Combined type caterpillar band chassis structure of stair climbing machine and operation mode of combined type caterpillar band chassis structure
The composite crawler chassis structure and automatic switching mode solve the terrain adaptability and safety issues of the crawler stair climbing vehicle, achieving smooth passage and comfortable travel on irregular terrain.
Patent Information
- Application Number
- CN202511229373.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-29
- Publication Date
- 2025-10-03
AI Technical Summary
Existing crawler stair climbing vehicles have poor terrain adaptability and are difficult to adapt to irregular stairs and raised roads. The left and right tracks lack coordination, the driving comfort is low, and there are safety hazards.
It adopts a composite crawler chassis structure, including a vehicle chassis bracket, track assembly, wheel assembly, balance assembly, power assembly and control assembly. Through the independent track structure and automatic switching mode, it achieves adaptability to irregular terrain and smooth travel.
It realizes barrier-free passage on irregular terrain, improves safety and comfort, is easy to operate, avoids vehicle body tilting and overturning, and enhances terrain adaptability.
Smart Images
Figure CN120735863A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of stair climbing machines, and in particular to a composite crawler chassis structure and an operating mode of a stair climbing machine. Background Art
[0002] Current tracked stair climbing vehicles (such as stair climbing wheelchairs) have obvious technical defects in practical applications and are difficult to adapt to the needs of complex scenarios. The specific shortcomings are as follows: 1. Poor terrain adaptability: Existing crawler stair climbing vehicles use a fixed straight track structure. The track length is limited by the space of the corner platform of residential stairs (usually about 80 cm), and can only run smoothly on regular stairs with a height of about 16 cm and a depth of about 28 cm. When facing uneven irregular stairs and raised road surfaces (such as humpback bridges and earth mounds), the straight track cannot adjust the angle according to the terrain, causing the center of gravity of the vehicle to swing front and back, and even tipping over, causing personal injury.
[0003] 2. Insufficient coordination between the left and right tracks: The existing track structure is fixed to the frame, and the steps must be accurately aligned before climbing. If not, the track on the side closest to the step will climb up the step first, causing the vehicle body to tilt to the other side, causing a safety accident.
[0004] 3. Low driving comfort: The fixed straight track takes up a lot of space in the vehicle body, which limits the shock absorption design of the wheel structure; when driving on flat ground, the wheel mode lacks effective shock absorption, and the passenger experience is poor.
[0005] In view of the above defects, there is an urgent need for a stair climbing machine chassis structure that can adapt to irregular terrain, does not require precise alignment of steps, and takes comfort into consideration. Summary of the Invention
[0006] In response to the above problems, the present invention provides a composite crawler chassis structure and operating mode of a stair climber. The structure is adaptable to scenes such as irregular stairs and mountain roads. It is easy to operate and highly safe, while taking into account the comfort of traveling on flat ground, and is suitable for barrier-free travel.
[0007] In order to solve the above problems, the technical solution adopted by the present invention is: The present invention provides a composite crawler chassis structure of a stair climbing machine, comprising a vehicle chassis bracket, a crawler assembly, a wheel assembly, a balancing assembly, a power assembly and a control assembly; The chassis bracket includes a left side portion and a right side portion of the vehicle body, and is composed of a left inner panel, a left outer panel, a right inner panel, a right outer panel, a front connecting pipe, a rear connecting pipe, and a balance shaft support plate; The crawler assemblies are symmetrically arranged on the left and right sides of the vehicle chassis bracket. The crawler assembly on each side includes a front crawler structure, a front middle crawler structure, a rear crawler structure and a rear middle crawler structure. There are a total of 8 crawler structures on both sides, and each crawler structure can move independently. The wheel assembly includes a front wheel structure and a rear wheel structure, the front wheel structure is provided with an omnidirectional wheel, and the rear wheel structure is provided with a motor hub; The balancing assembly includes a front balancing shaft, a rear balancing shaft, and a balancing shaft support plate. The balancing shaft support plate is fixed between the front connecting tube and the rear connecting tube of the vehicle chassis bracket. The front balancing shaft and the rear balancing shaft are sequentially passed through the balancing shaft support plate in the transverse direction. The balancing shaft support plate is isolated from the front and rear balancing shafts by a rubber sleeve, so that they have sufficient angular swing space. The power assembly includes a travel motor, a double-row gear, a single-row gear, a track spindle and a power synchronization tube. The travel motor drives the double-row gear, and the double-row gear transmits power to the single-row gears at the front and rear ends of the vehicle chassis bracket respectively. The single-row gears are fixed to the power synchronization tube by key pins. The front end of the power synchronization tube is covered with a front crawler structure and a front middle crawler structure, and the rear end is covered with a rear crawler structure and a rear middle crawler structure. The track spindle is fixedly installed in the power synchronization tube. The control component includes a controller, a pressure sensor, an angle sensor, a wheel mode key and a front sensor. The pressure sensor is arranged on the friction plates of the front track structure and the rear track structure. The angle sensor and the front sensor are arranged on the vehicle chassis bracket. The controller is electrically connected to the motor hub, the travel motor, the pressure sensor, the angle sensor and the front sensor.
