CN108433897A - Full ground type manned robot equipped with trailing wheel elevating mechanism and method for moving up/down steps - Google Patents
Full ground type manned robot equipped with trailing wheel elevating mechanism and method for moving up/down steps Download PDFInfo
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- CN108433897A CN108433897A CN201810434213.3A CN201810434213A CN108433897A CN 108433897 A CN108433897 A CN 108433897A CN 201810434213 A CN201810434213 A CN 201810434213A CN 108433897 A CN108433897 A CN 108433897A
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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
- 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
- A61G5/061—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 for climbing stairs
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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
- 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
- A61G5/066—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 with endless belts
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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
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
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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
The invention discloses the full ground type manned robots equipped with trailing wheel elevating mechanism, it is made of wheelchair main body and walking mechanism, walking mechanism includes base assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, and base assembly drives pedrail mechanism to operate by transmission component；Base assembly includes base support, wheel shaft decelerating motor, crawler belt decelerating motor, wheel shaft, main bearing seat and trailing wheel elevating mechanism；Trailing wheel elevating mechanism includes the telescope support mounted on the bottom end of base support, and the hydraulic stem being equipped on telescope support, the bottom end of telescope support is equipped with wheel hub motor；Wheelchair main body is mounted on by suspension mechanism on base support, and the hydraulic bjuffer being connected with base support is equipped on rear side of wheelchair body top.The invention also discloses full ground type manned robots and method for moving up/down steps equipped with trailing wheel elevating mechanism.Of the invention novel in design, it is safe and reliable to climb building for smooth running, ride comfort.
Description
Technical field
The present invention relates to mobile device technology fields, and in particular to is equipped with the full ground type manned robot of trailing wheel elevating mechanism
And method for moving up/down steps.
Background technology
Currently, wheelchair is elderly and infirm and the essential walking-replacing tools of lower limb the disabled, using wheel type movement shape
Formula can only walk on level land, and not across obstacle as entablement rank, threshold, step can not be climbed, therefore take wheel
The scope of activities of chair personnel is very restricted.Live in walk-up building wheelchair user can not up/down steps, influence
It goes out to participate in social activity.China has rapidly entered aging society, and the elderly's trip problem is further prominent.
Invention content
In order to overcome existing wheelchair existing difficulty in up/down steps ladder, the present invention to provide a kind of equipped with trailing wheel lifting
The full ground type manned robot and method for moving up/down steps of mechanism.
The invention is realized in this way the full ground type manned robot equipped with trailing wheel elevating mechanism, by wheelchair main body and row
Mechanism composition is walked, walking mechanism includes base assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, institute
It states base assembly and pedrail mechanism running is driven by transmission component；
The base assembly includes base support, wheel shaft decelerating motor, crawler belt decelerating motor, wheel shaft, main bearing seat and trailing wheel liter
Descending mechanism；The wheel shaft decelerating motor is separately mounted to the both sides of base support, and a crawler belt decelerating motor is mounted on bottom bottom branch
The centre of frame, the wheel shaft are fixedly mounted on base support front by main bearing seat, and the trailing wheel elevating mechanism includes installation
Telescope support in the bottom end of base support, the hydraulic stem being equipped on the telescope support, the bottom end peace of the telescope support
Equipped with wheel hub motor；The wheelchair main body is mounted on by suspension mechanism on base support, is set on rear side of the wheelchair body top
There is the hydraulic bjuffer being connected with base support；
The transmission component includes wheel shaft reduction gearing, crawler belt reduction gearing, fixed sleeving, moving casing, wheel axle gear and shoe
Band gear；The fixed sleeving is mounted among wheel shaft, and the moving casing is mounted on wheel shaft both ends；Wheel shaft decelerating motor passes through
Wheel shaft reduction gearing is connected with the wheel axle gear being fixedly mounted on fixed sleeving, described when wheel shaft decelerating motor is run
Wheel shaft reduction gearing and wheel axle gear drive wheel shaft rotation, and then control wheel shaft is together with the phase between pedrail mechanism and base support
To rotation angle；The crawler belt decelerating motor passes through crawler belt reduction gearing and the crawler belt gear phase that is fixedly mounted on moving casing
Connection, when crawler belt decelerating motor is run, crawler belt reduction gearing and crawler belt gear band move moving casing rotation；
The pedrail mechanism includes crawler belt interior plate, crawler belt outer panel, big belt wheel and connecting rod, and the big belt wheel is fixedly connected on
On moving casing, the big belt wheel is fixedly connected by moving casing with crawler belt gear, and the moving casing drive is fixedly connected
Big belt wheel rotation on moving casing；The front-wheel mechanism by fixed sleeving be fixedly connected on the outside of crawler belt outer panel with
And the end of wheel shaft；The connecting rod both ends are separately fixed at the rear portion of two crawler belt interior plates；The crawler belt interior plate and shoe
Band outer panel is connected by side plate bearing block with moving casing, logical among the rear portion of the crawler belt interior plate and crawler belt outer panel
Too small belt wheel axis connection is set with small pulley on the small band wheel shaft, upper between the crawler belt interior plate and crawler belt outer panel
Portion and lower part are installed with slide plate, and synchronous belt is around big belt wheel, small pulley and slide plate outside；Big belt wheel drive small pulley and
Synchronous belt rotates.
