Full-automatic stair climbing equipment

Abstract

The utility model provides full-automatic stair climbing equipment, which belongs to the field of manned running equipment, and particularly is characterized in that parameters needing to be balanced are converted into acting force by a controller through a front-back balance motor and a left-right balance motor, and the acting force is transmitted to a main supporting beam through front-back balance motor supporting rods and left-right balance motor supporting rods and is transmitted to a seat system; the seat can rotate with the universal connector as a datum point, in addition, the seat is transmitted to the leg supporting thrust support through the cross shaft of the universal joint, then the leg supporting main adjusting rod is pushed, when the leg supporting main adjusting rod is subjected to upward thrust of the leg supporting thrust support, the leg supporting portal frame is pushed to rotate, and therefore the leg supporting foot supporting plate adjusting rod is linked; the whole leg supporting system is lifted, it is guaranteed that no matter what climbing angle the whole equipment is located, it can be guaranteed that the seat system keeps horizontal, and the leg supporting system keeps a safe distance from the ground. The safety seat has high trafficability and high safety, and can ensure the comfort and safety of passengers.

Description

Technical Field

[0001] The utility model belongs to the field of manned driving equipment, in particular to a full-automatic stair climbing equipment. Background Art

[0002] The aging population is becoming more and more serious. Many elderly people find it increasingly difficult to go up and down stairs due to their advanced age, especially those with leg diseases who can hardly go up and down stairs. Automatic stair climbing equipment is the current solution to this problem.

[0003] Existing stair climbing equipment also has stair climbing machines designed with adjustable seat angles, but all of them adjust the seat angle by simultaneously adjusting the angle between the tracked stair climbing mechanism and the mounting frame, and also adjusting the angle between the seat and the mounting frame. By superimposing the two angles, the seat can be parallel to the ground. By adjusting in this way, it is difficult for passengers to predict the movement trajectory of the seat, so that the stair climbing equipment cannot adjust the balance according to the chassis posture, the seat cannot remain horizontal, and the comfort of the passengers and the center of gravity are unstable when going up and down the stairs, resulting in the comfort and safety of the stair climbing equipment cannot be guaranteed. Utility Model Content

[0004] In view of the above deficiencies in the prior art, the purpose of the utility model is to provide a fully automatic stair climbing device.

[0005] The utility model provides a fully automatic stair climbing device, comprising a balance system, a leg support system and a seat system;

[0006] The balancing system comprises a main support beam, a balancing motion controller, an inertial measurement unit, left and right balancing motors, left and right balancing motor struts, front and rear balancing motors and front and rear balancing motor struts, the first ends of the left and right balancing motors are connected to the beam body of the main support beam through the left and right balancing motor struts, the first ends of the front and rear balancing motors are connected to the beam body of the main support beam through the front and rear balancing motor struts, the inertial measurement unit is used to detect the inclination change of the main support beam and the seat system, the inertial measurement unit is connected to the first end of the balancing motion controller, and the second end of the balancing motion controller is respectively connected to the second ends of the front and rear balancing motors and the second ends of the left and right balancing motors;

[0007] The bottom end of the seat system is connected to the top end of the main support beam;

[0008] A universal connector is provided at the lower end of the main support beam;

[0009] The leg support system includes a leg support gantry, a leg support thrust bracket, a leg support footrest adjustment rod and a leg support main adjustment rod. The two ends of the leg support gantry are rotatably connected to the two armrest sides of the seat system respectively. The first end of the leg support thrust bracket is hinged to the universal connector and can rotate along the cross-axis transverse axis of the universal connector. The first end of the leg support main adjustment rod is hinged to the second end of the leg support thrust bracket, and the second end of the leg support main adjustment rod is hinged to the main frame of the leg support gantry. The main frame of the leg support gantry is also connected to a leg support footrest through the leg support main rod. The first end of the leg support footrest adjustment rod is hinged to the main frame of the leg support gantry, and the second end of the leg support footrest adjustment rod is hinged to the leg support footrest.

[0010] Furthermore, it also includes a power system, which includes a left drive motor, a right drive motor, a drive motor controller and a battery, the first end of the left drive motor and the first end of the right drive motor are respectively connected to the first end of the drive motor controller, and the second end of the drive motor controller is connected to the battery.

