically arranged sliding hole. A sliding rod is vertically arranged on the contact rod and is sleeved on the sliding hole. A limiting head is provided at the end of the sliding rod away from the contact rod, and the diameter of the limiting head is larger than that of the sliding hole. A support spring is sleeved on the sliding rod, and the diameter of the support spring is larger than that of the sliding hole. The contact rod is located below the connecting seat, and the support spring is located between the contact rod and the connecting seat. The pressure-sensitive travel switch is fixed on the connecting seat and is located above the limiting head, and is located on the upward movement path of the limiting head.

15. The stair-climbing vehicle according to claim 1, characterized in that, The vehicle frame is equipped with a storage seat, and a power battery for providing electricity is installed in the storage seat.

16. A method for climbing stairs, characterized in that, The stair-climbing vehicle as described in any one of claims 1-15 includes the following steps: Ascending the stairs: The drive wheel is in contact with the riser of the stairs, the lifting end of the pushing mechanism descends, and the drive wheel is lifted at the same time as the drive wheel starts, so that the drive wheel climbs up the riser of the stairs to the tread. Descending the stairs: When the drive wheel reaches the junction of the tread and riser of the stairs, the lifting end of the pushing mechanism descends, causing the drive wheel to slide down the riser onto the tread.

Images