CN105626830B - Combined chain wheel - Google Patents
Combined chain wheel Download PDFInfo
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- CN105626830B CN105626830B CN201610106944.6A CN201610106944A CN105626830B CN 105626830 B CN105626830 B CN 105626830B CN 201610106944 A CN201610106944 A CN 201610106944A CN 105626830 B CN105626830 B CN 105626830B
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- wheel
- chain wheel
- main bearing
- country
- cross
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/30—Chain-wheels
- F16H55/303—Chain-wheels for round linked chains, i.e. hoisting chains with identical links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a combined chain wheel, which comprises a main bearing wheel, wherein a cross-country chain wheel and an obstacle crossing chain wheel are arranged in front of the main bearing wheel, a cross-country wheel is arranged behind the main bearing wheel, the wheel diameter of the main bearing wheel is larger than that of the cross-country chain wheel and the obstacle crossing chain wheel, the main bearing wheel, the cross-country chain wheel, the cross-country wheel and the obstacle crossing chain wheel are connected into a whole through a shell, the cross-country chain wheel and the obstacle crossing chain wheel surround a chain belt, pressure sensors are arranged on wheel shafts of the main bearing wheel, the cross-country wheel and the obstacle crossing chain wheel, a speed sensor is arranged on a wheel shaft of the main bearing wheel, the cross-country chain wheel and the cross-country wheel slightly lift off the ground, the obstacle crossing chain wheel lifts off the ground. The combined chain wheel breaks through the constraint of the traditional design concept of a round wheel, and solves the problems of insufficient obstacle-crossing capability, low safety feeling and incapability of emergency braking of a single-wheel balance car, a Saggerwey car and the like.
Description
Technical Field
The invention relates to a wheel, in particular to a combined chain wheel, which combines a plurality of wheels and chain belts together, wherein the wheels are provided with pressure sensors and speed sensors, and a connecting device is provided with a storage battery, a body sensor, a central control system and a gyro system, thereby solving the problems of insufficient obstacle crossing capability, low safety sense, incapability of emergency braking, insufficient obstacle crossing capability of small-sized carrying equipment, large rolling resistance coefficient and overlarge jolt of an over-the-road vehicle, such as a single-wheel balance vehicle, a Sagewei vehicle and the like, and realizing the stable, efficient and safe running of various carrying equipment on uneven discontinuous roads.
Technical Field
Along with the increasing popularization of novel intelligent carrying equipment, the single-wheel balance vehicle, the Saggerward vehicle and the like begin to step into the public vision, have the advantages of novel and unique design, miniaturization, convenient carrying and capability of directly entering markets and subways, attract the vision of a plurality of people, but have the problems of small safety redundancy, incapability of emergency braking and the like because the design of the wheels is limited to the traditional round wheels, and become a huge obstacle to the large-scale popularization because the wheels are forbidden to be used on sidewalks in many countries or regions up to now; with the development of the miniaturization of carrying equipment, the small and microminiature carrying equipment brings great convenience to people for going out, but because the wheel diameter is small and the carrying equipment usually runs on a non-flat sidewalk, discontinuous pavements and small steps are required to be crossed sometimes, and the defects of insufficient obstacle crossing capability and large rolling resistance coefficient caused by the small wheel diameter are also very prominent; the existing round wheel design is a huge bottleneck for improving the speed and the stability of the off-road vehicle which often runs on a rugged road.
The present invention is a solution to solve all the above problems.
Disclosure of Invention
The invention aims to solve the problems by arranging an obstacle crossing chain wheel, an off-road chain wheel and an off-road wheel in front of a main bearing chain wheel or a main bearing wheel, arranging the off-road chain wheel or the off-road wheel behind the main bearing chain wheel or the main bearing wheel, arranging a chain belt on the chain wheel, enabling the off-road chain wheel to rotate around a rotating shaft, arranging a pressure sensor and a speed sensor on part or all wheels, and arranging a storage battery, a body sensor, a central control system and a gyro system on a connecting plate or a shell.
