CN107529434A - Crawler-type moving mechanism - Google Patents
Crawler-type moving mechanism Download PDFInfo
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- CN107529434A CN107529434A CN201710305536.8A CN201710305536A CN107529434A CN 107529434 A CN107529434 A CN 107529434A CN 201710305536 A CN201710305536 A CN 201710305536A CN 107529434 A CN107529434 A CN 107529434A
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- crawler belt
- contact
- fulcrum
- working face
- travel mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 87
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims description 35
- 238000000034 method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 2
- 238000007373 indentation Methods 0.000 claims description 2
- 238000005191 phase separation Methods 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 241000282326 Felis catus Species 0.000 description 5
- 230000008901 benefit Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 206010057071 Rectal tenesmus Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000012271 tenesmus Diseases 0.000 description 3
- 241000219098 Parthenocissus Species 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000010903 husk Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
A locomotion mechanism comprising fixedly arranged first and second tracks operatively connected to each other and moving synchronously for locomotion over a work surface, wherein the first and second tracks are configured to together form a zigzag and preferably lightning shaped contact/active base portion or bottom profile to adapt and follow different work surfaces or to be arbitrarily movable over stairs, rough roads and all terrain having different slopes.
Description
Technical field
The present invention relates to a kind of caterpillar machinery travel mechanism, and specifically, being related to one kind has stair climbing function and energy
Stair that the multilayer angle that enough safety and steadies falls on the ground differs, on fall slope, across obstacle, to travel on rugged hill road again same
When flexibly travel on slippery traffic surface, and volume is tiny, the caterpillar machinery travel mechanism that can be turned in narrow and small stair bent angle.
Background technology
There are a variety of mechanical combinations to design and invent now, be intended to that mankind's traveling can be helped or cross over different and common
Road and obstacle.Slippery traffic surface such as interior, outdoor You Bolu, the barrier on street, even rugged hill road, angle
Spend stair to differ etc..But this kind of mechanical combination, in design all there is in certain degree the problem of, make its invention can not one
One road and obstacle more than, such as：
The Chinese invention patent ZL201210110973.1 of the present inventor discloses a kind of crawler belt stair-climbing wheel chair, and it is invented
Using patent " design of two-period form crawler belt ", the stair that angle differs can be climbed, when reaching ladder top, two-period form design can be by under
The strength of pendant is shed, and wheelchair is arrived safe and sound ladder top.But the performance when being used on road surface is have ignored in design, because
The invention employs Full Tracked design, when being travelled on slippery traffic surface, friction that crawler belt can be suitable with road surface generation, very
Damaged to meeting road pavement, it is quite dumb.When travelling crankcase ventilaton, can also be set because of it just like the crawler belt as tank
Meter, when protrusion is crossed, also has the danger to drop suddenly.(such as Fig. 1 a)
Another Chinese invention patent number 201510555652.6 of the present inventor discloses a kind of crawler-type mobile mechanism, its
" design of water droplet formula crawler belt " that invention is combined using big small wheels, stair that angle differs can be climbed, neatly traveling is smoothly
Road surface, also can safely travel crankcase ventilaton and across obstacle.But just because of its function is too many, seat needs often lifting
Or swing, forearm will often stretch again before or after contracting, complicated structure causes to manipulate difficulty and volume is larger, and radius of turn is also
Therefore greatly increase (such as Fig. 1 b).When running into narrow stair and bent angle, travel mechanism be able to not will travel.
Still there is the shortcomings that one very big in the travel mechanism for carrying out cat ladder with crawler belt of prior art, is exactly that crawler belt can only grasp building
" terraced angle " (such as Fig. 1 c) of ladder.Although more existing invention, crawler belt is stretched as far as possible to increase grasp a little for crawler belt and terraced angle, carried out
Band can only grasp " angle " of step all the time, as long as someone is slightly pushed against energetically after, travel mechanism is easy to overturn.
The content of the invention
In order to solve the shortcomings that prior art and problem, the present invention provides a kind of " lightening caterpillar belt structure " (Fig. 2 a), profit
With two groups of caterpillar belt structures of different shapes, lightning shape is regularly combined into, realizes and perfectly climbs terraced, cross-country and level road cunning
OK, and volume and radius of turn are superfine small " caterpillar machinery travel mechanism " (Fig. 2 b).This mechanical structure is mainly by 3 portions
Part combines, including：Crawler belt travel mechanism, caster movement mechanism and support mechanism.
