stair climbing machine

Abstract

The present invention relates to the field of intelligent travel technology, and specifically provides a stair climber, comprising a frame, a first electrically controlled telescopic rod, a track structure, and a connecting rod mechanism, wherein the track structure is mounted on the frame; the connecting rod mechanism comprises a support assembly, wherein the support assembly comprises a bracket and a wheel, wherein the bracket is hinged to the frame via a first rotating shaft; the wheel is connected to one end of the bracket; the first electrically controlled telescopic rod is connected to the other end of the bracket; wherein the first electrically controlled telescopic rod is hinged to the other end of the bracket, and the first electrically controlled telescopic rod drives the bracket to rotate around the first rotating shaft and extend from the frame, and the first rotating shaft is parallel to the axis of the wheel. The present invention has a compact structure, and the inclination angle and center of gravity of the stair climber are changed by the wheels, thereby achieving rapid climbing up and down stairs, without the need for manual pushing, thus saving labor costs.

Description

Technical Field

[0001] The present invention relates to the field of intelligent travel technology, and in particular to a stair climbing machine. Background Art

[0002] Most mobility devices on the market can only travel on flat ground, such as electric wheelchairs, but cannot travel on platforms with large steps such as stairs. Being able to travel only on flat ground has a limited scope of application and is easily restricted in daily life.

[0003] There are some stair climbers suitable for people with disabilities, but they are complex in structure and basically require manpower to push the vehicle, which is time-consuming and labor-intensive. In addition, the wheel assemblies of existing stair climbers are lifted vertically, which can cause external forces to directly act on the frame when subjected to external impact, causing the connection between the frame and the wheel assembly to break. Summary of the Invention

[0004] The purpose of the present invention is to provide a stair climber with a compact structure. The inclination angle and center of gravity of the stair climber can be changed by wheels, so as to achieve rapid going up and down stairs without the need for manual pushing, thus saving labor costs.

[0005] In order to solve the above technical problems, the present invention provides a stair climbing machine, comprising a frame, a first electrically controlled telescopic rod, a crawler structure and a connecting rod mechanism, wherein the crawler structure and the first electrically controlled telescopic rod are both mounted on the frame;

[0006] The connecting rod mechanism includes a support assembly, and the support assembly includes:

[0007] a bracket, the bracket being hinged to the vehicle frame via a first rotating shaft;

[0008] a wheel connected to the bracket;

[0009] The first electrically-controlled telescopic rod is hinged to the bracket, and the first electrically-controlled telescopic rod drives the bracket to rotate around the first rotating shaft and extend from the frame, and the first rotating shaft is parallel to the axis of the wheel.

[0010] Optionally, the two groups of link mechanisms are respectively a first link mechanism and a second link mechanism; the first link mechanism is installed at the front end of the frame, and the second link mechanism is installed at the rear end of the frame.

[0011] Optionally, the first link mechanism includes two groups of first support assemblies, the second link mechanism includes two groups of second support assemblies, and the two groups of first support assemblies and the two groups of second support assemblies are symmetrically arranged on both sides of the frame.

[0012] Optionally, the second support assembly further includes a first drive motor connected to the wheel.

[0013] Optionally, the front end of the track structure is located on the axial projection of the rotation trajectory of the wheel of the first support assembly away from the end of the bracket; the rear end of the track structure is located on the axial projection of the rotation trajectory of the wheel of the second support assembly away from the end of the bracket.

[0014] Optionally, the first rotating shaft is located at the bottom end of the frame, and the first electrically controlled telescopic rod is tangent to a rotation trajectory of an end of the bracket away from the wheel.

[0015] Optionally, the crawler structure includes a mounting frame, a crawler, a driving wheel, a driven wheel and a second drive motor, the mounting frame is mounted on the vehicle frame, the driving wheel and the driven wheel are mounted on the mounting frame, the crawler connects the driving wheel and the driven wheel; the second drive motor is connected to the driving wheel.

[0016] Optionally, two crawler structures are provided, and the two crawler structures are symmetrically arranged on both sides of the frame.

[0017] Optionally, the mounting frame has a first end and a second end connected in sequence, the second end is inclined in a direction away from the ground, the driving wheel is mounted on the second end, and the driven wheel is mounted on the first end.

[0018] Optionally, the connecting rod mechanism is arranged between the two crawler structures.

[0019] Optionally, the stair climbing machine further includes a seat, which is mounted on the frame.