Further, the suspension mechanism includes the rotating disk being symmetricly set on wheel shaft and is symmetricly set on base support
The displacement of center of gravity guide rail on top, and connection rotate the bracing wire of draw ring and displacement of center of gravity guide rail, and the bracing wire bypasses slide across
Wheel, the wheelchair main body are mounted on two displacement of center of gravity guide rails.
Further, the front-wheel mechanism includes wheel support, end cap, big baffle ring, support wheel and handle, wheel support and set
End cap in wheel support is fixedly mounted on by big baffle ring and bolt on crawler belt outer panel, big baffle ring centrally through bolt
It is fixedly connected on the end of wheel shaft；When wheel shaft rotates, the crawler belt outer panel at wheel shaft both ends is fixedly connected on together with entire crawler belt
Mechanism is also in company with together around wheel shaft rotation；Handle is hinged on front end in the middle part of wheel support, is provided with pin hole among wheel support, on end cap
Lower Positioning holes and rear location hole are provided with, and corresponding with pin hole, positioning pin is placed in pin hole and positioning pin bottom end connects
The bottom end of the spring connect, positioning pin is connected by bracing wire with handle, makes bracing wire that will be pulled out under positioning pin by touching handle
Lower Positioning holes rotate under being acted on the elastic force of spring then as wheel support, after positioning pin is inserted into location hole.
Further, pulley is provided on the wheel support, the bracing wire bypasses pulley.
Further, two upper lateral parts of the base support are provided with conversion shrapnel, and the conversion shrapnel includes slide-in portion
And curved hook portion, it is rotated further back by the way that pedrail mechanism is rotated upwardly to certain altitude around wheel shaft, the shake-up handle sticks into
When driving in the wrong direction further back after conversion shrapnel, when will touch conversion shrapnel, bracing wire will pull out rear location hole or lower fixed under positioning pin
Position hole.