According to a kind of travel mechanism of the present invention, including the operationally interconnection that is fixedly disposed and synchronously move
With the first crawler belt and the second crawler belt moved on working face, wherein：
What first crawler belt included with configurable first angle obliquely extending relative to the working face first connects
Touch/effect bottom surface portions；First contact/the contact with the working face of effect bottom surface portions substantially single-contact or face
Contact and first make contact between the two are configured to the first fulcrum of the travel mechanism；
Second crawler belt includes being respectively relative to the working face with configurable second angle and the configurable the 3rd
The second contact extended to angle tilt/effect bottom surface portions and three contacts/effect bottom surface portions, second contact/work
Intersected with bottom surface portions and three contacts/effect bottom surface portions to be collectively forming contact/effect bottom surface sections that substantially forming V-shape extends
Point；The contact/effect bottom surface portions contact with the working face substantially single-contact or face contact and between the two
The second contact point or contact surface be configured to the second fulcrum of the travel mechanism；
First crawler belt is configured to be collectively forming indentation and preferably contact/work of lightning shape with second crawler belt
With bottom surface portions or bottom profile, to adapt to and be close to different working faces or can be on the stair with different gradients, rugged road
Arbitrarily moved on face and full landform ground.
In some embodiments of the travel mechanism according to the present invention, first crawler belt and the common shape of the second crawler belt
Into bottom profile and first fulcrum and the second fulcrum form the space of general triangular, to adapt to and be easy to across moving
The bossing of the working face met with during dynamic, relative to the bottom profile of flat type, can reduce what travel mechanism suddenly fell
Possibility.
In certain embodiments, substantially described first crawler belt of the height of the triangle space or second crawler belt
The 60%-180% of height and preferably 120%, to adapt to and be easy to across the convex of the working face met with during movement
Part is played, relative to the bottom profile of flat type, the possibility that travel mechanism suddenly falls can be reduced.
In certain embodiments, the length of first contact/effect bottom surface portions is about second contact/effect bottom
2 times of the length of face part；And/or the length of first contact/effect bottom surface portions is about three contacts/effect bottom
1.5 times of the length of face part, the length or the length are than helping to form the bottom profile of requirement to adapt to and be close to
Different working faces, relative to the bottom profile of flat type, it can reduce travel mechanism and occur what is suddenly fallen after protrusion is crossed over
Possibility.
In certain embodiments, the configuration of the first crawler belt and/or second crawler belt, first angle, described
Second angle, and/or the third angle are configured to facilitate in first fulcrum and the second fulcrum at least one therein
When point is in or be supported on tip portion or the corner of the working face, another fulcrum is set to can be at or be supported on the working face
Flat or on another plane near the working face, thus make the stability and security of the travel mechanism
Greatly improve.
In certain embodiments, when being moved on stair, first crawler belt and second crawler belt are configured to make composition
First fulcrum and the second fulcrum an at least fulcrum therein for lightning shape bottom surface portions always with the offer of a step compared with
The step plane of big bear power offsets, to be in and be supported on the offer of another step in another fulcrum compared with ramuscule load
When on step angle, the grade surface act as the main supporting surface of the travel mechanism to prevent from overturning, and thus makes the movement
The stability and security of the operation of mechanism greatly improve.
In certain embodiments, the first angle, the second angle and/or the third angle can be relative to predetermined
The gradient scopes estimated or surveyed of stair in using area, rough ground estimate or legal rugged degree is correspondingly matched somebody with somebody
Put；And/or the first angle is 25 ° -30 °, preferably 26 °；And/or the second angle is 35 ° -40 °, preferably 36 °；
The third angle is 125 ° -130 °, and preferably 126 °, the angle or the angular range help to form the bottom of requirement
Profile is to adapt to and be close to different working face and stair, and relative to the bottom profile of flat type, it can reduce travel mechanism and exist
The possibility suddenly fallen occurs after across protrusion and during cat ladder process.
In certain embodiments, first crawler belt is the crawler belt of substantially elongated；And/or second crawler belt is substantially three
The crawler belt of angle-style；First crawler belt and second crawler belt are configured to coaxially drive, to improve gearratio and efficiency.
In certain embodiments, in addition to an at least universal wheel, the universal wheel be configured to first crawler belt and/or
Second crawler belt is operably connected, and the universal wheel is configured to independently of first crawler belt and second crawler belt
Mode rotationally switches between spare space and operating position, and at the operating position, the universal wheel is towards institute
The direction for stating working face pivot until offset with the working face and further lifted be operably connected therewith described the
One crawler belt or second crawler belt, first crawler belt or second crawler belt is set to be separated with the working face, it is described universal
Wheel contact with the working face substantially linear contact lay and the 3rd contact point between the two are configured to the travel mechanism
3rd fulcrum replaces first fulcrum or second fulcrum to take, and thereby the travel mechanism is changed by double caterpillar belt structures
Into mono-track plus Universal wheel structure；And at the spare space, the universal wheel is directed away from the direction pivot of the working face
Turn until first crawler belt being operably connected therewith or second shoe are separated and further made with the working face
Band declines until being offseted with the working face, and the 3rd fulcrum is taken and replaced by first fulcrum or second fulcrum, and from
And the travel mechanism is set to add Universal wheel structure to change caterpillar belt structure in pairs by mono-track.