[0020] Optionally, the seat is hinged to the frame, and the stair climber further includes a second electrically-controlled telescopic rod, which is mounted on the frame and connected to the seat.

[0021] Optionally, the seat includes a seat cushion, a backrest and an armrest, the seat cushion is hinged to the frame, the backrest is mounted on the seat cushion; the armrest is mounted on the backrest; and the second electrically controlled telescopic rod is hinged to the seat cushion.

[0022] Optionally, the seat cushion has a first connecting end and a second connecting end, the first connecting end is hinged to the frame, the distance from the second electrically controlled telescopic rod to the first connecting end is G, and the distance from the second electrically controlled telescopic rod to the second connecting end is F, wherein G:F=1:1~5.

[0023] Optionally, the stair climbing machine further includes a foot pedal, which is mounted on the frame.

[0024] Optionally, the footrest includes a connecting plate and a supporting plate, one end of the connecting plate is hinged to the vehicle frame, and the supporting plate is connected to the other end of the connecting plate.

[0025] Optionally, the stair climbing machine further includes a tool box, which is mounted on the frame.

[0026] Optionally, a shock absorber is further included, wherein the shock absorber is mounted on the bracket;

[0027] The bracket includes a bracket body and a triangular plate. One end of the bracket body is hinged to the first electrically controlled telescopic rod, and the other end of the bracket body is hinged to the triangular plate. The wheel is rotatably mounted on the triangular plate.

[0028] Optionally, the triangular plate has a first vertex connecting end, a second vertex connecting end and a third vertex connecting end, the first vertex connecting end is rotatably connected to the axis of the wheel, the second vertex connecting end is hinged to the bracket body, one end of the shock absorber is hinged to the third vertex connecting end, and the other end of the shock absorber is hinged to the bracket body.

[0029] Optionally, the second vertex connecting end is located below the first vertex connecting end.

[0030] Optionally, the wheel is an omnidirectional wheel.

[0031] According to the above-mentioned stair climbing machine, the present invention has at least the following beneficial effects:

[0032] (1) The stair climber of the present invention has a first electrically controlled telescopic rod, and the bracket is hinged to the frame. In this way, through the extension and retraction of the first electrically controlled telescopic rod, one end of the bracket is driven to move in a circular arc trajectory, and then the wheels at the other end of the bracket are driven to move up and down in a circular arc trajectory, and then the inclination angle of the stair climber is changed by the wheels, and then the center of gravity of the stair climber is changed. In conjunction with the crawler structure, the stair climber can automatically climb and descend stairs without the need for human push, and has a compact structure, and is safe and reliable.

[0033] (2) The wheels of the stair climber of the present invention rotate around the first rotating shaft. When the wheels extend out of the frame, the bracket is in an inclined state. When the wheels are subjected to force from the front or bottom and transmit the force to the bracket, the bracket in the inclined state can decompose the force received, so that the force transmitted to the frame can be decomposed in multiple directions, reducing the burden on the connection between the bracket and the frame and avoiding breakage of the connection.

[0034] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 11 is a structural diagram of a stair climbing machine provided by an embodiment of the present invention;

[0036] Figure 2 Schematic diagram of the internal structure of the stair climbing machine provided by an embodiment of the present invention;

[0037] Figure 3 1 is a schematic structural diagram of a connecting rod mechanism of a stair climbing machine provided by an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the crawler structure of the stair climbing machine provided by an embodiment of the present invention;

[0039] Figure 5 1 is a schematic structural diagram of a mounting frame of a stair climbing machine provided in an embodiment of the present invention;

[0040] Figure 6 is a simplified diagram of the wheel motion trajectory provided by an embodiment of the present invention;

[0041] Figure 7 This is a simplified diagram of the motion forces of a seat provided by an embodiment of the present invention;

[0042] Figure 8 yes Figure 3 A partial enlarged view of .

[0043] Reference numerals:

[0044] 1. Frame; 2. Connecting rod mechanism; 21. Bracket; 22. Wheel; 221. Omnidirectional wheel; 23. Shock absorber; 24. First electrically controlled telescopic rod; 25. Triangle plate; 251. First vertex connection end; 252. Second vertex connection end; 253. Third vertex connection end; 26. First rotating shaft; 3. Track structure; 31. Mounting frame; 311. First end; 312. Second end; 32. Track; 33. Driving wheel; 34. Driven wheel; 35. Second drive motor; 4. Seat; 41. Cushion; 42. Backrest; 43. Armrest; 44. Connecting plate; 45. Support plate; 5. Second electrically controlled telescopic rod; 6. Toolbox; 7. Control module. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0046] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0047] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0048] See also Figures 1 to 3 As shown, a preferred embodiment of the present invention provides a stair climbing machine, including a frame 1, a first electrically controlled telescopic rod 24, a connecting rod mechanism 2 and a crawler structure 3.