The method of up/down steps of the present invention, including top bar process and process of getting out of a predicament or an embarrassing situation, wherein：
（One）Top bar process steps are：
1.1st step, top bar last stage：When full ground type manned robot walking of occupant's operation equipped with trailing wheel elevating mechanism is arrived
When at up to ladder of appearing on the stage, operation wheel shaft decelerating motor makes pedrail mechanism be rotating ground to the back lower place around wheel shaft；Operation hydraulic stem makes
Telescope support contracts upwards, and then so that wheel hub motor is in and leave the state of ground；It is out of service that wheel hub motor is operated simultaneously, is grasped simultaneously
Making crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to walk forward；When the handle of front-wheel mechanism touches first step,
Bracing wire will pull out lower Positioning holes under positioning pin, with handle step continue touching under, wheel support is forced to rotate, at this time before
Mechanism is taken turns in no support force state；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to start to climb building；
1.2nd step, stage after top bar：When climb building to the last one along when operating handle, make bracing wire that will be pulled under positioning pin
From rear location hole, front-wheel mechanism touches ground at this time；As pedrail mechanism forward upward climbs building, and make in gravity in wheel support
With lower rotation, positioning pin is inserted under the elastic force effect of spring in lower Positioning holes, and front-wheel mechanism is in the fixed state that lands at this time；
Then operation wheel shaft decelerating motor makes pedrail mechanism be rotated away from ground rearwardly and upwardly around wheel shaft, operates crawler belt decelerating motor at this time
Big belt wheel is set to stop that synchronous belt is driven to walk forward；Operation hydraulic stem makes telescope support stretch downwards, and then wheel hub motor is made to be in
Land state, while operating wheel hub motor and bringing into operation, and then the manned robot is made to walk forward；
（One）Top bar process steps are：
2.1st step, gets out of a predicament or an embarrassing situation the preparation stage：Before occupant operates manned robot walking to leave from office ladder, wheel shaft is operated
Decelerating motor makes pedrail mechanism be rotated up around wheel shaft, and when shake-up handle touches conversion shrapnel, bracing wire pulls down positioning pin
Lower Positioning holes are detached from, are rotated then as wheel support under being acted on the elastic force of spring, after positioning pin is inserted into location hole；Then it grasps
Make pedrail mechanism and be back restored to initial rear position around wheel shaft, front-wheel mechanism is in liftoff state at this time；
2.2nd step, gets out of a predicament or an embarrassing situation the last stage：When big belt wheel row to first platform along when, operation hydraulic stem so that telescope support is contracted upwards,
When synchronous belt put forth effort second platform along it is upper when, wheel hub motor, which initially enters, leaves the state of ground, and keeps wheel hub motor a little higher than
Synchronous belt, and then wheel hub motor will not collide with step when getting out of a predicament or an embarrassing situation；Continuing operation crawler belt decelerating motor makes big belt wheel band
Dynamic synchronous belt starts to get out of a predicament or an embarrassing situation；
2.3rd step, stage after getting out of a predicament or an embarrassing situation：When get out of a predicament or an embarrassing situation to the last one along when, operation hydraulic stem so that telescope support is stretched downwards,
And then wheel hub motor is made to be in the state that lands, operation wheel hub motor brings into operation, and then the manned robot is made to walk forward；
2.4th step, ending phase of getting out of a predicament or an embarrassing situation：Operation wheel shaft decelerating motor makes pedrail mechanism be rotated up around wheel shaft, when shake-up handle
When hand touches conversion shrapnel, bracing wire will pull out rear location hole under positioning pin, then as the bullet of wheel support rotation and spring
Under force effect, positioning pin is inserted into lower Positioning holes；Then operation pedrail mechanism is back restored to initial rear position around wheel shaft,
Front-wheel mechanism is in the state that lands at this time.
The beneficial effects of the invention are as follows：
1. by the way that the suspension of wheelchair main body is mounted on base support, make wheelchair main body walking and when up/down steps all in
One state, ensure that the safety of occupant；By installing hydraulic bjuffer and base support phase on rear side of wheelchair body top
Connection, dramatically reduces the vibration of wheelchair, ensure that occupant's is comfortable；
2. wheel shaft decelerating motor is connected by wheel shaft reduction gearing with the wheel axle gear being fixedly mounted on fixed sleeving, when
When wheel shaft decelerating motor is run, the wheel shaft reduction gearing and wheel axle gear drive wheel shaft rotation, and then control wheel shaft is together with shoe
With the relative rotation angle between mechanism and base support, in this way when switching the various states that up/down steps are pacifically walked,
The source of adjustment walking power；
3. making bracing wire that will pull out lower Positioning holes under positioning pin by converting shrapnel and shake-up handle（Or rear location hole）, then
Under being acted on the elastic force of wheel support rotation and spring, location hole after positioning pin is inserted into（Lower Positioning holes）In, it can adjust in this way
Front-wheel mechanism at the desired position, is ready for top bar or before getting out of a predicament or an embarrassing situation；
4. the manned robot occupies and turn space is small, it is suitable for various stair and step；It is of the invention novel in design, walking
Steadily, it is safe and reliable to climb building for ride comfort.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the vertical view of the present invention；
Fig. 3 is the structural schematic diagram of pedrail mechanism；
Fig. 4 is the internal structure schematic diagram of pedrail mechanism；
Fig. 5 is the structural schematic diagram of front-wheel mechanism；
Fig. 6 is the decomposition diagram of front-wheel mechanism；
Fig. 7 is the diagrammatic cross-section of front-wheel mechanism；
Fig. 8 is the structural schematic diagram for converting shrapnel；
Fig. 9 is the structural schematic diagram of trailing wheel elevating mechanism；
Figure 10 is the state transition diagram of top bar last stage；
Figure 11 is the state transition diagram in stage after top bar；
Figure 12 is the state transition diagram of preparation stage of getting out of a predicament or an embarrassing situation；
Figure 13 is the state transition diagram of last stage of getting out of a predicament or an embarrassing situation；
Figure 14 is the state transition diagram in stage after getting out of a predicament or an embarrassing situation；
Figure 15 is the state transition diagram of ending phase of getting out of a predicament or an embarrassing situation.