In certain embodiments, at the operating position, the center line of the universal wheel tilts relative to the working face
Ground extends and is substantially orthogonal with the length direction of first crawler belt or second crawler belt；And/or in the spare space
When, the center line of the universal wheel obliquely extend relative to the working face and with first crawler belt or second crawler belt
Length direction it is almost parallel, the configuration, the position and the switching mode of the universal wheel help to reduce travel mechanism
Space requirement and adapt it to and be close to different working faces desired operation.
It is according to the advantage of the travel mechanism of the present invention：
1. crawler belt travel mechanism-the invention a kind of unique " lightening caterpillar belt structure ", two groups of not similar shapes are utilized
The caterpillar belt structure of shape, regularly it is combined into lightning shape.The combining structure of this innovation, mechanism is made to be adapted to move different situations
Road surface, and because eliminating tired multiple variable body, make to simplify in structure, volume is substantially reduced (Fig. 2 b).It is in addition, of the invention
Create exclusive caterpillar belt structure, its cat ladder principle differs widely with existing invention, as shown in (such as Fig. 2 c), when after crawler belt only
While grasp " terraced angle ", the situation for tightly stepping on " tread " occurs in preceding crawler belt；As shown in (such as Fig. 2 d), current crawler belt is only grabbed
While " terraced angle ", the situation for tightly stepping on " tread " occurs in rear crawler belt.Just because of " stepping on tread " can be than " grasp terraced angle "
Safe firmly a lot, so even if someone is pushed against energetically after, travel mechanism is all difficult to overturn from stair.
2. a pair of flexible universal wheels of caster movement mechanism-the invention, with electric pushrod, are promoted a pair
Universal wheel to front or rear swing, when electric pushrod extends it is most long when, universal wheel can leave ground, allow crawler belt to contact to earth, and make moving machine
Structure can carry out speeling stairway and obstacle detouring is used (Fig. 6 a)；When electric pushrod is reduced to most in short-term, universal wheel can contact ground, make movement
Mechanism can be in flexibly turning to (Fig. 7 a) on level road.
3. prop balanced controls-present invention utilizes 1 electric pushrod, a gyroscope and simple structure, create
One effective prop balanced controls (such as Fig. 6 b).In level road, gyroscope can send message, be reduced to electric pushrod
Most short (such as Fig. 6 a), when speeling stairway or obstacle detouring, electric pushrod can be according to the message that gyroscope is sent and electric pushrod
Elongate or shorten, make people or thing of the support on support, can forever with ground keep VE state (such as Fig. 8 a,
8b)。
Thus, the present invention takes the move mode of lightening crawler belt, with the operation concept of brand-new grain husk, the structure without complexity
And variable body, solve the complex situations on different road surfaces with simplest method.Especially building is climbed in a manner of " stepping on tread "
The novel concept of ladder, even more crawler belt travel mechanism.In addition, the universal wheel variable body running of the present invention, and other parts need not be made,
Such as make forearm stretch increases length of wagon to provide extra work space, so the present invention can keep vehicle body tiny,
Lithe.
Due to, with two groups of crawler belts, dexterously forming lightning shape before and after the present invention, going solution to ask with simplest method
Topic, thus make assembling and the complexity of maintenance greatly reduce, greatly increase the practicality of invention commercialization, as can be actually used
In electric wheelchair, scooter, goods handbarrow, measuring instrument and toy etc..
And the caster movement mechanism of the present invention then can take corresponding environmental factor into account when the present invention wants commercialization,
The especially populous and urban district of street canyon, the tiny wheelchair of a volume can just suit being actually needed for users.
In addition, present invention employs better simply balance system, the superincumbent thing of support is made more to balance, be safer.Cause
This, can actually multiply loading thing, passenger or the strong personage of wound on prop.
Brief description of the drawings
The present invention is described by example hereinafter with reference to accompanying drawing, in the accompanying drawings:
Fig. 1 a are to show the dangerous situation that creeper truck occurs when clearing the jumps.
Fig. 1 b be show similar inventions radius of turn it is very large.
For Fig. 1 c to show creeper truck in speeling stairway, crawler belt can only grasp the situation at " terraced angle ".
Fig. 2 a form the lightning shape of uniqueness for display travel mechanism.
Fig. 2 b be show the present invention radius of turn it is very small.
For Fig. 2 c to show the present invention when climbing ladder, preceding crawler belt steps on the situation of " tread ".
For Fig. 2 d to show the present invention when climbing ladder, rear crawler belt steps on the situation of " tread ".
Fig. 3 a are the side block diagram of the present invention, and show to form three principal organ of the present invention.
Fig. 3 b are the overlooking structure figure of the present invention, and show to form three principal organ of the present invention.