The invention has the following functions: 1. the main bearing chain wheel or the main bearing wheel bears all or most of load in most of time, the wheel diameter of the main bearing chain wheel or the main bearing wheel is usually larger than that of an off-road chain wheel, an off-road wheel and an obstacle crossing chain wheel, the rolling friction coefficient is not increased as much as possible while the miniaturization of a carrying tool is realized, when part or all of the wheels are electric chain wheel hubs or electric wheel hubs, the main bearing chain wheel or the main bearing wheel can be used as a driving wheel of carrying equipment, and the included angle between the main bearing chain wheel or the main bearing wheel and the horizontal plane is adjusted by accelerating or decelerating. 2. The cross-country chain wheel and the chain belt can help the carrying equipment pass through uneven or discontinuous roads (such as running on sidewalks, getting on and off subways and the like), so that the jolt of cross-country vehicles is reduced, means for maintaining balance of the carrying equipment such as single-wheel balance cars, SageWis cars and the like are added, the stability redundancy is increased (particularly when the vehicles get on and off, stop, travel at ultra-low speed and get on and off small steps), the emergency braking is possible, and the software and hardware requirements of a control system are reduced. 3. The obstacle crossing chain wheel and the chain belt can help the carrying equipment to pass through obstacles (such as road teeth and the like) protruding out of the road surface, and the obstacle crossing capability close to a large-wheel-diameter vehicle is kept while the miniaturization of the carrying tool is realized. 4. The connecting piece or the shell enables the main bearing chain wheel or the main bearing wheel, the cross-country chain wheel or the cross-country wheel, the obstacle crossing chain wheel, the storage battery, the body sensor, the central control system, the gyro system, the pressure sensor, the speed sensor, the rotating shaft and the like to be integrated, and foreign matters are reduced. 5. The storage battery can provide electric energy for the electric chain wheel hub, the electric wheel hub, the body sensor, the central control system, the gyro system, the pressure sensor, the speed sensor and the like. 6. The body sensor can sense the information of the posture, the acceleration state and the like of the invention and output the state information of the invention to the central control system. 7. The central control system receives information transmitted from the body sensor, the pressure sensor, the speed sensor and the gyro system and instructions input from the outside, comprehensively analyzes and processes the information, and then sends control commands to the electric hub, the gyro system and the like to adjust the state of the invention, realize the intention of a driver and keep the balance of a carrying tool. 8. The gyro system adjusts the traveling direction and the inclination of the invention according to the control command of the central control system and outputs the self state information to the central control system. 9. The pressure sensors sense the pressure of each wheel shaft and output the shaft pressure information to the central control system. 10. The speed sensor senses the traveling speed of the present invention and outputs speed information to the central control system. 11. The rotating shaft can make the main bearing chain wheel or the obstacle crossing chain wheel in front of the main bearing wheel and part or all of the cross-country chain wheels rotate around the shaft, and the advancing direction of the invention is adjusted.
The purpose of the invention is realized as follows: the main bearing chain wheel or main bearing wheel bears all or most of the load in most of the time, the wheel diameter of the main bearing chain wheel or main bearing wheel is usually larger than that of the cross-country chain wheel, cross-country wheel and obstacle crossing chain wheel, when some or all of the wheels are electric chain wheel hubs or electric wheel hubs, the invention can be used as the driving wheel of the carrying equipment, and the invention can accelerate or decelerate according to the instruction and adjust the included angle between the invention and the horizontal plane, the obstacle crossing chain wheel or cross-country wheel is arranged in front of the main bearing chain wheel or main bearing wheel, the cross-country chain wheel or cross-country wheel is arranged behind the main bearing chain wheel or main bearing wheel, the chain wheel is provided with a cross-country chain belt, the main bearing chain wheel or main bearing wheel, the cross-country chain wheel or cross-country wheel, the obstacle crossing chain wheel, the storage battery, the body sensor, the central control system, The electric wheel hub, the body sensor, the central control system, the gyro system, the pressure sensor, the speed sensor and the like provide electric energy, the body sensor senses the information of the posture, the acceleration state and the like of the invention and outputs the state information of the invention to the central control system, the central control system receives the information transmitted from the body sensor, the pressure sensor, the speed sensor, the gyro system and an externally input instruction, after comprehensive analysis and processing, the central control system sends a control command to the electric wheel hub, the gyro system and the like to adjust the state of the invention, realize the intention of a driver and keep the balance of a carrying tool, the gyro system adjusts the advancing direction and the inclination of the invention according to the control command of the central control system and outputs the state information of the gyro system to the central control system, the pressure sensor senses the pressure of each wheel axle and outputs the axle pressure information to the central control system, the speed sensor senses the advancing speed of the invention and outputs the speed information to the central control system, and the rotating shaft enables the main bearing chain wheel or the obstacle crossing chain wheel in front of the main bearing wheel and part or all of the cross-country chain wheels to rotate around the shaft, thereby adjusting the advancing direction of the invention.
Drawings
The present invention is described in further detail below with reference to the attached drawing figures.
Fig. 1 is a front view schematically showing embodiment 1 of the present invention.
Figure 2 is a schematic isometric view of the southwest of embodiment 1 of the present invention.
Figure 3 is a schematic northeast isometric view of embodiment 1 of the present invention.
Fig. 4 is a front view schematically showing embodiment 2 of the present invention.
Figure 5 is a schematic, southwestern isometric view of embodiment 2 of the present invention.
Figure 6 is a schematic northeast isometric view of embodiment 2 of the present invention.
Fig. 7 is a front view schematically showing embodiment 3 of the present invention.
Figure 8 is a schematic southwestern isometric view of embodiment 3 of the present invention.