In attached drawing：1, base support, 111, wheel shaft decelerating motor, 112, crawler belt decelerating motor, 12, wheel shaft, 13, base bearing
Seat, 14, trailing wheel elevating mechanism, 141, telescope support, 142, hydraulic stem, 143, wheel hub motor, 211, wheel shaft reduction gearing, 212,
Crawler belt reduction gearing, 22, fixed sleeving, 23, moving casing, 24, wheel axle gear, 25, crawler belt gear, 31, side plate bearing block,
32, crawler belt interior plate, 33, crawler belt outer panel, 321, connecting rod, 34, small band wheel shaft, 35, big belt wheel, 36, small pulley, 37, same
Walk band, 38, slide plate, 41, wheel support, 42, end cap, 43, big baffle ring, 44, support wheel, 45, handle, 46, conversion shrapnel, 461, sliding
Enter portion, 462, curved hook portion, 51, bracing wire, 52, pulley, 53, pin hole, 54, positioning pin, 55, spring, 56, lower Positioning holes, 57, after
Location hole.
Specific implementation mode
The specific implementation mode of the present invention is described in further detail with reference to embodiment：
As shown in figs 1-9, it is equipped with the full ground type manned robot of trailing wheel elevating mechanism, is made of wheelchair main body and walking mechanism,
Walking mechanism includes base assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, and base assembly passes through biography
Dynamic Component driver pedrail mechanism running；
Base assembly includes base support 1, wheel shaft decelerating motor 111, crawler belt decelerating motor 112, wheel shaft 12,13 and of main bearing seat
Trailing wheel elevating mechanism 14；Two chaptrel axis decelerating motors 111 are separately mounted to the both sides of base support 1, a crawler belt decelerating motor
112 are mounted on the centre of bottom lower supporter 1, and wheel shaft 12 is fixedly mounted on 1 front of base support, trailing wheel lifting by main bearing seat 13
Mechanism 14 includes the telescope support 141 mounted on the bottom end of base support 1, the hydraulic stem 142 being equipped on telescope support 141,
The bottom end of telescope support 141 is equipped with wheel hub motor 143；Wheelchair main body is mounted on by suspension mechanism on base support 1, wheelchair
The hydraulic bjuffer being connected with base support 1 is equipped on rear side of body top；
Transmission component includes wheel shaft reduction gearing 211, crawler belt reduction gearing 212, fixed sleeving 22, moving casing 23, axle tooth
Wheel 24 and crawler belt gear 25；Fixed sleeving 22 is mounted among wheel shaft 12, and moving casing 23 is mounted on 12 both ends of wheel shaft；Wheel shaft subtracts
Speed motor 111 is connected by wheel shaft reduction gearing 211 with the wheel axle gear 24 being fixedly mounted on fixed sleeving 22, and wheel shaft is worked as
When decelerating motor 111 is run, wheel shaft reduction gearing 211 and wheel axle gear 24 drive wheel shaft 12 to rotate, and then control wheel shaft 12 connects
With the relative rotation angle between pedrail mechanism and base support 1；Crawler belt decelerating motor 112 by crawler belt reduction gearing 212 with
The crawler belt gear 25 being fixedly mounted on moving casing 23 is connected, when crawler belt decelerating motor 112 is run, crawler belt reduction gearing
212 and crawler belt gear 25 drive moving casing 23 rotate；
Pedrail mechanism includes crawler belt interior plate 32, crawler belt outer panel 33, big belt wheel 35 and connecting rod 321, and big belt wheel 35, which is fixed, to be connected