Fig. 4 a are the side block diagram of crawler belt travel mechanism of the present invention, and show to form the component of this mechanism.
Fig. 4 b are the overlooking structure figure of crawler belt travel mechanism of the present invention, and show to form the component of this mechanism.
Fig. 5 a are the caster movement mechanism of the present invention and the side block diagram of prop balanced controls, and show to form
The component of this mechanism.
Fig. 5 b are the caster movement mechanism of the present invention and the overlooking structure figure of prop balanced controls, and show to form
The component of this mechanism.
Fig. 6 a are that universal wheel telescopic electric push rod extends most long, and universal wheel is packed up, the situation that front and rear crawler belt contacts to earth simultaneously.
Fig. 6 b are that seat balance electric push rod extends the situation most long, prop height height is propped up.
Fig. 7 a are situation of the present invention when being moved on level road.
Fig. 7 b are situation of the present invention when being moved on rugged road.
Fig. 8 a are the situation that the present invention climbs on the stair that angle differs.
Fig. 8 b are situation of the present invention when reaching ladder top or descending stair.
Fig. 9 a-9d are crawler belt travel mechanism and the comparison figure of the design of other track structures of the present invention.
Embodiment
Fig. 3 a and 3b show the perspective view of an embodiment of of the invention " caterpillar machinery travel mechanism ", to be clear
For the sake of, a part of component is only schematically shown in figure.The mechanism of the present invention includes：1 crawler belt travel mechanism, the movement of 2 universal wheels
Mechanism, 3 prop balanced controls.
It (110 this motor mechanism, can be other engines that travel mechanism 1, which includes left and right driving deceleration motor 110,
Structure, such as fuel oil start other launch devices).
Driving reducing motor 110 is fixed on driving reducing motor support 102, and 102 can be fixed on the main branch of vehicle body simultaneously
On frame 101 and front internal fixation plate 143, driving reducing motor and major body support are fixed.
When controller instruction driven by energy reducing motor 110, (energy can be battery, gasoline or solar energy etc., and control
Device processed is also prior art, has a variety of plates to select, so being not described in detail here), 110 can drive driving reducing motor power transmission shaft
111 are rotated, and interior synchronizing wheel 121 is also secured on roller 111 with outer synchronizing wheel 122, therefore 121 can rotate simultaneously with 122.
The power of interior synchronizing wheel 121, preamble crawler belt 132 can be passed through and drive preamble wheel 125.Outside front internal fixation plate 143 and front
Interior synchronizing wheel 121 and preamble wheel 125 can be secured in place by fixed plate 144, two fixed plates roller and plank it
Between be provided with bearing, roller can be rotated between plank.Front internal fixation plate 143 can be formed necessarily with front outer stationary plates 144
Angle and it is fixed immediately, its angle depends on be actually needed depending on.
Drive reducing motor power transmission shaft 111 to rotate when driving reducing motor 110 drives, while drive outer 122 turns of synchronizing wheel
It is dynamic, its power synchronous the drive time synchronizing wheel 123 of crawler belt 131 and rear synchronizing wheel 124 after passing through.Rear internal fixation plate 141 is with after
Synchronizing wheel 122,123 and 124 can be secured in place by square outer stationary plates 142, form a triangle, and two fixed plates exist
Bearing is provided between roller and plank, roller can be rotated between plank.And rear internal fixation plate 141 can be with vehicle body main support
101 are fixedly connected, and synchronous crawler belt 131 is run after making driving force steadily to drive.
It (220 this motor mechanism, can be that other start that caster movement mechanism 2, which includes universal wheel telescopic electric push rod 220,
Mechanism, such as reducing motor or oil tappet).
First, universal wheel telescopic electric push rod 220 can be flexibly connected with push rod connecting bracket 204, and 204 can be with vehicle body master
Support 101 is fixedly connected, and therefore, strength caused by universal wheel telescopic electric push rod 220, can be offseted by vehicle body main support 101.
When driven by energy universal wheel telescopic electric push rod 220 elongates or shortens, power can be conveyed to push rod connector
203, it is made to front or rear rotation.Push rod connector 203 can be with universal wheel rotary shaft 201 immediately, and 201 can pass through bearing, with
Two pieces of left and right front internal fixation plate 143 is flexibly connected.Meanwhile 2 universal wheels 210 can be fixed with 2 universal wheel connectors 202 and connected
Connect, and 2 universal wheel connectors 202 can be with universal wheel rotary shaft 201 immediately.I other words when universal wheel telescopic electric push rod
During power transmission to push rod connector 203, power can make universal wheel rotary shaft 201 to front or rear swing simultaneously.And universal wheel 210
202 and 201 can be passed through immediately, therefore, while universal wheel telescopic electric push rod 220 elongates or shortens, 2 universal wheels 210
Also can be to land or liftoff simultaneously to front or rear swing.