[0011] Furthermore, the power system also includes a control handle, which is arranged on the armrest of the seat system and is connected to the third end of the drive motor controller.

[0012] Furthermore, it also includes a chassis system, which includes a track assembly and a chassis frame for carrying the balancing system and the power system. The track assembly includes a left track device and a right track device which are arranged in parallel on both sides of the chassis frame. The left track device is connected to the second end of the left drive motor, and the right track device is connected to the second end of the right drive motor.

[0013] Furthermore, the chassis frame includes a universal joint support seat for supporting the universal connector, and the universal connector is connected to the universal joint support seat.

[0014] Furthermore, the left crawler device has the same structure as the right crawler device, and the left crawler device includes a crawler, a plurality of load-bearing support wheels arranged on the inner side of the crawler in contact with the traveling surface, a tensioning wheel arranged on the inner side of the crawler in the forward direction, a plurality of upper support wheels arranged on the inner side of the crawler facing away from the traveling surface, and a driving wheel on the inner side of the crawler facing away from the forward direction.

[0015] Furthermore, the driving wheel in the left crawler device is connected to the left driving motor via a driving shaft, and the driving wheel in the right crawler device is connected to the right driving motor via a driving shaft.

[0016] Furthermore, five load-bearing support wheels are arranged in the left crawler device, and two upper support wheels are arranged in the left crawler device.

[0017] Furthermore, the seat system also includes a seat, armrests are provided on both sides of the seat, and the center of the bottom end of the seat is connected to the top end of the main support beam.

[0018] Furthermore, it also includes an accessory system, wherein the accessory system is provided with a storage compartment, and the accessory system is also provided with a lighting device.

[0019] The beneficial effects of the utility model are as follows:

[0020] The utility model provides a fully automatic stair climbing device, which can monitor the chassis tilt angle and the seat tilt angle through a balancing system, and then achieve the overall balance of the device through the universal joints of the left and right and front and rear balancing devices and the main support beam, and the two connecting rods connected to the footrest, and the seat system connected to one of the connecting rods and the main support beam, so as to keep the passenger's sitting posture level.

[0021] The utility model provides a fully automatic stair climbing device with strong climbing ability and a high-performance crawler chassis to provide high passability. In addition, it has high safety and can ensure that the seat always maintains a horizontal state and the center of gravity of the device is stable, so that the occupants are comfortable and safe. At the same time, the device can also operate intelligently and automatically, which can generally ensure the comfort and safety of the stair climbing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are only used to illustrate specific embodiments and are not considered to be limitations of the present invention. In the entire drawings, the same reference symbols represent the same components. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0023] Figure 1 A schematic diagram of the overall structure of a fully automatic stair climbing device provided in an embodiment of the utility model;

[0024] Figure 2 A front side view of a fully automatic stair climbing equipment balancing system provided by an embodiment of the utility model;

[0025] Figure 3 A rear side view of a fully automatic stair climbing equipment balancing system provided by an embodiment of the utility model;

[0026] Figure 4 A schematic diagram of the structure of a leg support system for a fully automatic stair climbing device provided in an embodiment of the utility model;

[0027] Figure 5A schematic diagram of the structure of a power system of a fully automatic stair climbing device provided in an embodiment of the utility model;

[0028] Figure 6 A schematic diagram of the structure of a chassis system of a fully automatic stair climbing device provided in an embodiment of the utility model;

[0029] Figure 7 A structural schematic diagram of a fully automatic stair climbing equipment accessory system provided by an embodiment of the utility model;

[0030] Figure 8 A schematic diagram of the posture of a fully automatic stair climbing device during climbing provided by an embodiment of the utility model.

[0031] Reference numerals:

[0032] 1. Balance system; 2. Leg support system; 3. Seat system; 4. Power system; 5. Chassis system; 6. Accessory system;

[0033] 11. Main support beam; 12. Balance motion controller; 13. Inertial measurement unit; 14. Left and right balance motors; 15. Left and right balance motor support rods; 16. Front and rear balance motors; 17. Front and rear balance motor support rods; 18. Universal connector;

[0034] 21. Leg support gantry; 22. Leg support thrust bracket; 23. Leg support foot support plate adjustment rod; 24. Leg support main adjustment rod; 25. Leg support main rod; 26. Leg support foot support;

[0035] 31. Armrest; 32. Seat;

[0036] 41. Left drive motor; 42. Right drive motor; 43. Drive motor controller; 44. Battery; 45. Control handle;

[0037] 51. Track assembly; 52. Chassis frame;

[0038] 511. Left crawler device; 512. Right crawler device;

[0039] 521, universal joint support seat;

[0040] 5111, crawler track; 5112, load-bearing support wheel; 5113, tension wheel; 5114, upper support wheel; 5115, driving wheel;

[0041] 61. Storage compartment; 62. Lighting device. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present utility model, the technical solutions of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present utility model.