It is connected on moving casing 23, big belt wheel 35 is fixedly connected by moving casing 23 with crawler belt gear 25, and moving casing 23 drives solid
Surely the big belt wheel 35 being connected on moving casing 23 rotates；Front-wheel mechanism is fixedly connected on crawler belt outer panel by fixed sleeving 22
33 outside and the end of wheel shaft 12；321 both ends of connecting rod are separately fixed at the rear portion of two crawler belt interior plates 32；In crawler belt
Side plate 32 and crawler belt outer panel 33 are connected by side plate bearing block 31 with moving casing 23, on the outside of crawler belt interior plate 32 and crawler belt
It is connected by small band wheel shaft 34 among the rear portion of plate 33, small pulley 35, crawler belt interior plate 32 and shoe is set on small band wheel shaft 34
It is installed with slide plate 38 with the upper and lower part between outer panel 33, synchronous belt 37 is around big belt wheel 35, small pulley 36 and slides
38 outside of plate；Big belt wheel 35 drives small pulley 36 and synchronous belt 37 to rotate.
Suspension mechanism includes the rotating disk being symmetricly set on wheel shaft 12 and is symmetricly set on the center of gravity on 1 top of base support
Displacement guide rail, and connection rotate the bracing wire of draw ring and displacement of center of gravity guide rail, and bracing wire bypasses pulley, the installation of wheelchair main body across
On two displacement of center of gravity guide rails.
Front-wheel mechanism includes wheel support 41, end cap 42, big baffle ring 43, support wheel 44 and handle 45, wheel support 41 and is sleeved on
End cap 42 in wheel support 41 is fixedly mounted on by big baffle ring 43 and bolt on crawler belt outer panel 33, and the center of big baffle ring 43 is logical
Cross the end that bolt is fixedly connected on wheel shaft 12；When wheel shaft 12 rotates, it is fixedly connected on the crawler belt outer panel at 12 both ends of wheel shaft
33 also rotate in company with around wheel shaft 12 together with entire pedrail mechanism；Handle 45 is hinged on 41 middle part front end of wheel support, wheel support
It is provided with pin hole 53 among 41, lower Positioning holes 56 and rear location hole 57 are provided on end cap 42, and corresponding with pin hole 53, sells
Positioning pin 54 and the spring 55 of 54 bottom end of positioning pin connection are placed in hole 53, the bottom end of positioning pin 54 passes through bracing wire 51 and handle
Hand 45 is connected, and makes bracing wire 51 that will pull out lower Positioning holes 56 under positioning pin 53 by touching handle 45, then as wheel support
Under 41 rotations and the elastic force effect of spring 55, after positioning pin 53 is inserted into location hole 57.
Pulley 52 is provided on wheel support 41, bracing wire 51 bypasses pulley 52.
Two upper lateral parts of base support 1 are provided with conversion shrapnel 46, and the conversion shrapnel 46 includes slide-in portion 461 and arc
Hook portion 462 is rotated further back by the way that pedrail mechanism is rotated upwardly to certain altitude around wheel shaft 12, is touched handle 45 and is sticked into conversion
After shrapnel further back drive in the wrong direction when, will touch conversion shrapnel when, bracing wire 51 will be pulled out under positioning pin 53 rear location hole 57 or under
Location hole 56.