It (310 this motor mechanism, can be other that prop balanced controls 3, which include prop balance electric push rod 310,
Motor mechanism, such as reducing motor or oil tappet), gyroscope 320 (320 can be two dimension, can be three-dimensional) and support machine
Structure 330 (330 can be seat or the mechanism of other bearing goods).
First, prop balance electric push rod 310 can be flexibly connected with push rod connecting bracket 301, and 301 meetings and vehicle body
Main support 101 is fixedly connected, and therefore, strength caused by prop balance electric push rod 310 can be by vehicle body main support 101
Payment.
When gyroscope 320 is received forward or after the message of rear-inclined, prop balance electric will be issued instructions to
Push rod 310 elongates or shortens.It is flexibly connected due to 310 with support mechanism 330, and 330 connect with the activity of vehicle body main support 101
Connect, so when 310 extend, support mechanism 330 will be high by support.On the contrary, when 310 shorten, support mechanism 330 will be downward
Drop.Under this simple structure, whole support mechanism just can be kept balancing with ground.
Through the structure of the above, function of the invention is following, and (to make mechanism more specific, function view can be in prop
On balanced controls 330 plus put a seat)：
1. level road function (Fig. 7 a)：In order that car can flexibly travel on indoor or level road, universal wheel telescopic electric pushes away
Bar 220 can be contracted to most short, make a pair of universal wheels 210 decline and contact to earth, make preamble band 132 liftoff (such as Fig. 4 a).Then, car
Move Mode become to be landed driving by rear timing belt completely, due to front two universal wheels 210 can with optional turning, so
Car very flexibly, and can turn in narrow road.
2. rugged road function (Fig. 7 b)：In order in rugged hill road driving or surmount obstacles, as long as universal wheel is stretched
Contracting electric pushrod 220 extends most long, makes a pair of universal wheels 210 raise liftoff (Fig. 5 a), and prop balanced controls can be simultaneously
Start.This pattern, while car can arbitrarily be displaced into common hill crankcase ventilaton, general road can also be crossed over easily
On the barrier that can run into.
3. climb terraced function (Fig. 8 a)：The largest benefit of the present invention is exactly simple to operate, it is only necessary to is used and the rugged road of movement
Identical pattern, universal wheel telescopic electric push rod 220 is extended most long, makes a pair of universal wheels 210 raise liftoff (Fig. 5 a), and hold
Support support balanced controls can start simultaneously.In this manner, passenger only needs synchronous crawler belt 131 after controlling two while touches step
Climbing.Because present invention employs " the lightening caterpillar belt structure " of uniqueness, can be wriggled easily placed along every one-level stair
Yan is climbed, even if reaching ladder top, the danger (Fig. 8 b) that will not also cause car to drop suddenly.And " lightening caterpillar belt structure " it is another
One benefit, it is exactly that its climbing principle is different from general, crawler belt can't be depended merely on and grasp " terraced angle " (Fig. 1 c), but with "
Step on tread " mode cat ladder (Fig. 2 c and 2d), so even if there is the situation that someone is pushed against energetically after, car is all not easy
Overturned from stair.
When all the way up or downward cat ladder, prop balanced controls 3 can play a role, making passenger vertical with ground holding
Balance, ensure the safety of passenger.
Situation during descending stair substantially with it is upper terraced when it is identical, with same pattern, also because " lightening caterpillar belt structure ", institute
During following first order stair, the danger (Fig. 8 b) to drop suddenly will not also occur.
In summary, lightening caterpillar belt structure of the invention utilizes two groups of caterpillar belt structures of different shapes, regularly combines
Into lightning shape, simplest method has been used, mobile rugged hill road, leaping over obstacles has been solved, climbs the stair that angle differs
Deng, these frequently encounter and it is extremely complex the problem of.
The caster movement mechanism of the present invention then utilizes an electric pushrod and simple mechanical structure, has used minimum change
Body amplitude and do not need in the case of changing length of wagon, by travel mechanism by full crawler belt contact to earth change as, contacted to earth by rear crawler belt and
The flexible state that preceding universal wheel contacts to earth, makes travel mechanism's overall volume reduce like never before, and the order present invention is in commercialization in future
Practicality greatly improve.
The principle of the stepping on tread of the present invention and row is different from existing stair-climbing mechanism, all of which use " grasp terraced angle "
Principle carry out speeling stairway, its benefit is to seem steady, but really can only climb the consistent stair of angle, and because is grasp
Power is insufficient and abnormally dangerous.And " lightening caterpillar belt structure " of the present invention, travel mechanism is made in speeling stairway, always
Keep the situation of " stepping on tread ".For mechanics, " stepping on tread " can several times bigger than the support force of " grasp terraced angle " with
On, thus security increases.