Figure 9 is a schematic northeast isometric view of embodiment 3 of the present invention.
Fig. 10 is a front schematic view of embodiment 4 of the present invention.
Figure 11 is a schematic southwestern isometric view of embodiment 4 of the present invention.
Figure 12 is a schematic northeast isometric view of embodiment 4 of the present invention.
Fig. 13 is a front pictorial illustration of embodiment 5 of the present invention.
Figure 14 is a schematic southwestern isometric view of embodiment 5 of the present invention.
Figure 15 is a schematic northeast isometric view of embodiment 5 of the present invention.
Fig. 16 is a front pictorial illustration of embodiment 6 of the present invention.
Figure 17 is a schematic southwestern isometric view of embodiment 6 of the present invention.
Figure 18 is a schematic northeast isometric view of embodiment 6 of the present invention.
Fig. 19 is a front pictorial illustration of embodiment 7 of the present invention.
Figure 20 is a schematic southwestern isometric view of embodiment 7 of the present invention.
Figure 21 is a schematic northeast isometric view of embodiment 7 of the present invention.
Fig. 22 is a front pictorial illustration of embodiment 8 of the present invention.
Figure 23 is a schematic southwestern isometric view of embodiment 8 of the present invention.
Figure 24 is a schematic northeast isometric view of embodiment 8 of the present invention.
Fig. 25 is a front pictorial illustration of embodiment 9 of the present invention.
Figure 26 is a schematic southwestern isometric view of embodiment 9 of the present invention.
Figure 27 is a schematic northeast isometric view of embodiment 9 of the present invention.
Fig. 28 is a front pictorial illustration of embodiment 10 of the present invention.
Figure 29 is a schematic southwestern isometric view of embodiment 10 of the present invention.
Figure 30 is a schematic northeast isometric view of embodiment 10 of the present invention.
In the figure:
A. main bearing chain wheel
B. Cross-country chain wheel
C. Obstacle-crossing chain wheel
D. Chain belt
E. Connecting piece
F. Storage battery
G. Body sensor
H. Central control system
I. Gyro system
J. Pressure sensor
K. Speed sensor
L, ground
M, shell
N, cross-country wheel
O, main bearing wheel
P, axis of rotation
Detailed Description
1. A combined chain wheel comprises more than one (including one) main bearing chain wheel (A) or main bearing wheel (O), more than zero (including zero) cross-country chain wheels (B) or cross-country wheels (N) and more than zero (including zero) obstacle crossing chain wheels (C), the sum of the number of the cross-country chain wheels (B) or cross-country wheels (N) and the number of the obstacle crossing chain wheels (C) is more than or equal to 1, the diameter of the cross-country chain wheels (B) or cross-country wheels (N) and the diameter of the obstacle crossing chain wheels (C) are less than or equal to the diameter of the main bearing chain wheels (A) or main bearing wheels (O), the cross-country chain wheels (B) or cross-country wheels (N) and the obstacle crossing chain wheels (C) are connected into a whole through connecting pieces (E) or shells (M) and more than zero (including zero) rotating shafts (P), the obstacle crossing chain wheels (C) are lifted off the ground, and the main bearing chain wheels (A) or main bearing wheels (O) or the, The obstacle crossing chain wheel (C) is provided with more than zero (including zero) pressure sensors (J), the main bearing chain wheel (A) or the main bearing wheel (O) is provided with more than zero (including zero) speed sensors (K), the connecting piece (E) or the shell (M) is provided with more than zero (including zero) storage batteries (F), more than zero (including zero) body sensors (G), more than zero (including zero) central control systems (H), more than zero (including zero) gyro systems (I), the main bearing chain wheel (A), the obstacle crossing chain wheel (B) and the obstacle crossing chain wheel (C) are provided with chain belts (D).
2. A combined chain wheel comprises more than one (including one) main bearing chain wheel (A), more than zero (including zero) cross-country chain wheels (B) and more than zero (including zero) obstacle crossing chain wheels (C), the sum of the number of the cross-country chain wheels (B) and the number of the obstacle crossing chain wheels (C) is more than or equal to 1, the diameters of the cross-country chain wheels (B) and the obstacle crossing chain wheels (C) are less than or equal to the diameter of the main bearing chain wheel (A), the main bearing chain wheels (A), the cross-country chain wheels (B) and the obstacle crossing chain wheels (C) are connected into a whole through connecting pieces (E) or a shell (M), the obstacle crossing chain wheels (C) are lifted off the ground, more than zero (including zero) pressure sensors (J) are arranged on the main bearing chain wheels (A), the cross-country chain wheels (B) and the obstacle crossing chain wheels (C), more than zero (including zero) speed, the connecting piece (E) or the shell (M) is provided with more than zero (including zero) storage batteries (F), more than zero (including zero) body sensors (G), more than zero (including zero) central control systems (H), more than zero (including zero) gyro systems (I), and a chain belt (D) is arranged on the main bearing chain wheel (A), the cross-country chain wheel (B) and the obstacle crossing chain wheel (C).