[0043] Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts disclosed in the present utility model.

[0044] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does 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 the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a rotating hinge, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a communication between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0045] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the utility model. Instead, they are only examples of methods and systems consistent with some aspects of the utility model as detailed in the attached claims.

[0046] Combine the following Figures 1 to 8 The embodiments of the present invention are described.

[0047] The utility model provides a fully automatic stair climbing device, such as Figure 1 As shown, it includes a balance system 1, a leg support system 2, a seat system 3, a power system 4 and a chassis system 5;

[0048] The equipment provided in the utility model adopts a crawler chassis for going up and down stairs and up and down slopes, and can be equipped with wheeled wheels for traveling on flat roads, or can be driven on flat roads by crawlers.

[0049] In addition, the driving device in the equipment can be driven by an electric motor, and can also be driven by, but not limited to, an internal combustion engine or hydraulic pressure in a broad sense.

[0050] The electronic control device of the equipment adopts a complete computing processing system composed of CPU, MPU, MCU and its peripheral devices including but not limited to ARM, DSP, single-chip microcomputer, etc., or other digital technology and algorithm-based systems to control the operation of the motor or control the action of other execution components (including but not limited to components such as linear motors, electromagnets, hydraulic cylinders, cylinders, etc.), and uses the operation of the motor or the action of other components to drive the mechanism to keep the seat system always horizontal. The balancing system ensures that the seat always maintains a longitudinal horizontal state or a lateral horizontal state or a longitudinal and lateral horizontal state at the same time to ensure the comfort and safety of the occupants.

[0051] The accessory system in the equipment completes the auxiliary functions of the equipment, such as lighting, warning, storage and other functions.

[0052] The seat system in the equipment supports the passengers. The seat system is not a seat in the narrow sense, but a load-bearing system that allows passengers to sit and ensures the comfort and safety of the passengers, including a seat cushion frame, etc.

[0053] The leg support system in the equipment is used to protect the legs and feet from bumps and ensure the comfort of the lower limbs. The leg support system here refers to a mechanism that can support the lower limbs and protect the lower limbs from injury when the occupants get on and off and ride.

[0054] like Figures 2 to 3 As shown, the balancing system 1 includes a main support beam 11, a balancing motion controller 12, an inertial measurement unit 13, left and right balancing motors 14, left and right balancing motor support rods 15, front and rear balancing motors 16 and front and rear balancing motor support rods 17, the first ends of the left and right balancing motors 14 are connected to the beam body of the main support beam 11 through the left and right balancing motor support rods 15, the first ends of the front and rear balancing motors 16 are connected to the beam body of the main support beam 11 through the front and rear balancing motor support rods 17, the inertial measurement unit 13 is arranged on the main support beam 11 or on the seat system 3, and is used to detect the inclination change of the seat system 3 and the main support beam 11, the inertial measurement unit 13 is connected to the first end of the balancing motion controller 12, and the second end of the balancing motion controller 12 is respectively connected to the second end of the front and rear balancing motor 16 and the second end of the left and right balancing motor 14;

[0055] It should be noted that the left and right balance motor support rods and the front and rear balance motor support rods in the balance system each include two branch rods, each set of branch rods are connected in an L shape, and the connection points between the left and right balance motor support rods and the front and rear balance motor support rods and the main support beam are as follows: Figures 2 to 3 As shown, these are the adjacent two sides of the main supporting beam.