Reference picture 9a-9d, show the present invention crawler belt travel mechanism and other track structures design climb ladder and
Reach step top or fail one-level stair when comparison figure.As illustrated, when climbing ladder, the design of stair is to make the sole of people can
Having peace of mind is walked step by step in step surface, to meet security doctrine.But all crawler types design (such as Fig. 9 b institutes of prior art
The design shown), crawler belt is all merely able to " angle " (as shown in the circle) of " grasp " step, and this sets fundamentally violating step in itself
The principle of meter.But exclusive " lightening crawler belt " design of the present invention, then after the climbing that can be wriggled according to the angle of step
(as illustrated in fig. 9), crawler belt can also often keep " stepping on " or be supported on " surface "/tread (as shown in linea angulata) of step, this
Comply fully with the design of step in itself.Therefore, the security of walking mechanism of the invention in speeling stairway is unquestionable, significantly
Ground is better than prior art.
When reaching step top or failing one-level stair, all crawler types design of prior art is (such as shown in Fig. 9 d
Design), when climbing to afterbody stair or fail one-level stair when, can all be in the presence of suddenly tenesmus or crawler belt " hanging "
(as shown in circle), this is that existing ladder work's tool of climbing unexpected main cause often occurs.Exclusive " lightening crawler belt " design of the present invention,
No matter climb to afterbody stair or fail one-level stair when (as is shown in fig. 9 c), crawler belt front end can all occur " stepping on " or
The situation (as shown in linea angulata) of " surface "/tread of step is supported on, therefore is avoided that similar unexpected generation.
Specifically, when climbing ladder, crawler belt is all for all crawler types design (such as design shown in Fig. 9 b) of prior art
It is configured to that there is one section of parallel to the ground or part that is in contact, the length of the effect part is all configured to more than each
The height of the length of the horizontal tread of step and/or the vertical tread of step, i.e., each step are all difficult to accommodate or support entirely
The effect part, so that certain part that can only be partly with step of the effect part (is typically shown in figure
Terraced angle) contact, this incomplete contact or engage/grab credit union and cause above-mentioned various problems, including crawler belt " hanging ", move
Mechanism is overall or local tenesmus suddenly, it is sliding after or overturn etc..
On the contrary, the crawler type design (the lightening design i.e. shown in Fig. 9 a/9c) of the present invention, when climbing ladder, described first carries out
The the first contact/effect bottom surface portions obliquely extended with configurable first angle relative to the working face that band includes
Shape and size are configured to accommodate or be supported on completely on the horizontal tread of each step.In other words, first crawler belt
Have one section of the effect bottom surface portions direct effect part touched with ground yardstick/length be configured to be less than it is each
The height of the length of the horizontal tread of step and/or the vertical tread of step, i.e., each step all can accommodate or support whole institute
State effect part.
Similarly, what second crawler belt included is respectively relative to the working face with configurable second angle and can match somebody with somebody
The second contact that the third angle put obliquely extends/effect bottom surface portions and three contacts/effect bottom surface portions are collectively forming
The extension of substantially forming V-shape contact/effect bottom surface portions shape and size be also arranged to can to accommodate or be supported on completely it is each
On the horizontal tread of step.Thus, during terraced process is entirely climbed, what both first crawler belt and second crawler belt were formed
Fulcrum at least its accommodate or be supported on for a moment on the horizontal tread of each step, so as to simulate the sole of people and can having peace of mind in ladder
Level surface travels step by step, to meet security doctrine and comply fully with the design of step in itself.Due to first crawler belt and/or
The effect part of both second crawler belts can keep fully contacting or engaging with the tread part of step during operation, this
More completely contact or engage/grab the above-mentioned various problems closed and can avoided caused by prior art, including crawler belt " hanging ", shifting
Motivation structure is overall or local tenesmus suddenly, it is sliding after or overturn etc..
Although advantages of the present invention and preferred embodiment are described herein, those skilled in the art should
Understand, narration here is only merely provided as example, is not intended to limit protection scope of the present invention.Guarantor of the present invention is not being departed from
In the case of protecting scope, described implementation detail can be replaced with any other equivalent, or is modified or modification.