The method for moving up/down steps of the full ground type manned robot equipped with trailing wheel elevating mechanism of the present invention, including top bar mistake
Journey and process of getting out of a predicament or an embarrassing situation, wherein：
（One）Top bar process steps are as shown in figs. 10-11：
1.1st step, top bar last stage：When full ground type manned robot walking of occupant's operation equipped with trailing wheel elevating mechanism is arrived
When at up to ladder of appearing on the stage, operation wheel shaft decelerating motor 111 makes pedrail mechanism be rotating ground to the back lower place around wheel shaft 12；Operate hydraulic pressure
Bar makes telescope support contract upwards, and then so that wheel hub motor 14 is in and leave the state of ground；Wheel hub motor 14 is operated simultaneously stops fortune
Row, while operating crawler belt decelerating motor 112 makes big belt wheel 35 that synchronous belt 37 be driven to walk forward；When the handle 45 of front-wheel mechanism touches
When encountering first step, bracing wire 51 will pull out lower Positioning holes 56 under positioning pin 53, as handle 45 continues to touch in step
It touches down, wheel support 41 is forced to rotate, and front-wheel mechanism is in no support force state at this time；Continuing operation crawler belt decelerating motor 112 makes
Big belt wheel 35 drives synchronous belt 37 to start to climb building；
1.2nd step, stage after top bar：When climb building to the last one along when operating handle 45, make bracing wire 51 by positioning pin 53
Under pull out rear location hole 56, front-wheel mechanism touches ground at this time；As pedrail mechanism forward upward climbs building, and in wheel support
41 rotate under the effect of gravity, and positioning pin 53 is inserted under the elastic force effect of spring 55 in lower Positioning holes 57, at this time front-wheel mechanism
In the fixed state that lands；Then operation wheel shaft decelerating motor 111 makes pedrail mechanism be rotated away from ground rearwardly and upwardly around wheel shaft 12
Face, operating crawler belt decelerating motor 112 at this time makes big belt wheel 35 stop that synchronous belt 37 is driven to walk forward；Operation hydraulic stem makes to stretch
Holder is stretched downwards, and then wheel hub motor 14 is made to be in the state that lands, while being operated wheel hub motor 14 and being brought into operation, and then makes the load
Robot people walks forward；
（One）Top bar process steps are as shown in figs. 12-15：
2.1st step, gets out of a predicament or an embarrassing situation the preparation stage：Before occupant operates manned robot walking to leave from office ladder, wheel shaft is operated
Decelerating motor 111 makes pedrail mechanism be rotated up around wheel shaft 12, and when shake-up handle 45 touches conversion shrapnel, bracing wire 51 will be determined
Lower Positioning holes 57 are pulled out under the pin 53 of position, then as under the rotation of wheel support 41 and the elastic force effect of spring 55, positioning pin 53 is inserted
Enter in rear location hole 56；Then operation pedrail mechanism is back restored to initial rear position around wheel shaft 12, at this time front-wheel mechanism
In liftoff state；
2.2nd step, gets out of a predicament or an embarrassing situation the last stage：When 35 row of big belt wheel to first platform along when, operation hydraulic stem keep telescope support upward
Contracting, when synchronous belt put forth effort second platform along it is upper when, wheel hub motor 14, which initially enters, leaves the state of ground, and makes wheel hub motor 14
A little higher than synchronous belt 37, and then wheel hub motor 14 will not collide with step when getting out of a predicament or an embarrassing situation；Continue to operate crawler belt decelerating motor
112 make big belt wheel 35 that synchronous belt 37 be driven to start to get out of a predicament or an embarrassing situation；
2.3rd step, stage after getting out of a predicament or an embarrassing situation：When get out of a predicament or an embarrassing situation to the last one along when, operation hydraulic stem so that telescope support is stretched downwards,
And then so that wheel hub motor 14 is in and land state, operation wheel hub motor 14 brings into operation, and then makes the manned robot to moving ahead
It walks；
2.4th step, ending phase of getting out of a predicament or an embarrassing situation：Operation wheel shaft decelerating motor 111 makes pedrail mechanism be rotated up around wheel shaft 12, when tactile
When dynamic handle 45 touches conversion shrapnel, bracing wire 51 will pull out rear location hole 57 under positioning pin 53, then as wheel support 41
Under the effect of the elastic force of rotation and spring 55, positioning pin 53 is inserted into lower Positioning holes 56；Then operation pedrail mechanism is past around wheel shaft 12
It returns and is restored to initial rear position, front-wheel mechanism is in the state that lands at this time.