[0008] Preferably, the front track structure on the left side of the vehicle body chassis bracket is connected to the front balance shaft through a front connecting plate, and the rear track structure on the left side is connected to the rear balance shaft through a rear connecting plate; the connection method between the front track structure and the rear track structure on the right side of the vehicle body chassis bracket and the front balance shaft and the rear balance shaft is the same as that on the left side; the front connecting pipe and the rear connecting pipe are respectively connected laterally to the left inner plate and the right inner plate of the vehicle body chassis bracket.
[0009] Preferably, it also includes a front wheel structure electric push rod and a rear wheel structure electric push rod, the two ends of the front wheel structure electric push rod are respectively connected to the front wheel structure and the vehicle chassis bracket, and the two ends of the rear wheel structure electric push rod are respectively connected to the rear wheel structure and the vehicle chassis bracket; when the pressure sensor detects the pressure signal of the front track structure or the rear track structure and transmits it to the controller, the controller drives the front wheel structure electric push rod and the rear wheel structure electric push rod to retract, driving the tail ends of the front wheel structure and the rear wheel structure to rise, so that the omnidirectional wheel and the motor hub leave the ground, and the front track structure and the rear track structure naturally land on the ground.
[0010] Preferably, the control component also includes an encoder, which is electrically connected to the controller; when the angle sensor detects that the inclination angle of the vehicle chassis bracket is greater than 15°, the encoder starts counting; when the encoder count reaches a preset number of revolutions for the vehicle body to completely enter the stairs, the controller controls the tail ends of the front track structure and the rear track structure to fall, forming a straight surface together with the front middle track structure and the rear middle track structure, and all 8 track structures are flat and in contact with the stair steps.
[0011] Preferably, it also includes a front middle track electric push rod, a tension spring and a limit column, the front middle track electric push rod connects the front middle track structure and the vehicle chassis bracket, the tension spring respectively connects the front middle track structure, the rear middle track structure and the vehicle chassis bracket, and the limit column is arranged on the front middle track structure and the rear middle track structure; when the vehicle chassis bracket continues to tilt >15° and the front sensor does not sense the step, the controller drives the front wheel structure electric push rod and the rear wheel structure electric push rod to push out and stop after 3 seconds, driving the front wheel structure and the rear wheel structure tail to move downward, so that the side plate protrusion turns away and releases the pressure on the limit column, and the front middle track structure and the rear middle track structure reset upward under the tension of the tension spring to form a triangular oblique angle.
[0012] Preferably, the single-row gear is axially sleeved on the power synchronization tube, and the inner hole of the single-row gear and the outer surface of the power synchronization tube are provided with matching key slots, and the key pin is inserted into the key slot to fix the single-row gear and the power synchronization tube; when the power synchronization tube rotates, the front track structure and the front middle track structure, and the rear track structure and the rear middle track structure of the set are synchronously driven to rotate.
[0013] Preferably, it also includes a front connecting member and a rear connecting member, the front connecting member connects the front wheel structure electric push rod and the front wheel structure, and the rear connecting member connects the rear wheel structure electric push rod and the rear wheel structure; when the wheel mode key is pressed, the controller instructs the front wheel structure electric push rod and the rear wheel structure electric push rod to be pushed out, and the thrust acts on the front wheel structure and the rear wheel structure through the rear connecting member and the front connecting member, so that the motor hub and the omnidirectional wheel contact the ground and lift the vehicle chassis bracket, switching to the wheel travel state.
[0014] Preferably, when the front crawler structure on one side of the vehicle body climbs up the step first, the tail end of the front crawler structure on this side rises, and the thrust is applied to the front balancing shaft through the front connecting plate and the rear connecting plate, so that the front balancing shaft swings in the forward direction; under the joint action of the limit of the balancing shaft support plate and the rubber sleeve, the other end of the front balancing shaft swings in the opposite direction, and the reverse force is applied to the front crawler structure on this side through the rear connecting plate and the front connecting plate on the other side, so as to achieve the offset and weakening of the forces on both sides and avoid the vehicle body from tilting.
[0015] Preferably, the control component also includes a rear sensor, which is arranged at the rear end of the vehicle chassis bracket and electrically connected to the controller; the angle sensor and encoder are arranged in the middle of the vehicle chassis bracket, for real-time detection of the vehicle body tilt angle and track rotation speed.