[0056] In addition, the above-mentioned inertial measurement unit can be set on the main support beam or in the seat system. That is to say, the inertial measurement unit can be placed at any suitable position and arrangement angle of the seat system and the main support beam in the fully automatic stair climbing equipment of the present invention. Its purpose is to move with the seat system to detect the posture of the seat system, so as to determine whether the seat is in a horizontal state. Of course, in order to achieve the above-mentioned functions, the inertial measurement unit can be set to work with one or more of a gyroscope, an inclination sensor, an accelerometer and a magnetometer. When a horizontal error occurs in the seat system, the detection signal is transmitted to the controller to control the motor action, thereby ensuring that the seat is always in a horizontal posture, ensuring the comfort of the occupants and the stability of the center of gravity.

[0057] The bottom end of the seat system 3 is connected to the top end of the main support beam 11;

[0058] The lower end of the main support beam 11 is provided with a universal connector 18;

[0059] like Figure 4 As shown, the leg support system 2 includes a leg support gantry 21, a leg support thrust bracket 22, a leg support footrest adjustment rod 23 and a leg support main adjustment rod 24. The two ends of the leg support gantry 21 are rotatably connected to the two armrest sides of the seat system 3 respectively. The first end of the leg support thrust bracket 22 is hinged to the universal connector 18 and can rotate along the cross-axis transverse axis of the universal connector 18. The first end of the leg support main adjustment rod 24 is hinged to the second end of the leg support thrust bracket 22, and the second end of the leg support main adjustment rod is hinged to the main frame of the leg support gantry. The main frame of the leg support gantry 21 is also connected to a leg support footrest 26 through a leg support main rod 25. The first end of the leg support footrest adjustment rod 23 is hinged to the main frame of the leg support gantry 21, and the second end of the leg support footrest adjustment rod 23 is hinged to the leg support footrest 26.

[0060] In some embodiments, leg support lifting rollers can also be set, and the two end brackets are welded or screwed to the chassis, and move together with the chassis. When the chassis is lifted this time, the leg support lifting rollers move upward to lift the leg support thrust brackets upward, thereby pushing the entire system up, lifting the feet, and preventing the feet from being bumped and injured.

[0061] It should be noted that the rear end of the leg support thrust bracket is hinged to the cross axis of the universal connector through the bracket hole, and is coaxial with the lateral axis of the cross axis, and can rotate along the lateral axis of the cross axis. In addition, the leg support system can also rotate along the longitudinal axis of the cross axis with the seat system according to the change of the inclination angle of the seat system. The front end is hinged to the leg support main adjustment rod. When the leg support lifting roller lifts the leg support thrust bracket, the leg support main adjustment rod can be lifted and moved upward.

[0062] In addition, the lower end of the leg support main adjustment rod is hinged to the leg support main adjustment rod, and the upper end is hinged to the leg support gantry. When the leg support thrust bracket is pushed upward, the leg support gantry is pushed to rotate, thereby lifting the entire system.

[0063] In addition, the leg support gantry is connected to the leg support main rod as a whole, and is hinged to the seat frame assembly, and can rotate around the hinge hole. The lower end of the leg support main rod is hinged to the leg support footrest, and the leg support gantry and the leg support main rod combination, under the upward thrust of the leg support main adjustment rod, rotate around the leg support gantry and the seat frame assembly hinge hole to lift the leg support footrest.

[0064] Furthermore, the leg support footrest is hinged to the leg support main rod and the leg support footrest plate adjusting rod, and the leg support footrest plate adjusting rod is hinged to the leg support main adjusting rod. When the leg support main rod pushes the leg support footrest up, the leg support footrest plate adjusting rod pulls the leg support footrest to basically maintain a horizontal state, thereby protecting the feet and legs from bumps and injuries and ensuring the comfort of the feet at the same time.

[0065] like Figure 4 As shown, the power system 4 includes a left drive motor 41, a right drive motor 42, a drive motor controller 43 and a battery 44. The first end of the left drive motor 41 and the first end of the right drive motor 42 are respectively connected to the first end of the drive motor controller 43, and the second end of the drive motor controller 43 is connected to the battery 44.

[0066] like Figure 5 As shown, the power system 4 further includes a control handle 45 , which is disposed on the armrest 31 of the seat system, and the control handle 45 is connected to the third end of the drive motor controller 43 .