[0049] Frame 1; specifically, frame 1 is the overall frame of the stair climber. Frame 1 adopts an aluminum alloy frame structure with sufficient rigidity and sufficient installation space inside for installation of other components. In addition, the overall weight is light enough while meeting the rigidity requirements, which is conducive to the subsequent travel of the stair climber and reduces the burden on the crawler structure 3.

[0050] The crawler structure 3 is installed on the bottom of the frame 1. The crawler structure 3 can drive the stair climber to travel, and is the driving means of the stair climber.

[0051] The connecting rod mechanism 2 includes a support assembly, which includes a bracket 21 , a wheel 22 and a shock absorber 23 .

[0052] The bracket 21 is hinged to the frame 1; specifically, a first through hole is opened in the middle of the bracket 21, and a first fixing hole is opened in the frame 1. The first through hole is aligned with the first fixing hole, and a first rotating shaft 26 is installed in the first fixing hole, and one end of the first rotating shaft is inserted into the first through hole, so that the frame 1 can rotate with the first rotating shaft as the axis.

[0053] The wheel 22 is connected to one end of the bracket 21; specifically, when the bracket 21 rotates, the two ends of the bracket 21 respectively move in a circular trajectory, and the wheel 22 is connected to one end of the frame 1, so that the wheel 22 can move in a circular trajectory with one end of the frame 1.

[0054] The shock absorber 23 is installed on the bracket 21; wherein, a second fixing hole is opened at one end of the bracket 21 close to the wheel 22, and the wheel 22 is connected to the bracket 21 through a tripod, and the tripod is opened with a second through hole, and the second through hole and the second fixing hole are connected through a rotating shaft; one end of the shock absorber 23 is connected to the bracket 21, and the other end is connected to the tripod, and then when the wheel 22 is subjected to force, the tripod can rotate around the rotating shaft as the axis, thereby compressing or pulling the shock absorber 23, thereby achieving a shock-absorbing effect on the wheel 22.

[0055] The first electrically controlled telescopic rod 24 is hingedly connected to the other end of the bracket 21. Specifically, the first electrically controlled telescopic rod 24 is mounted on the vehicle frame 1 and connected to the other end of the vehicle frame 1. When the first electrically controlled telescopic rod 24 is extended, it drives the other end of the bracket 21 to move in a circular arc. It should be noted that the first electrically controlled telescopic rod 24 is a commercially available telescopic cylinder or oil cylinder equipped with an air or oil supply. The vehicle frame 1 is provided with a control module 7, which is electrically connected to the first electrically controlled telescopic rod 24 and includes a battery and a control motherboard.

[0056] The first electrically-controlled telescopic rod 24 is hinged to the other end of the bracket 21 , and the first electrically-controlled telescopic rod 24 drives the bracket 21 to rotate around the first rotating shaft and extend from the frame 1 . The first rotating shaft is parallel to the axis of the wheel 22 .

[0057] The above-mentioned stair climber moves away, and can walk on flat ground by using wheels 22 or track structure 3. When the wheel 22 is moving, the first electrically-controlled telescopic rod 24 is in a retracted state, pulling one end of the bracket 21, so that the wheel 22 is extended out of the frame 1, and the stair climber moves through the wheel 22; when the track structure 3 is moving, the first electrically-controlled telescopic rod 24 is in an extended state, pressing one end of the bracket 21 down, so that the wheel 22 is retracted into the frame 1, and the stair climber is driven to walk on flat ground through the track structure 3.

[0058] When it is necessary to climb stairs, the crawler structure 3 drives the stair climber to the side of the stairs and faces away from the stairs. At this time, the wheels 22 are in the retracted state, and the crawler structure 3 drives the stair climber backward to abut against the stair surface. The stair climber gradually tilts until the inclination angle of the stair climber is consistent with that of the stairs. Then, the stair climber starts to climb the stairs while maintaining the inclination angle. When it reaches the last step, the stair climber suddenly returns to the horizontal level due to the lack of subsequent stairs for support, resulting in unstable vibrations. Therefore, when it reaches the top of the stairs, the rear wheels extend to support the stair surface to ensure the stability of the stair climber. After the stair climber has completely reached the top surface, the rear wheels are slowly retracted to avoid vibrations caused by sudden descent.