[0016] Preferably, the wheel assembly further includes a shock-absorbing spring, which is provided at the connection portion between the front wheel structure, the rear wheel structure and the vehicle chassis support, and is used to buffer vibrations during travel in the wheel mode.
[0017] Operation mode Flat-ground wheel mode: The front and rear wheel structures are level, supporting the chassis frame; the motor hub drives the vehicle, the omnidirectional wheel assists steering, and the shock-absorbing springs buffer vibrations.
[0018] Automatic switching of wheel → track: The tail end of the front / rear track structure is raised about 30 degrees. When encountering a step, the track is placed on the step. The pressure sensor sends a signal to the controller, driving the electric push rod to retract, the wheel leaves the ground, and the track lands.
[0019] Stair climbing process: When the vehicle body tilts more than 15°, the encoder counts. After fully entering the stairs, the 8 tracks are flat and in contact with the steps together. When the vehicle is about to finish climbing the stairs, the front sensor does not detect the steps, the electric push rod is pushed out within a limited time, and the front middle / rear middle tracks are reset by the tension spring to form a triangular angle, making it easier to pass the last step.
[0020] Track→wheel switching: Press the "wheel mode button", the controller instructs the electric push rod to push out, the wheel contacts the ground and lifts the vehicle body, switching to wheel mode.
[0021] The beneficial effects of the present invention are: 1. Strong terrain adaptability: 8 independent crawlers can adjust the angle according to the height of the steps, and can pass through irregular stairs and raised roads to achieve barrier-free passage; 2. High safety: The balance component uses the seesaw principle to solve the problem of vehicle body tilt when it is not aligned with the step, avoiding overturning or deformation; 3. Easy to operate: It can realize automatic switching between wheels and tracks without manual adjustment, which is suitable for the elderly and people with mobility difficulties; 4. Good comfort: The wheel mode is equipped with shock-absorbing springs, which reduces vibration when traveling on flat ground; when climbing stairs, the 8 tracks share the force and the vehicle body is stable. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 : A top view of the present invention showing the positional relationship of components such as the vehicle chassis bracket (1), the crawler assemblies on both sides (16 / 17 / 18 / 19), and the balance shaft support plate (11); Figure 2 : The oblique view of the present invention shows the three-dimensional connection structure of the track assembly and the wheel assembly; Figure 3 : A side view of the present invention showing the connection between the electric push rod (25 / 26), the wheel structure (31 / 32) and the vehicle chassis bracket (1); Figure 4 : A diagram of the front crawler structure of the present invention, showing details such as the friction plate (51), pressure sensor (58), and synchronous wheel (48) of the front crawler structure (16); Figure 5 : Bottom view of the present invention in wheel hub mode; Figure 6 : Bottom view of the present invention during climbing stairs; Figure 7 : An exploded view of the rear middle crawler structure of the present invention, showing the limiting posts (56), side plate protrusions (57) and other components of the rear middle crawler structure (19); Figure 8 : The exploded view of the power assembly structure of the present invention shows components such as the power synchronization tube (47), the double-row gear (45), and the single-row gear (46); Figure 9 : A cross-sectional view of the motor transmission structure of the present invention, showing the meshing relationship between the travel motor (44), the double-row gear (45), and the single-row gear (46); Figure 10 : A bottom view of the motor transmission structure of the present invention, showing the transmission relationship between the travel motor (44), the double-row gear (45), and the single-row gear (46); Figure 11 : Schematic diagram of the wheel hub mode of the present invention, showing the state where the wheel hub assembly supports the vehicle body and the track is raised; Figure 12 : A schematic diagram of the present invention starting to climb stairs, showing the initial state of the front crawler structure (16) resting on the steps; Figure 13 : Schematic diagram of the climbing staircase of the present invention, showing the state where the eight crawlers are flat and in contact with the steps; Figure 14 : Schematic diagram of the motion transition of the present invention when it is about to complete climbing stairs, showing the state where the front middle / rear middle crawler tracks are reset to form a triangular angle; Figure 15 : Schematic diagram of the present invention climbing onto a stair platform, showing the crawler tracks raised after the vehicle body enters the platform; Figure 16 : A schematic diagram of the present invention in crawler mode, showing the state of the crawler-driven vehicle body moving on an irregular road surface; Figure 17 : Structural diagram of the vehicle chassis bracket 1 of the present invention; Figure 18 : Structural diagram of the left side portion 2 and the right side portion 3 of the vehicle body of the present invention.