3. A combined chain wheel comprises more than one (including one) main bearing wheel (O), more than one (including one) cross-country chain wheel (B) and more than one (including one) obstacle crossing chain wheel (C) are arranged in front of the main bearing wheel (O), more than zero (including zero) cross-country wheel (N) are arranged behind the main bearing wheel (O), the cross-country chain wheel (B), the obstacle crossing chain wheel (C) and the cross-country wheel (N) are connected into a whole through a connecting piece (E) or a shell (M), the main bearing wheel (O), the cross-country chain wheel (B), the cross-country wheel (N) and the obstacle crossing chain wheel (C) are lifted off the ground, more than zero (including zero) pressure sensors (J) are arranged on the main bearing wheel (O), the cross-country chain wheel (B), the obstacle crossing chain wheel (C) and the cross-country wheel (N), the main bearing wheel (O) is provided with more than zero (including zero) speed sensors (K), the connecting piece (E) or the shell (M) is provided with more than zero (including zero) storage batteries (F), more than zero (including zero) body sensors (G), more than zero (including zero) central control systems (H), more than zero (including zero) gyro systems (I), and the cross-country chain wheel (B) and the obstacle crossing chain wheel (C) are provided with chain belts (D).
4. A combined chain wheel comprises more than one (including one) main bearing wheel (O), more than zero (including zero) cross-country chain wheels (B) and more than zero (including zero) obstacle crossing chain wheels (C), the sum of the number of the cross-country chain wheels (B) and the number of the obstacle crossing chain wheels (C) is more than or equal to 2, the diameters of the cross-country chain wheels (B) and the obstacle crossing chain wheels (C) are less than or equal to the diameter of the main bearing wheel (O), the cross-country chain wheels (B) and the obstacle crossing chain wheels (C) are connected into a whole through a connecting piece (E) or a shell (M), the obstacle crossing chain wheels (C) are lifted off the ground, more than zero (including zero) pressure sensors (J) are arranged on the main bearing wheel (O), the cross-country chain wheels (B) and the obstacle crossing chain wheels (C), more than zero (including zero) speed sensors (, the connecting piece (E) or the shell (M) is provided with more than zero (including zero) storage batteries (F), more than zero (including zero) body sensors (G), more than zero (including zero) central control systems (H), more than zero (including zero) gyro systems (I), and the cross-country chain wheel (B) and the obstacle crossing chain wheel (C) are provided with chain belts (D).
5. A combined chain wheel comprises more than one (including one) main bearing chain wheel (A) or main bearing wheel (O), more than one (including one) cross-country chain wheel (B) and more than one (including one) obstacle crossing chain wheel (C) are arranged in front of the main bearing chain wheel (A) or the main bearing wheel (O), a chain belt (D) is arranged on the cross-country chain wheel (B) and the obstacle crossing chain wheel (C), more than one (including one) cross-country chain wheel (B) or cross-country wheel (N) are arranged behind the main bearing chain wheel (A) or the main bearing wheel (O), the main bearing chain wheel (A) and the cross-country chain wheel (B) are provided with the chain belt (D), the cross-country chain wheel (B) or the cross-country wheel (N) and the diameter of the obstacle crossing chain wheel (C) is smaller than or equal to that of the main bearing chain wheel (A) or the main bearing wheel (O), the main bearing chain wheel (A) or the main bearing wheel (, The obstacle crossing chain wheels (C) are connected into a whole through a front connecting piece (E) or a shell (M), the main bearing chain wheels (A) or the main bearing wheels (O) are connected with a rear cross-country chain wheel (B) or a cross-country wheel (N) into a whole through a rear connecting piece (E) or a shell (M), the front connecting piece (E) or the rear connecting piece (M) are connected into a whole through a rotating shaft (P), the obstacle crossing chain wheels (C) are lifted off the ground, the main bearing chain wheels (A) or the main bearing wheels (O), the cross-country chain wheels (B) or the cross-country wheel (N) and the obstacle crossing chain wheels (C) are provided with more than zero (including zero) pressure sensors (J), more than zero (including zero) speed sensors (K) are arranged on the main bearing chain wheels (A) or the main bearing wheels (O), more than zero (including zero) storage batteries (F) are arranged on the connecting pieces (E) or the shell (M), Zero or more (including zero) body sensors (G), zero or more (including zero) central control systems (H), zero or more (including zero) gyro systems (I).