[0059] When it is necessary to go downstairs, the crawler structure 3 drives the stair climber to the side of the stairs and faces the stairs. At this time, the wheels 22 are in the retracted state, and the crawler structure 3 drives the stair climber to extend out of the first step of the stairs and gradually tilt. The operator can control the first electrically controlled telescopic rod 24 to drive the wheels 22 to extend and retract according to the conditions of the stairs, so that the stair climber can travel on the stairs.

[0060] It should be noted that the cooperation between the first electrically-controlled telescopic rod 24 and the connecting rod mechanism 2 can be to press down the bracket 21 to extend the wheel 22, and pull the bracket 21 to retract the wheel 22, or to press down the bracket 21 to retract the wheel 22, and pull the bracket 21 to extend the wheel 22. The specific cooperation method can be flexibly changed according to needs.

[0061] In some preferred embodiments of the present invention, two linkage mechanisms 2 are provided, namely a first linkage and a second linkage. The first linkage is mounted at the front end of the frame 1, and the second linkage is mounted at the rear end. This arrangement of two linkage mechanisms 2, one at the front and one at the rear end of the frame 1, provides the stair climber with front and rear wheels. Independently controlling the two sets of wheels 22 increases the flexibility of the stair climber for climbing and descending stairs, making it suitable for a wider variety of staircases and meeting various needs. Simultaneous adjustment of both wheels allows the machine to adapt to varying road conditions and crowds. For rocky terrain, the wheels can be extended further to increase mobility. For flat terrain, the wheels can be extended less, lowering the center of gravity and ensuring safer, faster travel. This adjustable position makes it easier for passengers to transfer to the machine from different locations, such as onto the high seat 4 or onto a bed, simply by adjusting the wheels to align with the surface. Furthermore, when going up or down a slope, the angle of the seat 4 can be adjusted by adjusting the distance the front and rear wheels are extended. The maximum angle for maintaining the seat 4 during up and down slopes is the angle at which one of the front and rear wheels is fully retracted. Within this adjustable angle, the seat 4 remains balanced, enhancing both comfort and safety when going up and down slopes.

[0062] It should be noted that the connecting rod mechanism 2 at the rear end of the frame 1 can use a bracket 21 to connect to the two wheels 22 at the same time, and a first electrically controlled telescopic rod 24 is used to control the bracket 21. This can save internal space and ensure the unified deployment of the two rear wheels 22 to ensure the synchronization rate.

[0063] In some preferred embodiments of the present invention, the first linkage mechanism 2 includes two sets of first support assemblies, and the second linkage mechanism 2 includes two sets of second support assemblies. The two sets of first support assemblies and the two sets of second support assemblies are symmetrically arranged on either side of the frame 1. Thus, each set of linkage mechanisms 2 is provided with two support assemblies, meaning that the stair climber is provided with a total of four support assemblies, and correspondingly, four wheels 22 are provided, distributed at the four corners. This ensures the stability of the stair climber and allows for more flexible coordination during climbing and descending, thereby ensuring efficient descent and climbing.

[0064] In some preferred embodiments of the present invention, the connecting rod mechanism 2 located at the rear end of the frame 1 further includes a first drive motor, which is connected to the wheel 22. In this way, the wheel 22 located at the rear end of the frame 1 is connected to the first drive motor, that is, the rear wheel of the stair climber is connected to the first drive motor, and the first drive motor can drive the rear wheel to rotate, thereby driving the stair climber to move, providing additional driving force for the stair climber to climb and descend stairs, and reducing the burden on the crawler structure 3; and when encountering some muddy or potholes, the crawler structure 3 cannot move, and the wheel 22 can be extended and driven by the rear wheel to achieve the wheel 22 driving the stair climber to move. The drive of the crawler structure 3 and the wheel 22 can be flexibly switched to meet the needs of various terrains.

[0065] In some preferred embodiments of the present invention, the front end of the crawler structure 3 is located on the axial projection of the rotation trajectory of the wheel 22 of the first support assembly away from the bracket 21, and the rear end of the crawler structure 3 is located on the axial projection of the rotation trajectory of the wheel 22 of the second support assembly away from the bracket 21. Specifically, the wheel at the front end of the frame 1 is flush with the front end of the crawler structure 3, and the first electrically controlled telescopic rod 24 drives the front wheel to move in a circular trajectory, with the tangent point of the circular trajectory located exactly at the front end of the crawler 32. In this way, when the wheel 22 moves, it will not protrude too much, as excessive protrusion may easily exceed the crawler 32, thereby supporting the frame 1 outside the crawler 32. Since the movement is estimated to be circular, the stair climber will move forward too far, posing a safety hazard. However, the front wheel is aligned with the front end of the crawler 32 and can be quickly extended and retracted. The front wheel only serves as support and does not interfere with the movement of the stair climber, thereby improving the safety factor.