[0023] Figure: 1. Chassis support 2. Left side of vehicle body 3. Right side of vehicle body 4. Left inner panel 5. Left outer panel 6. Right inner panel 7. Right outer panel 8. Width limiting plate 9. Front connecting pipe 10. Rear connecting pipe 11. Balance shaft support plate 12. Track spindle 13. Load bearing tube 14. Front balance shaft 15. Rear balance shaft 16. Front track structure 17. Front center track structure 18. Rear track structure 19. Rear center track structure 20. Front sensor 21. Rear sensor 22. Angle sensor 25. Electric push rod for rear wheel structure 26. Electric push rod for front wheel structure 27. Front wheel hub structure 30. Front track electric push rod 31. Front wheel structure 32. Rear wheel structure 33. Motor hub 34. Controller 35. Omnidirectional wheel 37. Front connecting plate 38. Rear connecting plate 40. Front connecting piece 41. Rear connecting piece 42. Shock-absorbing spring 43. Key pin 44. Travel motor 45. Double-row gears 46. Single-row gears 47. Power synchronization tube 48. Synchronous wheel 49. Tail wheel 50. Track 51. Friction plate 52. Fixing hole 53. Tension spring 54. Rear track electric push rod 55. Chain 56. Limit column 57. Side plate bump 58. Pressure sensor 60. Rubber sleeve DETAILED DESCRIPTION
[0024] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
[0025] Reference Figure 1-18 A composite crawler chassis structure for a stair climbing machine, wherein the chassis support 1 is a composite motion structure that combines and interacts with wheels and multiple crawler structures. The crawler structures are located on both sides of the vehicle body, namely the left side 2 and the right side 3 of the vehicle body. The crawler structure of the left side 2 of the vehicle body is composed of four crawlers, namely: a front crawler structure 16, a front middle crawler structure 17, a rear crawler structure 18 and a rear middle crawler structure 19; the interior is driven by a synchronous wheel 48 and a tail wheel 49, and a limited width fixing plate 8 is also installed inside. Similarly, the crawler structure of the right side 3 of the vehicle body is also composed of four crawlers, namely: a front crawler structure 16, a front middle crawler structure 17, a rear crawler structure 18 and a rear middle crawler structure 19; there are a total of eight crawler structures on both sides. During the climbing process, the eight crawler structures can work independently, so the angle of each crawler can be adjusted by controlling each group of crawler structures for steps of different heights; the specific operating actions are as follows: When the vehicle chassis support 1 is traveling on flat ground, it is in a wheel-type driving mode, that is, the front wheel structure 31 and the rear wheel structure 32 are in a level state, jointly supporting the vehicle chassis support 1 away from the ground; the wheel in the rear wheel structure 32 is a motor hub 33, which is powered and driven by a controller 34; the wheel in the front wheel structure 32 is an omnidirectional wheel 35, which can move laterally and forward, making it convenient for turning and traveling.
[0026] Automatic switch from wheel mode to track mode: When the vehicle chassis bracket 1 is traveling in the wheel state, the tail ends of the front crawler structure 16 and the rear crawler structure 18 are in an upward position, forming an elevation angle of about 30°; when encountering a step during forward (or backward) movement, the raised front crawler structure 16 (or rear crawler structure 18) will directly rest on the stair step, and the weight of the vehicle chassis bracket 1 acts on the front crawler structure 16. A pressure sensor 58 is provided on the crawler friction plate 51 of the front crawler structure 16. The pressure sensor 58 transmits a pressure signal to the controller 34, causing it to drive the front wheel structure electric push rod 26 and the rear wheel structure electric push rod 25 to retract, and by pulling the rear connecting plate 10 and the front connecting plate 9, the tail ends of the front wheel structure 31 and the rear wheel structure 32 are raised, and the omnidirectional wheel 35 and the motor hub 33 also leave the ground and rise, and the front crawler structure 16 and the rear crawler structure 18 naturally touch the ground, thereby completing the automatic switching from the wheel mode to the crawler mode.
[0027] Track motion changes during stair climbing: As the vehicle body continues to move forward on the stairs, the front crawler structure 16 climbs onto the steps, causing the front end of the vehicle body to rise. When the angle sensor 22 on the vehicle body detects that the vehicle body is tilted more than 15°, the encoder starts counting. When the vehicle body completely enters the stairs (according to the number of revolutions of the encoder), the tail ends of the front crawler structure 16 and the rear crawler structure 18 fall down, forming a straight surface together with the front middle crawler structure 17 and the rear middle crawler structure 19. At this time, the eight crawler structures are all flat and in contact with the stair steps together, thereby ensuring that the vehicle chassis bracket 1 travels smoothly on the stairs.