【Main element symbol description】
-----------------------
Crawler belt travel mechanism 1
101 vehicle body main supports
102 driving reducing motor supports
110 driving reducing motors
111 driving reducing motor power transmission shafts (being connected with 110)
Synchronizing wheel (being connected with 111) in 121
122 outer synchronizing wheels (being connected with 111)
123 times synchronizing wheels (being driven by 142)
Synchronizing wheel (being driven by 142) after 124
125 preamble wheels (are driven) by 142
Synchronous crawler belt (connection synchronizing wheel 122,123,124) after 131
132 preamble crawler belts (connection synchronizing wheel 121,125)
141 rear internal fixation plates (fixed synchronizing wheel 122,123,124)
142 rear outer stationary plates (fixed synchronizing wheel 122,123,124)
143 front internal fixation plates (fixed synchronizing wheel 121,125)
144 front outer stationary plates (fixed synchronizing wheel 121,125)
Caster movement mechanism 2
201 universal wheel rotary shafts (being flexibly connected with 143)
202 connectors (are fixedly connected) with 201,210
203 connectors (are fixedly connected) with 201
204 connecting brackets (one end is fixed on 101, one end and is flexibly connected with 220)
210 universal wheels (are fixedly connected) with 202
220 universal wheel telescopic electric push rods (one end is flexibly connected with 204, one end is flexibly connected with 203)
Prop balanced controls 3
301 push rod connecting brackets (one end is fixed on 101, one end and is flexibly connected with 310)
310 prop balance electric push rods (one end is flexibly connected with 301, one end is flexibly connected with 330)
320 gyroscopes (are fixedly connected) with 330
330 support mechanisms (one end is flexibly connected with 101, one end is flexibly connected with 310)
Claims (10)
1. a kind of travel mechanism, including the operationally interconnection that is fixedly disposed and synchronously move to be moved up in working face
Dynamic the first crawler belt and the second crawler belt, wherein：
First crawler belt includes the first contact/work obliquely extended with configurable first angle relative to the working face
Use bottom surface portions；First contact/the contact with the working face of effect bottom surface portions substantially single-contact or face contacts
And first make contact between the two is configured to the first fulcrum of the travel mechanism；
Second crawler belt includes being respectively relative to the working face with configurable second angle and configurable third angle
The second contact obliquely extended/effect bottom surface portions and three contacts/effect bottom surface portions, second contact/effect bottom
Face part and three contacts/effect bottom surface portions intersect to be collectively forming contact/effect bottom surface portions of substantially forming V-shape extension；
The contact/effect bottom surface portions contact with the working face substantially single-contact or face contact and between the two the
Two contact points or contact surface are configured to the second fulcrum of the travel mechanism；
First crawler belt is configured to be collectively forming indentation and the preferably contact of lightning shape/effect bottom with second crawler belt
Face part or bottom profile, with adapt to and be close to different working faces or can the stair with different gradients, rough ground and
Arbitrarily moved on full landform ground.
2. travel mechanism as claimed in claim 1, it is characterised in that:First crawler belt and second crawler belt are collectively forming
Bottom profile and first fulcrum and the second fulcrum form the space of general triangular, to adapt to and be easy to cross in movement
The bossing for the working face that period meets with.
3. travel mechanism as claimed in claim 1, it is characterised in that:First crawler belt and second crawler belt are collectively forming
Bottom profile and first fulcrum and the second fulcrum form the space of general triangular, the height of the triangle space is big
Cause the 60%-180% and preferably 120% of the height for first crawler belt or second crawler belt, with adapt to and be easy to across
The bossing of the working face more met with during movement.
4. travel mechanism as claimed in claim 1, it is characterised in that:The length of first contact/effect bottom surface portions is about
For 2 times of the length of second contact/effect bottom surface portions；And/or the length of first contact/effect bottom surface portions is about
For 1.5 times of the length of three contacts/effect bottom surface portions.
5. travel mechanism as claimed in claim 1, it is characterised in that:The structure of first crawler belt and/or second crawler belt
Type, the first angle, the second angle, and/or the third angle are configured to facilitate in first fulcrum and
When a two fulcrums at least fulcrum therein is in or be supported on tip portion or the corner of the working face, another fulcrum is set to locate
In or be supported on the flat of the working face or on another plane near the working face.
6. travel mechanism as claimed in claim 1, it is characterised in that:When being moved on stair, first crawler belt and described
Second crawler belt is configured to make first fulcrum and the second fulcrum an at least fulcrum therein for composition lightning shape bottom surface portions total
It is to be offseted with the step plane of the larger supporting force of offer of a step, to be in and be supported on another ladder in another fulcrum
When the offer of level is compared with the step angle of ramuscule load, the grade surface act as the main supporting surface of the travel mechanism to prevent
Overturn.
7. travel mechanism as claimed in claim 1, it is characterised in that:The first angle, the second angle and/or described
Third angle can relative to the gradient scopes estimated or surveyed of the stair in predetermined using area, rough ground estimate or method
Fixed rugged degree correspondingly configures；And/or the first angle is 25 ° -30 °, preferably 26 °；And/or the second angle
For 35 ° -40 °, preferably 36 °；The third angle is 125 ° -130 °, preferably 126 °.
8. travel mechanism as claimed in claim 1, it is characterised in that:First crawler belt is the crawler belt of substantially elongated；And/or
Second crawler belt is the crawler belt of substantially triangular form；First crawler belt and second crawler belt are configured to coaxially drive.