[0066] See also Figure 6As shown, in some preferred embodiments of the present invention, the first rotating shaft 26 is located at the bottom end of the frame 1, and the first electrically controlled telescopic rod 24 is tangential to the rotational trajectory of the end of the bracket 21 away from the wheel 22. This positioning of the first rotating shaft 26 at the bottom end of the frame 1 ensures that when the wheel 22 is extended, the horizontal position of the wheel 22 does not change significantly between the extended and retracted states; the change primarily occurs in the vertical direction. This prevents excessive movement of the stair climber when the wheel 22 is extended, thereby improving the safety factor of the stair climber. Furthermore, the tangential rotational trajectory of the first electrically controlled telescopic rod 24 and the end of the bracket 21 away from the wheel 22 ensures that the force of the first electrically controlled telescopic rod 24 is optimally applied to the bracket 21, conserving power for the first electrically controlled telescopic rod 24.

[0067] See also Figure 4 As shown, in some preferred embodiments of the present invention, the stair climber further includes a crawler structure 3, which includes a mounting frame 31, a crawler track, a driving wheel 33, a driven wheel 34, and a second drive motor 35. The mounting frame 31 is mounted on the vehicle frame 1, the driving wheel 33 and the driven wheel 34 are mounted on the mounting frame 31, and the crawler track connects the driving wheel 33 and the driven wheel 34; the second drive motor 35 is connected to the driving wheel 33. Specifically, the second drive motor 35 drives the driving wheel 33 to rotate, and the driving wheel 33 drives the driven wheel 34 to rotate through the crawler track, thereby driving the crawler track to rotate, so that the crawler track drives the stair climber to travel.

[0068] In some preferred embodiments of the present invention, two crawler structures 3 are provided, and the two crawler structures 3 are symmetrically arranged on either side of the vehicle frame 1. Thus, by providing two crawler structures 3, and with the two crawlers respectively arranged on either side of the vehicle frame 1, the two crawler structures 3 can be independently controlled, i.e., the two crawlers allow a speed difference. By controlling the speed difference between the two crawlers, the stair climber can be turned. In particular, when the stair climber needs to make a U-turn or turn midway through climbing, this can be achieved through differential speed control of the two crawlers. Furthermore, in conjunction with the four wheels 22, the stair climber can accommodate a wider range of terrains, allowing for a wider range of actions and adapting to various situations.

[0069] In some preferred embodiments of the present invention, the connecting rod mechanism 2 is disposed between the two crawler structures 3. Specifically, when the connecting rod mechanism 2 is disposed outside the crawler structures 3, since part of the connecting rod mechanism 2 is provided with a motor, the motor will occupy a portion of the space, and therefore the connecting rod mechanism 2 and the crawler structure 3 need to maintain a certain distance, which will increase the volume of the entire stair climber. However, by disposing the connecting rod mechanism 2 between the two crawler structures 3, the motor of the connecting rod mechanism 2 can be disposed inside the frame 1, avoiding occupying external space and reducing the volume of the stair climber.

[0070] See also Figure 5As shown, in some preferred embodiments of the present invention, the mounting frame 31 has a first end 311 and a second end 312 connected in sequence. The second end 312 is tilted away from the ground. The driving wheel 33 is mounted on the second end 312, and the driven wheel 34 is mounted on the first end 311. In this way, the second end 312 of the mounting frame 31 is located at the rear end of the vehicle frame 1. The second end 312 adopts a tilted structure away from the ground. When climbing stairs, the second end 312 can be supported on the stair surface, facilitating the start of climbing and meeting the needs of first steps of various heights. At the same time, when the height of the second end 312 is insufficient to abut the stair surface of the first stair, the wheel 22 can be extended to increase the height, especially by extending the rear wheel, thereby increasing the height of the second end 312.

[0071] In some preferred embodiments of the present invention, the stair climbing machine further comprises a seat 4, which is mounted on the frame 1. In this way, the seat 4 can facilitate passengers to stay stable on the stair climbing machine.