[0028] Changes in track motion when climbing onto a stair platform: Under the premise that the vehicle chassis support 1 continues to tilt more than 15°, if the front sensor 20 cannot sense the step, it drives the front wheel push rod 26 and the rear wheel structure push rod 25 to be pushed out to a specific length within a limited time (about 3 seconds). Under this action, the tail of the front wheel structure 27 and the rear wheel structure 32 move downward to a specific position, and the side plate protrusions 57 on the inner and outer plates thereof also rotate away. The limiting columns 56 on the front middle crawler structure 17 and the rear middle crawler structure 19 release the pressure, and the front middle crawler structure 17 and the rear middle crawler 19 are reset upward under the tension of the tension spring 53, forming an upward triangular oblique angle together, thereby facilitating the vehicle chassis support 1 to pass the last step; After the vehicle chassis support 1 has completely climbed the stairs and entered the platform, and the angle sensor 22 on the vehicle chassis support 1 has recovered to within 15°, the front track structure 16 and the rear track structure 18 are driven by the front track electric push rod 30 and the rear track electric push rod 54 to rise at their rear ends and return to the normal state of waiting to climb stairs.
[0029] Switching from track mode to wheel mode: In the current state, if the "wheel mode button" is pressed, the controller 34 instructs the front wheel structure electric push rod 26 and the rear wheel structure electric push rod 25 to push out, and the thrust is applied to the front wheel structure 31 and the rear wheel structure 32 through the rear connecting member 41 and the front connecting member 40 connected thereto, so that the motor hub 33 and the omnidirectional wheel 35 on the structure are pushed to the ground, lifting the vehicle chassis bracket 1 and reaching the wheel travel state.
[0030] Power transmission mode: When the travel motor 44 is started, the power is transmitted to the single-row gears 46 at the front and rear ends of the vehicle body through the double-row gears 45. The single-row gears 46 are axially sleeved on the power synchronization tube 47. The inner holes of the single-row gears 46 and the power synchronization tube 47 are respectively provided with key slots, and the key pins 43 are inserted into the key slots for matching and fixing. The power synchronization tube 47 is respectively covered with the front crawler structure 16 and the front middle crawler structure 17 from the inside to the outside, and are respectively fixed by the key pins 43. When the power synchronization tube 47 rotates, the front middle crawler structure 17 and the front crawler structure 16 rotate synchronously, thereby realizing the stair climbing work in the crawler mode. Synchronously, the power of the double-row gear 45 is transmitted synchronously to the single-row gear 46 at the rear end of the vehicle chassis bracket 1 through the chain 55. The single-row gear 46 is axially sleeved on the power synchronization tube 47. The inner holes of the single-row gear 46 and the power synchronization tube 47 are respectively provided with key grooves, and the key pins 43 are inserted into the key grooves for matching and fixing; the power synchronization tube 47 is respectively covered with the rear crawler structure 18 and the rear middle crawler structure 19 from the inside to the outside, and are respectively fixed by the key pins 43. When the power synchronization tube 47 rotates, the rear middle crawler structure 18 and the rear crawler structure 19 rotate synchronously, thereby realizing the climbing work in the crawler mode.
[0031] Coordinated work of the left and right crawler tracks in crawler mode: In order to solve the potential safety hazard of the vehicle body chassis bracket 1 not being aligned with the step, causing the front crawler structure 16 on one side of the step to be placed on the step first, resulting in the entire vehicle body tilting to the other side due to the lifting of one corner of the vehicle body chassis bracket 1, thereby causing the vehicle body to overturn, the technology of the present invention can well solve this problem: In this equipment, the front crawler structure 16 and the rear crawler structure 18 on both sides of the equipment are connected to the front balancing shaft 14 and the rear balancing shaft 15 through the front connecting plate 37 and the rear connecting plate 38 respectively. The front balancing shaft 14 and the rear balancing shaft 15 are arranged horizontally in the middle position of the vehicle chassis bracket 1 in a front-to-back order. The structures on both sides of the vehicle chassis bracket 1 are connected by the front connecting pipe 9 at the front end and the rear connecting pipe 10 at the rear end. A balancing shaft support plate 11 in the front-to-back direction is provided in the middle part of the front connecting pipe 9 and the rear connecting pipe 10. The balancing shaft support plate 11 is provided with two through holes in the horizontal direction. The front balancing shaft 14 and the rear balancing shaft 15 pass through the corresponding horizontal through holes on the balancing shaft support plate respectively. When the front crawler structure 16 of the left side of the vehicle body 2 climbs up the stairs first, because they are all independent motion structures, the front crawler structure 16 will rise up by itself without lifting up the entire side of the vehicle body. When the front crawler structure 16 climbs up the stairs, its tail end will rise, and a connecting hole is reserved on the plate body with one end of the synchronous wheel pointing upward at about 90 degrees. The connecting hole is axially connected to the front connecting plate 37, and the front connecting plate 37 is connected to the rear connecting plate 38. A round hole is reserved at the rear end of the rear connecting plate 38, and the round hole is sleeved on the front balance shaft 14. The force from the front crawler structure 16 The thrust acts on the front balancing shaft 14 through the front connecting plate 37 and the rear connecting plate 38, causing the front balancing shaft 14 to swing in the forward direction. Due to the action of the balancing shaft support plate 11, the right side part 3 of the vehicle body swings in the reverse direction. The force and movement distance of the reverse swinging are reversed through the rear adjustment plate 38, the front adjustment plate 37 and the fixing holes 52 on the front crawler structure 16 of the right side part 3 of the vehicle body to act on the thrust on the left side of the vehicle body in the reverse direction to the front crawler structure 16 on the right side of the vehicle body, so that its force offsets or adjusts itself, thereby preventing the vehicle body from shaking or lifting the entire vehicle body accordingly.