[0067] It should be noted that the control handle can also be set as a wireless handle. The overall forward, backward and steering signals of the device are transmitted to the controller by the control handle or the remote control handle. The controller controls the direction and speed of the motor to drive the device to realize the forward, backward and steering functions. The battery is responsible for providing energy to the motor. Of course, it can also be driven by a general internal combustion engine or hydraulics. The connected wiring harness is not shown in the diagram and is used to transmit energy and signals.

[0068] like Figure 6 As shown, the chassis system 5 includes a track assembly 51 and a chassis frame 52 for carrying the balancing system 1 and the power system 4. The track assembly 51 includes a left track device 511 and a right track device 512 which are arranged in parallel on both sides of the chassis frame 52. The left track device 511 is connected to the second end of the left drive motor 41, and the right track device 512 is connected to the second end of the right drive motor 42.

[0069] Furthermore, the chassis frame 52 includes a universal joint support seat 521 for supporting the universal connector 18 , and the universal connector 18 is connected to the universal joint support seat 521 .

[0070] It should be noted that the universal joint support is used to install the universal joint of the seat system to perform the main load-bearing function. In addition, left and right balancing motor supports may be provided to perform the installation and load-bearing functions of the left and right balancing motors. In addition, front and rear balancing motor supports may be provided to perform the installation and load-bearing functions of the front and rear balancing motors.

[0071] Furthermore, the left crawler device 511 has the same structure as the right crawler device 512, and the left crawler device 511 includes a crawler 5111, a plurality of load-bearing support wheels 5112 arranged on the inner side of the crawler 5111 in contact with the traveling surface, a tensioning wheel 5113 arranged on the inner side of the crawler 5111 in the forward direction, a plurality of upper support wheels 5114 arranged on the inner side of the crawler 5111 facing away from the traveling surface, and a driving wheel 5115 on the inner side of the crawler 5111 facing away from the forward direction, and the tensioning wheel 5113 is arranged above the load-bearing support wheel 5112.

[0072] In addition, in some embodiments, the tensioner wheel may also be disposed in front of or behind the load-bearing support wheel so as to adjust the tightness of the track.

[0073] Furthermore, the driving wheel in the left crawler device 511 and the driving wheel in the right crawler device 512 are connected to the left driving motor 41 and the right driving motor 42 respectively through driving shafts.

[0074] In some embodiments, the driving wheels on both sides can be synchronously connected and rotated through a driving shaft. When the fully automatic stair climbing equipment turns, they can also rotate independently to turn. Then, the linkage system of the driving motor, driving shaft and driving wheel can be set to have two driving motors connected to the two driving wheels respectively through two driving shafts, or one driving motor can be set to connect the two driving wheels through a transmission mechanism.

[0075] Furthermore, five load-bearing support wheels 5112 are provided in the left crawler device 511 , and two upper support wheels 5114 are provided in the left crawler device 511 .

[0076] It should be noted that in the present invention, the left and right track system assemblies are composed of crawler tracks, crawler load-bearing support wheel assemblies, crawler upper support wheel assemblies, crawler tensioner wheel assemblies, bolt connectors and other accessories to complete the load-bearing and driving functions.

[0077] The left and right track systems are connected by four chassis support beams to form a complete chassis system. Of course, the number of support beams can be increased or decreased as needed. The chassis system tracks include but are not limited to rubber tracks, metal tracks, composite tracks and other forms and materials. The track chassis uses an electric motor, and can also be driven by a broad internal combustion engine, external combustion engine or hydraulics.

[0078] The driving force output by the power system of the equipment is transmitted to the driving wheel by the driving shaft, and the driving wheel drives the crawler track to move, thereby making the entire equipment move forward or backward.

[0079] like Figure 4 As shown, the seat system 3 also includes a seat 32 , and armrests 31 are provided on both sides of the seat 32 . The center of the bottom end of the seat 32 is connected to the top end of the main support beam 11 .

[0080] The seat frame is used to connect the main support beam and support loads, such as passengers or cargo, and provide comfortable and safe riding for the passengers. The frame is provided with seat cushions and back cushions, which are fixed or placed on the seat frame to improve the comfort of the passengers.

[0081] The main support beam connects the seat frame and the universal connector, and is used to transfer the load to the chassis system and bear the thrust of the balancing system. Under the thrust of the balancing system, the main support beam and the seat frame assembly and the load on the frame will continuously rotate along the universal joint axis in the left-right direction and the front-back direction, always maintaining the horizontal balance of the seat system and ensuring the center of gravity stability and ride comfort of the entire equipment. Figure 7 As shown, it also includes an accessory system 6 , in which a storage compartment 61 is provided. The accessory system 6 is also provided with a lighting device 62 .