[0072] In some preferred embodiments of the present invention, the seat 4 is hinged to the frame 1, and the stair climber further includes a second electrically controlled telescopic rod 5, which is mounted on the frame 1 and connected to the seat 4. In this way, the seat 4 is hinged to the frame 1. Specifically, one side of the seat 4 is hinged to the top of the frame 1 via a rotating shaft, the second telescopic rod is mounted inside the frame 1, and the second telescopic rod can be connected to the other side of the seat 4. The second telescopic rod controls the extension and retraction of the telescopic rod, thereby driving the movement of the other side of the seat 4. The seat 4 rotates around the rotating shaft, thereby adjusting the angle of the seat 4. During the travel of the stair climber, the angle of the seat 4 can be adjusted according to the terrain or other conditions, and the lifting and lowering of the four wheels 22 are coordinated to ensure the stability of the center of gravity of the seat 4 and the stability of the travel of the stair climber.

[0073] It should be noted that the rear end of the seat 4 is hinged to the vehicle frame 1 , and the seat 4 can rotate from front to back or from back to front.

[0074] In some preferred embodiments of the present invention, the seat 4 includes a seat cushion 41, a backrest 42, and armrests 43. The seat cushion 41 is hinged to the vehicle frame 1, the backrest 42 is mounted on the seat cushion 41, and the armrests 43 are mounted on the backrest 42. Thus, the seat 4 is provided with the seat cushion 41, which can ensure a more comfortable experience for the occupant, and the backrest 42 and armrests 43 can improve the occupant's stability.

[0075] See also Figure 7As shown, the seat cushion has a first connecting end and a second connecting end. The first connecting end is hinged to the frame. The distance between the second electrically controlled telescopic rod 5 and the first connecting end is G, and the distance between the second electrically controlled telescopic rod 5 and the second connecting end is F, where G:F = 1:1-5. A small distance between the first connecting end and the second electrically controlled telescopic rod ensures that the telescopic rod can be extended and retracted over a small distance, i.e., controlling large-angle rotation of the seat. However, this requires a high-power second electrically controlled telescopic rod. However, a high-power second electrically controlled telescopic rod is bulky, which increases the overall size of the stair climber. However, if the distance between the first connecting end and the second electrically controlled telescopic rod is too large, a second electrically controlled telescopic rod with a larger travel distance is required, which also increases the overall size of the stair climber. Therefore, the distance ratio of G and F can be set according to actual needs. A solution with a G:F ratio of 1:1-5 can achieve a trade-off between the two conditions, fully utilizing the space of the stair climber while reducing its size.

[0076] Furthermore, in some preferred embodiments of the present invention, G:F=1:5.

[0077] In some preferred embodiments of the present invention, the stair climber further comprises a foot pedal, which is mounted on the frame 1. In this way, the foot pedal can facilitate the support of the legs of the passengers while riding, thereby improving comfort and stability.

[0078] In some preferred embodiments of the present invention, the footrest includes a connecting plate 44 and a support plate 45. One end of the connecting plate 44 is hinged to the frame 1, and the support plate 45 is connected to the other end of the connecting plate 44. In this way, the connecting plate 44 can rotate relative to the seat cushion 41, and the support plate 45 can rotate relative to the connecting plate 44. In this way, the passenger's legs can move flexibly, improving the passenger's comfort.

[0079] In some preferred embodiments of the present invention, the stair climbing machine further comprises a tool box 6, which is mounted on the vehicle frame 1. In this way, the tool box 6 is mounted on the vehicle frame 1, and the tool box 6 can be used to hold tools or daily necessities for easy carrying.

[0080] In some preferred embodiments of the present invention, the bracket includes a bracket body and a triangular plate 25 , one end of the bracket body is hinged to the first electrically controlled telescopic rod 24 , the other end of the bracket body is hinged to the triangular plate 25 , and the wheel 22 is rotatably mounted on the triangular plate 25 .

[0081] In some preferred embodiments of the present invention, the triangular plate has a first vertex connection end 251, a second vertex connection end 252 and a third vertex connection end 253, the first vertex connection end is rotatably connected to the axis of the wheel, the second vertex connection end 252 is hinged to the bracket body, one end of the shock absorber 23 is hinged to the third vertex connection end 253, and the other end of the shock absorber 23 is hinged to the bracket body. Specifically, when the wheel 22 is subjected to force, the wheel 22 drives the triangular plate 25 to rotate with the second vertex connection end 252 as the axis, and then the third vertex connection end 253 will press or pull the shock absorber 23 to achieve shock absorption, so that the wheel 22 can fully absorb shock when subjected to force from the front or bottom, and the force is fully decomposed, and the shock absorption effect is better. At the same time, a shock absorber is provided to further reduce the shock of the bracket through the shock absorber, which can further protect the connection and reduce the vibration to the passengers.