[0032] In order to solve the problem that the track on the side close to the steps cannot be aligned with the stairs, the vehicle body will climb up the steps first, causing the vehicle body to tilt in the opposite direction, resulting in the risk of overturning the vehicle body. In addition, the combined effect of the vehicle body's own gravity and the gravity of the passengers will also cause the vehicle body to deform and be damaged.
[0033] Using the seesaw principle, two independent front crawler structures 16 on both sides of the chassis support 1 are provided with connecting ends, and the front balance shaft 14 connects them axially. A balance shaft support plate 11 is provided in the middle of the balance shaft 14, and the balance shaft support plate 11 is fixed to the front connecting pipe 9 and the rear connecting pipe 10. Its movement works as follows: when the tail end of the front crawler structure 16 on the left side of the vehicle body climbs up the step first, the vehicle body on the side of the step is lifted as a whole, thereby causing the tail end of the front crawler structure 16 to rise, and the rear end of the front crawler structure 16 is upward 9 A connecting hole is provided at 0°, and the upward power is converted into a backward thrust, and acts on the front balancing shaft 14 through the front connecting plate 37 and the rear connecting plate 38 connected thereto, and the front balancing shaft 14 swings backward. Under the action of the balancing shaft support plate 11, the other end of the front balancing shaft 14 swings forward in the opposite direction, and acts on the front crawler structure 16 through the rear connecting plate of the right side part 3 of the vehicle body, so that the force is offset or adjusted by itself, thereby preventing the vehicle body from shaking or lifting the entire vehicle body accordingly, and ensuring the safety of the vehicle chassis bracket 1.
[0034] In order to ensure the stability and safety of the chassis bracket 1 during the stair climbing process, the following design is made: The chassis support 1 can control each independent crawler structure according to different working states. When traveling on the ground, it adopts the wheel mode and switches to the crawler mode when climbing stairs. In the crawler mode, each set of crawler structures is adjusted according to the different stages of climbing stairs. The description is as follows: The independent track structures can adjust their angles according to needs, and can automatically switch from wheel mode to track mode when preparing to climb stairs. After climbing the stairs, all 8 track structures are flattened and placed on the stairs, ensuring that the tracks will not slip while increasing comfort.
[0035] The front middle crawler structure 17 and the rear middle crawler structure 19 can be freely raised or lowered as needed. During the climbing process, they are all lowered to form a line with the front crawler structure 16 and the rear crawler structure 18, thereby increasing the grip of the vehicle chassis support on the stairs. When the stairs are about to be climbed, the front middle crawler structure 17 and the rear middle crawler structure 19 will shrink and rise up, forming a triangle with each other, thereby facilitating the unimpeded passage of the vehicle chassis support 1 to the last step of the stairs.