6. The utility model provides a combined chain wheel, contain more than two (contain two) main bearing sprocket (A), zero more than (contain zero) cross country sprocket (B) and zero more than (contain zero) hinder sprocket (C), cross country sprocket (B), the diameter less than or equal to main bearing sprocket (A) of hindering sprocket (C) more, main bearing sprocket (A), cross country sprocket (B) and hinder more and connect through connecting piece (E) or casing (M) between sprocket (C) and become a whole, hinder more that sprocket (C) lifts off ground, main bearing sprocket (A), cross country sprocket (B), set up chain belt (D) on hindering more sprocket (C).
7. And part or all of the main bearing chain wheel (A) or the main bearing wheel (O) and/or the cross-country chain wheel (B) and/or the obstacle crossing chain wheel (C) is an electric chain wheel hub.
8. The cross-country chain wheel (B) or the cross-country wheel (N) is partially or completely lifted off the ground (L).
9. A cross-country chain wheel (B) and a barrier crossing chain wheel (C) are arranged in front of a main bearing chain wheel (A), a cross-country chain wheel (B) is arranged behind the main bearing chain wheel (A), the wheel diameter of the main bearing chain wheel (A) is larger than the cross-country chain wheel (B) and the barrier crossing chain wheel (C), the main bearing chain wheel (A) is an electric chain wheel hub, the main bearing chain wheel (A), two cross-country chain wheels (B) and the barrier crossing chain wheel (C) are connected into a whole through a connecting piece (E), the main bearing chain wheel (A), two cross-country chain wheels (B) and the barrier crossing chain wheel (C) surround a chain belt (D), pressure sensors (J) are arranged on wheel shafts of the main bearing chain wheel (A), two cross-country chain wheels (B) and the barrier crossing chain wheel (C), a speed sensor (K) is arranged on a wheel shaft of the main bearing chain wheel (A), the two cross-, the obstacle crossing chain wheel (C) is lifted off the ground (L), a storage battery (F), a body sensor (G), a central control system (H) and a gyro system (I) are arranged on a connecting piece (E), a main bearing chain wheel (A) accelerates or decelerates and adjusts the included angle between the obstacle crossing chain wheel (C) and the horizontal plane according to the instruction from the central control system (H), the storage battery (F) supplies electric energy to the main bearing chain wheel (A), the body sensor (G), the central control system (H), the gyro system (I), a pressure sensor (J) and a speed sensor (K), the body sensor (G) senses the posture, the acceleration state and other information of the obstacle crossing chain wheel (G) and outputs the state information of the obstacle crossing chain wheel (G) to the central control system (H), the central control system (H) receives the information transmitted from the body sensor (G), the pressure sensor (J), the speed sensor (K) and the gyro system (, after comprehensive analysis and processing, a control command is sent to a main bearing chain wheel (A) and a gyro system (I), the gyro system (I) adjusts the advancing direction and the gradient of the invention according to the control command of a central control system (H), the self state information is output to the central control system (H), a pressure sensor (J) senses the pressure of each wheel shaft and outputs the shaft pressure information to the central control system (H), and a speed sensor (K) senses the advancing speed of the invention and outputs the speed information to the central control system (H).
10. A cross-country chain wheel (B) and a barrier crossing chain wheel (C) are arranged in front of a main bearing chain wheel (A), a cross-country chain wheel (B) is arranged behind the main bearing chain wheel (A), the wheel diameter of the main bearing chain wheel (A) is larger than the cross-country chain wheel (B) and the barrier crossing chain wheel (C), the main bearing chain wheel (A) is an electric chain wheel hub, the main bearing chain wheel (A), two cross-country chain wheels (B) and the barrier crossing chain wheel (C) are connected into a whole through a shell (M), the main bearing chain wheel (A), two cross-country chain wheels (B) and the barrier crossing chain wheel (C) surround a chain belt (D), pressure sensors (J) are arranged on wheel shafts of the main bearing chain wheel (A), two cross-country chain wheels (B) and the barrier crossing chain wheel (C), a speed sensor (K) is arranged on a wheel shaft of the main bearing chain wheel (A), the two cross-country, the obstacle-crossing chain wheel (C) is lifted off the ground (L), a shell (M) is provided with a storage battery (F), a body sensor (G), a central control system (H) and a gyro system (I), a main bearing chain wheel (A) accelerates or decelerates and adjusts the included angle between the obstacle-crossing chain wheel (C) and the horizontal plane according to instructions from the central control system (H), the storage battery (F) provides electric energy for the main bearing chain wheel (A), the body sensor (G), the central control system (H), the gyro system (I), a pressure sensor (J) and a speed sensor (K), the body sensor (G) senses the posture, the acceleration state and other information of the obstacle-crossing chain wheel (G) and outputs the state information of the obstacle-crossing chain wheel (G) to the central control system (H), the central control system (H) receives the information transmitted from the body sensor (G), the pressure sensor (J), the speed sensor (K) and the gyro, after comprehensive analysis and processing, a control command is sent to a main bearing chain wheel (A) and a gyro system (I), the gyro system (I) adjusts the advancing direction and the gradient of the invention according to the control command of a central control system (H), the self state information is output to the central control system (H), a pressure sensor (J) senses the pressure of each wheel shaft and outputs the shaft pressure information to the central control system (H), and a speed sensor (K) senses the advancing speed of the invention and outputs the speed information to the central control system (H).