9. travel mechanism as claimed in claim 1, it is characterised in that:Also include an at least universal wheel, the universal wheel configuration
It is operably connected into first crawler belt and/or second crawler belt, the universal wheel is configured to independently of described
The mode of one crawler belt and second crawler belt rotationally switches between spare space and operating position, in the working position
When putting, the universal wheel is pivoted towards the direction of the working face until offseting and further being lifted therewith with the working face
First crawler belt or second crawler belt being operably connected, make first crawler belt or second crawler belt and the work
Make face phase separation, universal wheel contact with the working face substantially linear contact lay and the 3rd contact point between the two are matched somebody with somebody
The 3rd fulcrum for being set to the travel mechanism replaces first fulcrum or second fulcrum to take, and thereby makes the moving machine
Structure is transformed into mono-track by double caterpillar belt structures and adds Universal wheel structure；And at the spare space, the universal wheel is directed away from
The direction of the working face pivots until described for being separated with the working face and further making to be operably connected therewith
One crawler belt or second crawler belt decline until being offseted with the working face, and the 3rd fulcrum is by first fulcrum or described
Second fulcrum, which takes, to be replaced, and thereby makes the travel mechanism add Universal wheel structure to change caterpillar belt structure in pairs by mono-track.
10. travel mechanism as claimed in claim 7, it is characterised in that:At the operating position, the center line of the universal wheel
Obliquely extend relative to the working face and be substantially orthogonal with the length direction of first crawler belt or second crawler belt；
And/or at the spare space, the center line of the universal wheel obliquely extends relative to the working face and with described
The length direction of one crawler belt or second crawler belt is almost parallel.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK16109224.1 | 2016-08-02 | ||
| HK16109224 | 2016-08-02 | ||
| HK17103073.5 | 2017-03-24 | ||
| HK17103073 | 2017-03-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107529434A true CN107529434A (en) | 2018-01-02 |
| CN107529434B CN107529434B (en) | 2021-03-23 |
Family
ID=60766240
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720481716.7U Active CN208096908U (en) | 2016-08-02 | 2017-05-03 | Crawler-type moving mechanism |
| CN201710305536.8A Active CN107529434B (en) | 2016-08-02 | 2017-05-03 | Crawler-type moving mechanism |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720481716.7U Active CN208096908U (en) | 2016-08-02 | 2017-05-03 | Crawler-type moving mechanism |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6503402B2 (en) |
| CN (2) | CN208096908U (en) |
| WO (1) | WO2018025190A1 (en) |
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| CN108995741A (en) * | 2018-08-14 | 2018-12-14 | 冯瑞新 | A kind of electric vehicle of climbing stairs |
| CN110812014A (en) * | 2019-11-25 | 2020-02-21 | 暴伟杰 | Multifunctional wheelchair for disabled |
| CN111714302A (en) * | 2020-07-27 | 2020-09-29 | 西北工业大学 | Multi-plane-use stair-climbing wheelchair |
| CN111872915A (en) * | 2020-07-14 | 2020-11-03 | 重庆大学 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
| CN114469550A (en) * | 2022-02-14 | 2022-05-13 | 必飞科技(佛山)有限公司 | Crawler-type folding stair climbing mechanism |
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| CN109524918A (en) * | 2018-11-28 | 2019-03-26 | 广州思泰信息技术有限公司 | A kind of full landform domain distribution line screen of trees laser removing System and method for |
| CN111616881B (en) * | 2018-12-21 | 2022-05-24 | 丹阳顺科精密机械有限公司 | Shock-absorbing electric wheelchair |
| CN109966679B (en) * | 2019-03-28 | 2024-03-26 | 山东硅兔智能装备有限公司 | Crawler firefighting robot platform convenient to obstacle surmount and maintain |
| CN110292490A (en) * | 2019-07-11 | 2019-10-01 | 华东交通大学 | It is a kind of that building machine is stepped on based on the convenient of the convertible wheel group of three leaves |
| CN111571557B (en) * | 2020-05-25 | 2020-12-29 | 必飞科技(佛山)有限公司 | Balancing device on traveling mechanism |
| CN112842722B (en) * | 2021-01-20 | 2023-09-08 | 祐樘(南京)软件科技有限公司 | Electric wheelchair convenient to go up and down stairs |
| CN113397850B (en) * | 2021-07-28 | 2023-06-16 | 谷晓强 | Wheelchair capable of climbing stairs |
| KR102457836B1 (en) * | 2022-08-12 | 2022-10-26 | 쿠가 주식회사 | 4-motor type mobility |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2018020758A (en) | 2018-02-08 |
| JP6503402B2 (en) | 2019-04-17 |
| WO2018025190A1 (en) | 2018-02-08 |
| CN107529434B (en) | 2021-03-23 |
| CN208096908U (en) | 2018-11-16 |
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