[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A composite crawler chassis structure for a stair climbing machine, characterized in that: It comprises a vehicle chassis bracket (1), a track assembly, a wheel assembly, a balance assembly, a power assembly and a control assembly; The crawler assemblies are symmetrically arranged on the left and right sides of the vehicle chassis bracket (1), and the crawler assembly on each side includes a front crawler structure (16), a front middle crawler structure (17), a rear crawler structure (18) and a rear middle crawler structure (19), with a total of 8 crawler structures on both sides, and each crawler structure can move independently; The wheel assembly comprises a front wheel structure (31) and a rear wheel structure (32), wherein the front wheel structure (31) is provided with an omnidirectional wheel (35), and the rear wheel structure (32) is provided with a motor hub (33); The balancing assembly includes a front balancing shaft (14), a rear balancing shaft (15) and a balancing shaft support plate (11), wherein the balancing shaft support plate (11) is fixed between a front connecting tube (9) and a rear connecting tube (10) of a vehicle chassis bracket (1), and the front balancing shaft (14) and the rear balancing shaft (15) are sequentially passed through the balancing shaft support plate (11) in a transverse direction. A rubber sleeve (60) is provided between the balancing shaft support plate (11) and the front balancing shaft (14) and the rear balancing shaft (15), so that the balancing shaft support plate (11) has sufficient angular swing space. The power assembly includes a travel motor (44), a double-row gear (45), a single-row gear (46), a crawler main shaft (12) and a power synchronization tube (47). The travel motor (44) drives the double-row gear (45). The double-row gear (45) transmits power to the single-row gear (46) at the front and rear ends of the vehicle chassis bracket (1) through a chain (55). The single-row gear (46) is fixed to the power synchronization tube (47) through a key pin (43). The front end of the power synchronization tube (47) is covered with a front crawler structure (16) and a front middle crawler structure (17), and the rear end is covered with a rear crawler structure (18) and a rear middle crawler structure (19). The crawler main shaft (12) is fixedly installed in the power synchronization tube (47). The control component includes a controller (34), a pressure sensor (58), an angle sensor (22), a wheel mode key and a front sensor (20), wherein the pressure sensor (58) is arranged on the friction plate (51) of the front crawler structure (16) and the rear crawler structure (18), the angle sensor (22) and the front sensor (20) are arranged on the vehicle chassis bracket (1), and the controller (34) is electrically connected to the motor hub (33), the travel motor (44), the pressure sensor (58), the angle sensor (22), the wheel mode key and the front sensor (20).
2. The composite crawler chassis structure of a stair climbing machine according to claim 1, characterized in that: The vehicle chassis bracket (1) includes a left side portion (2) and a right side portion (3) of the vehicle body, and is composed of a left inner plate (4), a left outer plate (5), a right inner plate (6), a right outer plate (7), a front connecting pipe (9), a rear connecting pipe (10), and a balance shaft support plate (11). The front crawler structure (16) on the left side of the vehicle chassis bracket (1) is connected to the front balance shaft (14) through the front connecting plate (37), and the rear crawler structure (18) on the left side is connected to the rear balance shaft (15) through the rear connecting plate (38); the connection method of the front crawler structure (16) and the rear crawler structure (18) on the right side of the vehicle chassis bracket (1) to the front balance shaft (14) and the rear balance shaft (15) is the same as that on the left side; the front connecting pipe (9) and the rear connecting pipe (10) are respectively connected transversely to the left inner plate (4) and the right inner plate (6) of the vehicle chassis bracket (1).
3. The composite crawler chassis structure of a stair climbing machine according to claim 1, characterized in that: The vehicle further comprises a front wheel structure electric push rod (26) and a rear wheel structure electric push rod (25), wherein the two ends of the front wheel structure electric push rod (26) are respectively connected to the front wheel structure (31) and the vehicle chassis bracket (1), and the two ends of the rear wheel structure electric push rod (25) are respectively connected to the rear wheel structure (32) and the vehicle chassis bracket (1); when the pressure sensor (58) detects the pressure signal of the front crawler structure (16) or the rear crawler structure (18) and transmits it to the controller (34), the controller (34) drives the front wheel structure electric push rod (26) and the rear wheel structure electric push rod (25) to retract, driving the tail ends of the front wheel structure (31) and the rear wheel structure (32) to rise, so that the omnidirectional wheel (35) and the motor wheel hub (33) leave the ground, and the front crawler structure (16) and the rear crawler structure (18) naturally land on the ground.
4. The composite crawler chassis structure of a stair climbing machine according to claim 1, characterized in that: The control component further includes an encoder built into the travel motor (44), and the encoder is electrically connected to the controller (34); when the angle sensor (22) detects that the tilt angle of the vehicle chassis bracket (1) is greater than 15°, the encoder starts counting; when the encoder count reaches a preset number of revolutions at which the vehicle body completely enters the stairs, the controller (34) controls the tail ends of the front crawler structure (16) and the rear crawler structure (18) to fall down, forming a straight surface together with the front middle crawler structure (17) and the rear middle crawler structure (19), and all eight crawler structures are flat and contact the stair steps.
5. The composite crawler chassis structure of a stair climbing machine according to claim 4, characterized in that: The invention also includes a front middle track electric push rod, a tension spring (53) and a limit column (56), wherein the front middle track electric push rod connects the front middle track structure (17) and the vehicle chassis bracket (1), the tension spring (53) respectively connects the front middle track structure (17), the rear middle track structure (19) and the vehicle chassis bracket (1), and the limit column (56) is arranged on the front middle track structure (17) and the rear middle track structure (19); when the vehicle chassis bracket (1) continuously tilts more than 15 When the front sensor (20) does not sense the step, the controller (34) drives the front wheel structure electric push rod (26) and the rear wheel structure electric push rod (25) to push out for 3 seconds and then stops, driving the tail of the front wheel structure (31) and the rear wheel structure (32) to move downward, so that the side plate protrusion (57) turns away and releases the pressure on the limit column (56), and the front middle crawler structure (17) and the rear middle crawler structure (19) are reset upward under the tension of the tension spring (53) to form a triangular oblique angle.