[0082] In more detail, the equipment accessory system may be composed of a rear left warning light, a rear right warning light, a right front light, a left front light, a left armrest, a right armrest, an upper left storage box, an upper right storage box, a lower right storage box, a lower left storage box, etc. The accessory system completes the auxiliary functions of the equipment, such as lighting, warning, storage and other functions.

[0083] The intelligent manned stair climbing device provided by the present invention generates a signal when the seat system shakes during operation. The inertial measurement unit then transmits the signal to the motion control processor, which transmits the control signal to the motor control unit, which transmits the signal to the motor driver, which then drives the motor to rotate according to the set requirements, and finally transforms the predetermined control scheme and instructions into the desired mechanical motion, realizing precise position control, speed control, acceleration and force control of the mechanical motion. According to the actual inclination angles of the X-axis (front and back, the same below) and the Y-axis (left and right, the same below), the positions of the X-axis and the Y-axis are adjusted in real time, and the posture balance of the two axes is finally controlled.

[0084] Motion control processor: reads the data of the inertial measurement unit, processes it, and converts it into a signal that the motor control unit can recognize. The motion control processor can use a complete set of computing and processing systems consisting of CPU, MPU, MCU and its peripherals, including but not limited to ARM, DSP, single-chip microcomputer, or other digital technology and algorithm-based control motor drivers to drive the motor to operate.

[0085] Motor driver: A motor driver is an actuator that converts electrical pulses into angular displacement. When the driver receives a pulse signal, it drives the motor to rotate in the set direction, which can control the angular displacement to achieve accurate positioning; at the same time, it can control the speed and acceleration of the motor to achieve speed regulation and positioning.

[0086] Motor: It is a motor that converts electrical pulse signals into angular displacement or linear displacement. When the driver receives the signal, it drives the motor to rotate according to the set requirements and can accurately position it; at the same time, it can control the speed and acceleration of the motor to achieve the purpose of speed regulation. The system adjusts the position of the X-axis and Y-axis in real time according to the actual inclination of the X-axis and Y-axis, and finally controls the posture balance of the two axes to ensure the levelness of the seat system.

[0087] The shaking of the seat produces horizontal errors, and the sampling detector will detect the horizontal changes. The sampling detector includes but is not limited to gyroscopes, inclination sensors and other devices. The signals detected by the sampling detector are transmitted to the motion control processor. The motion control processor has computing power and converts the received signals into motor control signals or control signals of other actuators. Other actuators include but are not limited to components such as linear motors, electromagnets, hydraulic cylinders, and pneumatic cylinders.

[0088] After receiving the control signal from the control processor, the motor driver drives the motor to operate. The motor driver can also be other actuator drivers, including but not limited to linear motors, electromagnets, hydraulic cylinders, pneumatic cylinders and other drivers. The driver can also be combined with the motion controller into a set of control drive units. The motor runs to control the seat platform to keep it level. The motor can also be other actuators, including but not limited to linear motors, electromagnets, hydraulic cylinders, pneumatic cylinders and other components.

[0089] like Figure 8 As shown, the utility model provides a fully automatic stair climbing device, which, when climbing an inclined surface, will keep the seat level through the linkage of multiple systems. At the same time, the leg support system will be lifted to prevent the legs and feet of the passengers from being bumped, and it also assists in maintaining the center of gravity position of the entire device to maintain a balanced posture.

[0090] The utility model provides a fully automatic stair climbing device. During operation, the front and rear balancing motors and the left and right balancing motors convert the parameters that need to be balanced into acting forces through a controller, and transmit them to the main support beam through the front and rear balancing motor support rods and the left and right balancing motor support rods, so that the seat system can rotate with the universal connector as the reference point to keep the balance of the seat. In addition, the force is transmitted to the leg support thrust bracket through the cross shaft of the universal joint, thereby pushing the leg support main adjustment rod, and when the leg support thrust bracket is pushed upward, the leg support gantry is pushed to rotate, thereby linking the leg support footrest adjustment rod to lift the entire leg support system, ensuring that no matter what climbing angle the overall equipment is at, the seat system can be kept level and the leg support system keeps a safe distance from the ground. The utility model has high passability and high safety, and can ensure the comfort and safety of passengers.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the utility model, rather than to limit them. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model. Any changes or replacements that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the utility model should be covered within the protection scope of the utility model.