11. A cross-country chain wheel (B) and a barrier crossing chain wheel (C) are arranged in front of a main bearing wheel (O), a cross-country wheel (N) is arranged behind the main bearing wheel (O), the wheel diameter of the main bearing wheel (O) is larger than the cross-country chain wheel (B) and the barrier crossing chain wheel (C), the main bearing wheel (O) is an electric wheel hub, the main bearing wheel (O), the cross-country chain wheel (B), the cross-country wheel (N) and the barrier crossing chain wheel (C) are connected into a whole through a shell (M), the cross-country chain wheel (B) and the barrier crossing chain wheel (C) surround a chain belt (D), pressure sensors (J) are arranged on wheel shafts of the main bearing wheel (O), the cross-country chain wheel (B), the cross-country wheel (N) and the barrier crossing chain wheel (C), a speed sensor (K) is arranged on a wheel shaft of the main bearing wheel (O), the cross-country chain wheel (B) and the, the obstacle-crossing chain wheel (C) is lifted off the ground (L), a shell (M) is provided with a storage battery (F), a body sensor (G), a central control system (H) and a gyro system (I), a main bearing wheel (O) accelerates or decelerates and adjusts the included angle between the obstacle-crossing chain wheel (C) and the horizontal plane according to the instruction from the central control system (H), the storage battery (F) provides electric energy for the main bearing wheel (O), the body sensor (G), the central control system (H), the gyro system (I), a pressure sensor (J) and a speed sensor (K), the body sensor (G) senses the posture, the acceleration state and other information of the obstacle-crossing chain wheel (G) and outputs the state information of the obstacle-crossing chain wheel (G) to the central control system (H), the central control system (H) receives the information transmitted from the body sensor (G), the pressure sensor (J), the speed sensor (K) and the gyro system, after comprehensive analysis and processing, a control command is sent to a main bearing wheel (O) and a gyro system (I), the gyro system (I) adjusts the advancing direction and the inclination of the invention according to the control command of a central control system (H) and outputs the self state information to the central control system (H), a pressure sensor (J) senses the pressure of each wheel shaft and outputs the shaft pressure information to the central control system (H), and a speed sensor (K) senses the advancing speed of the invention and outputs the speed information to the central control system (H).
12. A cross-country chain wheel (B) and an obstacle crossing chain wheel (C) are arranged in front of a main bearing wheel (O), the cross-country chain wheel (B) is arranged beside and behind the main bearing wheel (O), the wheel diameter of the main bearing wheel (O) is larger than that of the cross-country chain wheel (B) and the obstacle crossing chain wheel (C), the main bearing wheel (O) is an electric wheel hub, the main bearing wheel (O), the three cross-country chain wheels (B) and the obstacle crossing chain wheel (C) are connected into a whole through a shell (M), the three cross-country chain wheels (B) and the obstacle crossing chain wheel (C) surround a chain belt (D), pressure sensors (J) are arranged on wheel shafts of the main bearing wheel (O), the three cross-country chain wheels (B) and the obstacle crossing chain wheel (C), a speed sensor (K) is arranged on a wheel shaft of the main bearing wheel (O), the three cross-country chain wheels (B) are slightly lifted from the ground (L), the obstacle crossing chain, the shell (M) is provided with a storage battery (F), a body sensor (G), a central control system (H) and a gyro system (I), the main bearing wheel (O) accelerates or decelerates and adjusts the included angle between the main bearing wheel (O), the body sensor (G), the central control system (H), the gyro system (I), a pressure sensor (J) and a speed sensor (K) according to the instruction from the central control system (H), the storage battery (F) provides electric energy for the main bearing wheel (O), the body sensor (G), the central control system (H), the gyro system (I), the pressure sensor (J) and the speed sensor (K), the body sensor (G) senses the posture, the acceleration state and other information of the main bearing wheel (O), and outputs the state information of the main bearing wheel (G) to the central control system (H), the central control system (H) receives the information transmitted from the body sensor (G, after comprehensive analysis and processing, a control command is sent to a main bearing wheel (O) and a gyro system (I), the gyro system (I) adjusts the advancing direction and the inclination of the invention according to the control command of a central control system (H) and outputs the self state information to the central control system (H), a pressure sensor (J) senses the pressure of each wheel shaft and outputs the shaft pressure information to the central control system (H), and a speed sensor (K) senses the advancing speed of the invention and outputs the speed information to the central control system (H).