6. The composite crawler chassis structure of a stair climbing machine according to claim 1, characterized in that: The single-row gear (46) is axially sleeved on the power synchronization tube (47), and the inner hole of the single-row gear (46) and the outer surface of the power synchronization tube (47) are both provided with matching key slots, and the key pin (43) is inserted into the key slot to achieve the fixation of the single-row gear (46) and the power synchronization tube (47); when the power synchronization tube (47) rotates, the front crawler structure (16) and the front middle crawler structure (17), the rear crawler structure (18) and the rear middle crawler structure (19) of the set are synchronously driven to rotate, and a load-bearing tube (13) is installed between the corresponding single-row gears (46).
7. The composite crawler chassis structure of a stair climbing machine according to claim 3, characterized in that: The vehicle further comprises a front connecting member (40) and a rear connecting member (41), wherein the front connecting member (40) connects the front wheel structure electric push rod (26) and the front wheel structure (31), and the rear connecting member (41) connects the rear wheel structure electric push rod (25) and the rear wheel structure (32); when the wheel mode key is pressed, the controller (34) instructs the front wheel structure electric push rod (26) and the rear wheel structure electric push rod (25) to be pushed out, and the thrust acts on the front wheel structure (31) and the rear wheel structure (32) through the front connecting member (40) and the rear connecting member (41), so that the motor wheel hub (33) and the omnidirectional wheel (35) contact the ground and lift the vehicle chassis bracket (1), switching to the wheel travel state; the wheel assembly further comprises a shock-absorbing spring (42), which is arranged at the connection portion between the front wheel structure (31), the rear wheel structure (32) and the vehicle chassis bracket (1), and is used to buffer vibration when traveling in the wheel mode.
8. The composite crawler chassis structure of a stair climbing machine according to claim 2, characterized in that: When the front crawler structure (16) on one side of the vehicle body climbs up the step first, the rear end of the front crawler structure (16) on this side rises, and the thrust is applied to the front balancing shaft (14) through the front connecting plate (37) and the rear connecting plate (38), so that the front balancing shaft (14) swings forward; under the joint action of the limit of the balancing shaft support plate (11) and the rubber sleeve (60), the other end of the front balancing shaft (14) swings in the opposite direction, and the reverse force is applied to the front crawler structure (16) on this side through the rear connecting plate (38) and the front connecting plate (37) on the other side, so that the forces on both sides are offset and weakened, thereby preventing the vehicle body from tilting.
9. The composite crawler chassis structure of a stair climbing machine according to claim 1, characterized in that: The control component further comprises a rear sensor (21), which is arranged at the rear end of the vehicle chassis bracket (1) and is electrically connected to the controller (34); the angle sensor (22) and the encoder are arranged in the middle of the vehicle chassis bracket (1) for detecting the vehicle body tilt angle and the number of track rotations in real time.
10. An operating mode of a composite crawler chassis structure of a stair climbing machine, characterized in that: The composite crawler chassis structure of the stair climbing machine according to any one of claims 1 to 9 comprises the following steps: S1, flat wheel mode: the controller (34) controls the front wheel structure electric push rod (26) and the rear wheel structure electric push rod (25) to push out, so that the omnidirectional wheel (35) and the motor hub (33) contact the ground and lift the vehicle chassis bracket (1), and drive the vehicle forward through the motor hub (33); S2, wheel-track switching: when the front track structure (16) or the rear track structure (18) contacts the step, the pressure sensor (58) sends a signal to the controller (34), driving the front wheel structure electric push rod (26) and the rear wheel structure electric push rod (25) to retract, the wheel assembly leaves the ground, and the track lands; S3, stair climbing process: when the angle sensor (22) detects that the vehicle body is tilted more than 15 degrees, the encoder starts counting, and after reaching the preset number of revolutions, the 8 crawler structures are flattened and contact the steps; S4, step transition: when the front sensor (20) does not detect the step, the electric push rod is pushed out within a limited time, and the front middle crawler structure (17) and the rear middle crawler structure (19) are reset under the action of the tension spring (53) to form a triangular bevel; S5. Track-wheel switching: After pressing the mode button, the electric push rod is pushed out to make the wheel assembly contact the ground and lift the vehicle body, switching to the wheel mode.