[0082] See also Figure 8 As shown, in some preferred embodiments of the present invention, the second vertex connection end is located below the first vertex connection end. This ensures that the rotation axis of the set plate is always lower than the axis of the wheel, ensuring that when the wheel is subjected to force, the set plate reacts more sensitively and rotates fully, thereby cooperating with the shock absorber to fully absorb vibration.

[0083] In some preferred embodiments of the present invention, the wheels 22 are omnidirectional wheels 221. Existing stair climbers mostly use universal wheels 22, particularly the front wheels. A universal wheel is a wheel that can rotate about a vertical axis, which is subject to significant uncontrollable factors. The stability of the wheel 22 is crucial when climbing or descending stairs. Sudden rotation of the universal wheel can cause the overall center of gravity of the stair climber to shift, posing a serious safety hazard. Furthermore, the direction of the universal wheel is uncontrollable, making it difficult for the first electrically controlled telescopic rod 24 to accurately retract it into the frame 1. The omnidirectional wheel 221, on the other hand, offers greater overall controllability and safety, making it more suitable for stair climbers. Furthermore, when used with the shock absorber 23, it can provide better shock absorption.

[0084] Furthermore, the wheel 22 is a Mename wheel.

[0085] The preferred embodiment of the present invention provides a stair climbing machine, which, compared with the prior art:

[0086] (1) The stair climber of the present invention has a first electrically controlled telescopic rod, and the bracket is hinged to the frame. In this way, through the extension and retraction of the first electrically controlled telescopic rod, one end of the bracket is driven to move in a circular arc trajectory, and then the wheels at the other end of the bracket are driven to move up and down in a circular arc trajectory, and then the inclination angle of the stair climber is changed by the wheels, and then the center of gravity of the stair climber is changed. In conjunction with the crawler structure, the stair climber can automatically climb and descend stairs without the need for human push, and has a compact structure, and is safe and reliable.

[0087] (2) The wheels of the stair climber of the present invention rotate around the first rotating shaft. When the wheels extend out of the frame, the bracket is in an inclined state. When the wheels are subjected to force from the front or bottom and transmit the force to the bracket, the bracket in the inclined state can decompose the received force, so that the force transmitted to the frame can be decomposed in multiple directions, reducing the burden on the connection between the bracket and the frame and avoiding breakage of the connection. At the same time, a shock absorber is provided to further reduce the shock of the bracket, which can further protect the connection and reduce the vibration to the passengers.

[0088] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A stair climbing machine, comprising a vehicle frame (1), a first electrically controlled telescopic rod (24), a connecting rod mechanism (2) and a crawler structure (3), wherein the crawler structure (3) and the first electrically controlled telescopic rod (24) are both mounted on the vehicle frame (1); The connecting rod mechanism (2) comprises a support assembly, and the support assembly comprises: A bracket (21), the bracket (21) being hinged to the vehicle frame (1) via a first rotating shaft; A wheel (22), the wheel (22) being connected to the bracket (21); The first electrically controlled telescopic rod (24) is hinged to the bracket (21), and the first electrically controlled telescopic rod (24) drives the bracket (21) to rotate around the first rotating shaft (26) and extend from the vehicle frame (1), and the first rotating shaft (26) is parallel to the axis of the wheel (22); The first rotating shaft (26) is located at the bottom end of the vehicle frame (1), and the first electrically controlled telescopic rod (24) is tangent to the rotation trajectory of the end of the bracket (21) away from the wheel (22); When the bracket (21) rotates, both ends of the bracket (21) respectively move in circular arc tracks; a first through hole is provided in the middle of the bracket (21), and one end of the first rotating shaft (26) is inserted into the first through hole; The connecting rod mechanism (2) is provided with two groups, and the two groups of the connecting rod mechanism (2) are respectively a first connecting rod mechanism and a second connecting rod mechanism; the first connecting rod mechanism is installed at the front end of the vehicle frame (1), and the second connecting rod mechanism is installed at the rear end of the vehicle frame (1); The first link mechanism includes two groups of first support assemblies, and the second link mechanism includes two groups of second support assemblies, and the two groups of the first support assemblies and the two groups of the second support assemblies are symmetrically arranged on both sides of the vehicle frame (1); The front end of the crawler structure (3) is located on the axial projection of the rotation trajectory of the wheel (22) of the first supporting assembly away from the end of the bracket (21); the rear end of the crawler structure (3) is located on the axial projection of the rotation trajectory of the wheel (22) of the second supporting assembly away from the end of the bracket (21).