Claims

1. A fully automatic stair climbing device, characterized in that: Including balance system, leg support system and seat system; The balancing system comprises a main support beam, a balancing motion controller, an inertial measurement unit, left and right balancing motors, left and right balancing motor struts, front and rear balancing motors and front and rear balancing motor struts, the first ends of the left and right balancing motors are connected to the beam body of the main support beam through the left and right balancing motor struts, the first ends of the front and rear balancing motors are connected to the beam body of the main support beam through the front and rear balancing motor struts, the inertial measurement unit is used to detect the inclination change of the main support beam and the seat system, the inertial measurement unit is connected to the first end of the balancing motion controller, and the second end of the balancing motion controller is respectively connected to the second ends of the front and rear balancing motors and the second ends of the left and right balancing motors; The bottom end of the seat system is connected to the top end of the main support beam; A universal connector is provided at the lower end of the main support beam; The leg support system includes a leg support gantry, a leg support thrust bracket, a leg support footrest adjustment rod and a leg support main adjustment rod. The two ends of the leg support gantry are rotatably connected to the two armrest sides of the seat system respectively. The first end of the leg support thrust bracket is hinged to the universal connector and can rotate along the cross-axis transverse axis of the universal connector. The first end of the leg support main adjustment rod is hinged to the second end of the leg support thrust bracket, and the second end of the leg support main adjustment rod is hinged to the main frame of the leg support gantry. The main frame of the leg support gantry is also connected to a leg support footrest through the leg support main rod. The first end of the leg support footrest adjustment rod is hinged to the main frame of the leg support gantry, and the second end of the leg support footrest adjustment rod is hinged to the leg support footrest.

2. The fully automatic stair climbing device according to claim 1, characterized in that: It also includes a power system, which includes a left drive motor, a right drive motor, a drive motor controller and a battery. The first end of the left drive motor and the first end of the right drive motor are respectively connected to the first end of the drive motor controller, and the second end of the drive motor controller is connected to the battery.

3. The fully automatic stair climbing device according to claim 2, characterized in that: The power system further comprises a control handle, wherein the control handle is arranged on the armrest of the seat system and is connected to the third end of the drive motor controller.

4. The fully automatic stair climbing device according to claim 2, characterized in that: It also includes a chassis system, which includes a track assembly and a chassis frame for carrying the balancing system and the power system. The track assembly includes a left track device and a right track device which are arranged in parallel on both sides of the chassis frame. The left track device is connected to the second end of the left drive motor, and the right track device is connected to the second end of the right drive motor.

5. The fully automatic stair climbing device according to claim 4, characterized in that: The chassis frame includes a universal joint support seat for carrying the universal connector, and the universal connector is connected to the universal joint support seat.

6. The fully automatic stair climbing device according to claim 4, characterized in that: The left crawler device has the same structure as the right crawler device, and the left crawler device includes a crawler, a plurality of load-bearing support wheels arranged on the inner side of the crawler in contact with the traveling surface, a tensioning wheel arranged on the inner side of the crawler in the forward direction, a plurality of upper support wheels arranged on the inner side of the crawler facing away from the traveling surface, and a driving wheel on the inner side of the crawler facing away from the forward direction.

7. The fully automatic stair climbing device according to claim 4, characterized in that: The driving wheel in the left crawler device is connected to the left driving motor through a driving shaft, and the driving wheel in the right crawler device is connected to the right driving motor through a driving shaft.

8. The fully automatic stair climbing device according to claim 6, characterized in that: There are five load-bearing support wheels in the left crawler device, and two upper support wheels in the left crawler device.

9. The fully automatic stair climbing device according to claim 1, characterized in that: The seat system also includes a seat, armrests are arranged on both sides of the seat, and the center of the bottom end of the seat is connected to the top end of the main support beam.

10. The fully automatic stair climbing device according to claim 1, characterized in that: It also includes an accessory system, wherein the accessory system is provided with a storage compartment and a lighting device.

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