13. An off-road chain wheel (B) and an obstacle crossing chain wheel (C) are arranged in front of a main bearing chain wheel (A), an off-road chain wheel (B) is arranged behind the main bearing chain wheel (A), the wheel diameter of the main bearing chain wheel (A) is larger than that of the off-road chain wheel (B) and the obstacle crossing chain wheel (C), the main bearing chain wheel (A) is an electric wheel hub, the main bearing chain wheel (A), the off-road chain wheel (B) and the obstacle crossing chain wheel (C) are connected into a whole through a front shell (M) and a rear shell (M) and a rotating shaft (P), the off-road chain wheel (B) and the obstacle crossing chain wheel (C) in front of the main bearing chain wheel (A) surround a chain belt (D), the main bearing chain wheel (A) and the off-road chain wheel (B) in rear surround another chain belt (D), and pressure sensors (J) are arranged on wheel shafts of the main bearing, a speed sensor (K) is arranged on a wheel shaft of a main bearing chain wheel (A), an off-road chain wheel (B) in front of the main bearing chain wheel (A) is contacted with the ground, the off-road chain wheel (B) behind the main bearing chain wheel (A) is slightly lifted off the ground (L), an obstacle crossing chain wheel (C) is lifted off the ground (L), a storage battery (F), a body sensor (G), a central control system (H) and a gyro system (I) are arranged on a rear shell (M), the main bearing chain wheel (A) accelerates or decelerates and adjusts the included angle between the main bearing chain wheel (A) and the horizontal plane according to instructions from the central control system (H), the storage battery (F) provides electric energy for the main bearing chain wheel (A), the body sensor (G), the central control system (H), the gyro system (I), a pressure sensor (J) and the speed sensor (K), and the body sensor (G) senses the, the state information of the invention is output to a central control system (H), the central control system (H) receives the information transmitted from a body sensor (G), a pressure sensor (J), a speed sensor (K) and a gyro system (I) and an externally input instruction, after comprehensive analysis and processing, the central control system (H) sends a control command to a main bearing chain wheel (A) and the gyro system (I), the gyro system (I) adjusts the advancing direction and the inclination of the invention according to the control command of the central control system (H) and outputs the state information of the gyro system to the central control system (H), the pressure sensor (J) senses the pressure of each wheel axle and outputs the axle pressure information to the central control system (H), and the speed sensor (K) senses the advancing speed of the invention and outputs the speed information to the central control system (H).
14. The front of a main bearing chain wheel (A) is provided with an obstacle crossing chain wheel (C), the rear of the main bearing chain wheel (A) is provided with an off-road chain wheel (B), the wheel diameter of the main bearing chain wheel (A) is larger than the off-road chain wheel (B) and the obstacle crossing chain wheel (C), the main bearing chain wheel (A) is an electric chain wheel hub, the off-road chain wheel (B) and the obstacle crossing chain wheel (C) are connected into a whole through a shell (M), the main bearing chain wheel (A), the off-road chain wheel (B) and the obstacle crossing chain wheel (C) surround a chain belt (D), the main bearing chain wheel (A), the off-road chain wheel (B) and the obstacle crossing chain wheel (C) are provided with pressure sensors (J) on wheel shafts, a speed sensor (K) is arranged on the wheel shaft of the main bearing chain wheel (A), the off-road chain wheel (B) slightly leaves the ground (L), the obstacle crossing, the shell (M) is provided with a storage battery (F), a body sensor (G) and a central control system (H), the main bearing chain wheel (A) accelerates or decelerates and adjusts the included angle between the main bearing chain wheel and the horizontal plane according to the instruction from the central control system (H), the storage battery (F) provides electric energy for the main bearing chain wheel (A), the body sensor (G), the central control system (H), a pressure sensor (J) and a speed sensor (K), the body sensor (G) senses the information of the posture, the acceleration state and the like of the main bearing chain wheel and outputs the state information of the main bearing chain wheel to the central control system (H), the central control system (H) receives the information transmitted from the body sensor (G), the pressure sensor (J) and the speed sensor (K) and the instruction input from the outside, and sends a control command to the main bearing chain wheel (A) after comprehensive analysis and processing, the pressure sensor (J) senses the pressure of each wheel shaft and outputs the shaft pressure information to the central control system (H), and the speed sensor (K) senses the traveling speed of the invention and outputs the speed information to the central control system (H).
15. The front and the rear of a main bearing chain wheel (A) are respectively provided with an off-road chain wheel (B), the wheel diameter of the main bearing chain wheel (A) is larger than the off-road chain wheel (B), the main bearing chain wheel (A) is an electric chain wheel hub, the main bearing chain wheel (A) and two off-road chain wheels (B) are connected into a whole through a shell (M), the main bearing chain wheel (A) and two off-road chain wheels (B) surround a chain belt (D), and the two off-road chain wheels (B) are slightly lifted from the ground (L).