2. The stair climbing machine according to claim 1, characterized in that The second support assembly further includes a first drive motor, which is connected to the wheel (22).

3. The stair climbing machine according to claim 1, characterized in that The crawler structure (3) comprises a mounting frame (31), a crawler (32), a driving wheel (33), a driven wheel (34) and a second drive motor (35); the mounting frame (31) is mounted on the vehicle frame (1); the driving wheel (33) and the driven wheel (34) are mounted on the mounting frame (31); the crawler connects the driving wheel (33) and the driven wheel (34); and the second drive motor (35) is connected to the driving wheel (33).

4. The stair climbing machine according to claim 3, characterized in that Two crawler structures (3) are provided, and the two crawler structures (3) are symmetrically arranged on both sides of the vehicle frame (1).

5. The stair climbing machine according to claim 3, wherein: The mounting frame (31) has a first end (311) and a second end (312) connected in sequence, the second end (312) being inclined in a direction away from the ground, the driving wheel (33) being mounted on the second end (312), and the driven wheel (34) being mounted on the first end (311).

6. The stair climbing machine according to claim 4, wherein: The connecting rod mechanism (2) is arranged between the two crawler structures (3).

7. The stair climbing machine according to claim 1, wherein: The stair climbing machine further comprises a seat (4), and the seat (4) is mounted on the frame (1).

8. The stair climbing machine according to claim 7, wherein: The seat (4) is hinged to the vehicle frame (1), and the stair climbing machine further comprises a second electrically controlled telescopic rod (5), the second electrically controlled telescopic rod (5) being mounted on the vehicle frame (1), and the second electrically controlled telescopic rod (5) being connected to the seat (4).

9. The stair climbing machine according to claim 8, wherein: The seat (4) comprises a seat cushion (41), a backrest (42) and an armrest (43); the seat cushion (41) is hinged to the vehicle frame (1); the backrest (42) is mounted on the seat cushion (41); the armrest (43) is mounted on the backrest (42); and the second electrically controlled telescopic rod (5) is hinged to the seat cushion.

10. The stair climbing machine according to claim 9, wherein: The seat cushion (14) has a first connecting end and a second connecting end, the first connecting end is hinged to the vehicle frame (1), the distance between the second electrically controlled telescopic rod (5) and the first connecting end is G, and the distance between the second electrically controlled telescopic rod (5) and the second connecting end is F, wherein G:F=1:1-5.

11. The stair climbing machine according to claim 1, wherein The stair climbing machine further comprises a foot pedal, which is mounted on the vehicle frame (1).

12. The stair climbing machine according to claim 11, wherein: The foot pedal comprises a connecting plate (44) and a supporting plate (45), one end of the connecting plate (44) is hinged to the vehicle frame (1), and the supporting plate (45) is connected to the other end of the connecting plate (44).

13. The stair climbing machine according to claim 1, wherein: The stair climbing machine further comprises a tool box (6), and the tool box (6) is mounted on the vehicle frame (1).

14. The stair climbing machine according to claim 1, characterized in that The bracket (21) includes a bracket body and a triangular plate (25), one end of the bracket body is hinged to the first electrically controlled telescopic rod (24), the other end of the bracket body is hinged to the triangular plate (25), and the wheel (22) is rotatably mounted on the triangular plate (25).

15. The stair climbing machine according to claim 14, characterized in that : Also includes a shock absorber (23), the shock absorber (23) is mounted on the bracket (21); The triangular plate (25) has a first vertex connecting end (251), a second vertex connecting end (252) and a third vertex connecting end (253); the first vertex connecting end (251) is rotatably connected to the axis of the wheel (22); the second vertex connecting end (252) is hinged to the bracket body; one end of the shock absorber (23) is hinged to the third vertex connecting end (253); and the other end of the shock absorber (23) is hinged to the bracket body.

16. The stair climbing machine according to claim 15, characterized in that The second top corner connection end (252) is located below the first top corner connection end (251).

17. The stair climbing machine according to claim 1, characterized in that The wheel (22) is an omnidirectional wheel (221).

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