16. Set up one cross country sprocket (B) at the rear of main bearing sprocket (A), the wheel footpath of main bearing sprocket (A) is greater than cross country sprocket (B), main bearing sprocket (A) is electronic sprocket hub, main bearing sprocket (A), cross country sprocket (B) connect into a whole through casing (M), main bearing sprocket (A) and cross country sprocket (B) are chain belt (D) around, cross country sprocket (B) lifts off ground (L) a little.
17. Set up one cross country sprocket (B) and one in the place ahead of two main bearing sprocket (A) and hinder sprocket (C) more, set up one cross country sprocket (B) at the opposite side of two main bearing sprocket (A), two cross country sprockets (B) and hinder sprocket (C) more and connect into a whole through casing (M), two cross country sprockets (B) lift off ground (L) a little, hinder sprocket (C) more and lift off ground (L), two main bearing sprocket (A), two cross country sprockets (B) and hinder sprocket (C) more chain belt (D) around.
18. Two main bearing chain wheels (A) and two cross-country chain wheels (B) are connected into a whole through a shell (M), the two cross-country chain wheels (B) are slightly lifted off the ground (L), and the two main bearing chain wheels (A) and the two cross-country chain wheels (B) surround a chain belt (D).
Claims (1)
1. A combined chain wheel is characterized by comprising a main bearing wheel, a cross-country chain wheel (B) and an obstacle crossing chain wheel (C) are arranged in front of the main bearing wheel (O), a cross-country wheel (N) is arranged behind the main bearing wheel (O), the wheel diameter of the main bearing wheel (O) is larger than that of the cross-country chain wheel (B) and the obstacle crossing chain wheel (C), the main bearing wheel (O) is an electric hub, the main bearing wheel (O), the cross-country chain wheel (B), the cross-country wheel (N) and the obstacle crossing chain wheel (C) are connected into a whole through a shell (M), the cross-country chain wheel (B) and the obstacle crossing chain wheel (C) surround a chain belt (D), pressure sensors (J) are arranged on wheel shafts of the main bearing wheel (O), the cross-country chain wheel (B), the cross-country wheel (N) and the obstacle crossing chain wheel (C), a speed sensor (K) is arranged on a wheel shaft of the main bearing wheel (O), the cross-country chain wheel (B) and, the obstacle crossing chain wheel (C) is lifted off the ground (L), and a storage battery (F), a body sensor (G), a central control system (H) and a gyro system (I) are arranged on the shell (M).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010308834.4A CN112303208A (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
| CN201610106944.6A CN105626830B (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015106690490 | 2015-10-18 | ||
| CN201510669049 | 2015-10-18 | ||
| CN201610106944.6A CN105626830B (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010308834.4A Division CN112303208A (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105626830A CN105626830A (en) | 2016-06-01 |
| CN105626830B true CN105626830B (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610106944.6A Active CN105626830B (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
| CN202010308834.4A Pending CN112303208A (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010308834.4A Pending CN112303208A (en) | 2015-10-18 | 2016-02-28 | Combined chain wheel |
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| Country | Link |
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| CN (2) | CN105626830B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703640A (en) * | 2018-11-16 | 2019-05-03 | 中国北方车辆研究所 | Crawler type independent ambulation device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2061290A (en) * | 1933-05-02 | 1936-11-17 | Riemerschmid Fritz | Motor vehicle |
| US4881609A (en) * | 1987-12-22 | 1989-11-21 | Caterpillar Inc. | Suspension mechanism for a track-type vehicle |
| US6874586B2 (en) * | 2002-02-27 | 2005-04-05 | A & D Boivin Design Inc. | Track assembly for an all-terrain vehicle |
| CN100567066C (en) * | 2007-12-13 | 2009-12-09 | 南京航空航天大学 | Combined type obstacle crossing walking system |
| CN101293540A (en) * | 2008-06-24 | 2008-10-29 | 高鹏 | Independent caterpillar walking mechanism |
| CN103373401A (en) * | 2012-04-18 | 2013-10-30 | 夏铁庚 | Obstacle-crossing carrying tricycle |
| CN103112509A (en) * | 2013-03-06 | 2013-05-22 | 何志波 | Self-balance power-driven double-track vehicle |
| CA2924293A1 (en) * | 2013-09-12 | 2015-03-19 | T. G. Underwood Llc | Tracked mobility device |
| CN104875798B (en) * | 2015-05-04 | 2017-12-12 | 国家电网公司 | Transformer station's wheel carries out compound switchable type mobile robot |
-
2016
- 2016-02-28 CN CN201610106944.6A patent/CN105626830B/en active Active
- 2016-02-28 CN CN202010308834.4A patent/CN112303208A/en active Pending
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| CN105626830A (en) | 2016-06-01 |
| CN112303208A (en) | 2021-02-02 |
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