The above is only a preferred embodiment of the present invention, it is noted that come for those of ordinary skill in the art
It says, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications are also answered
When being considered as within protection scope of the present invention.
Claims (6)
1. the full ground type manned robot equipped with trailing wheel elevating mechanism, which is characterized in that it is made of wheelchair main body and walking mechanism,
Walking mechanism includes base assembly, transmission component and symmetrically arranged pedrail mechanism and front-wheel mechanism, and the base assembly is logical
Cross transmission component driving pedrail mechanism running；The base assembly includes base support, wheel shaft decelerating motor, crawler belt deceleration electricity
Machine, wheel shaft, main bearing seat and trailing wheel elevating mechanism；The wheel shaft decelerating motor is separately mounted to the both sides of base support, one
Crawler belt decelerating motor is mounted on the centre of bottom lower supporter, and the wheel shaft is fixedly mounted on base support front by main bearing seat,
The trailing wheel elevating mechanism includes the telescope support mounted on the bottom end of base support, the hydraulic pressure being equipped on the telescope support
The bottom end of bar, the telescope support is equipped with wheel hub motor；The wheelchair main body is mounted on by suspension mechanism on base support,
The hydraulic bjuffer being connected with base support is equipped on rear side of the wheelchair body top；The transmission component includes that wheel shaft subtracts
Fast gear, crawler belt reduction gearing, fixed sleeving, moving casing, wheel axle gear and crawler belt gear；The fixed sleeving is mounted on wheel
Among axis, the moving casing is mounted on wheel shaft both ends；Wheel shaft decelerating motor is by wheel shaft reduction gearing and is fixedly mounted on
The wheel axle gear determined on casing is connected, and when wheel shaft decelerating motor is run, the wheel shaft reduction gearing and wheel axle gear drive
Wheel shaft rotates, and then control wheel shaft is together with the relative rotation angle between pedrail mechanism and base support；The crawler belt slows down electric
Machine is connected by crawler belt reduction gearing with the crawler belt gear being fixedly mounted on moving casing, when crawler belt decelerating motor is run
When, crawler belt reduction gearing and crawler belt gear band move moving casing rotation；The pedrail mechanism includes crawler belt interior plate, outside crawler belt
Side plate, big belt wheel and connecting rod, the big belt wheel are fixedly connected on moving casing, and the big belt wheel passes through moving casing and shoe
Band gear is fixedly connected, and the moving casing drives the big belt wheel rotation being fixedly connected on moving casing；The front-wheel mechanism
The outside of crawler belt outer panel and the end of wheel shaft are fixedly connected on by fixed sleeving；The connecting rod both ends are separately fixed at
The rear portion of two crawler belt interior plates；The crawler belt interior plate and crawler belt outer panel are connected by side plate bearing block with moving casing
It connects, by small pulley axis connection among the rear portion of the crawler belt interior plate and crawler belt outer panel, is set on the small band wheel shaft
Small pulley, the upper and lower part between the crawler belt interior plate and crawler belt outer panel are installed with slide plate, and synchronous belt is around excessive
On the outside of belt wheel, small pulley and slide plate；Big belt wheel drives small pulley and synchronous belt rotation.
2. the full ground type manned robot according to claim 1 equipped with trailing wheel elevating mechanism, the suspension mechanism include
The rotating disk being symmetricly set on wheel shaft and the displacement of center of gravity guide rail for being symmetricly set on base support top, and connection rotation are drawn
The bracing wire of ring and displacement of center of gravity guide rail, the bracing wire bypass pulley across, and the wheelchair main body is mounted on two displacement of center of gravities
On guide rail.
3. the full ground type manned robot according to claim 2 equipped with trailing wheel elevating mechanism, the front-wheel mechanism include
Wheel support, end cap, big baffle ring, support wheel and handle, wheel support and the end cap being sleeved in wheel support pass through big baffle ring and spiral shell
Bolt is fixedly mounted on crawler belt outer panel, the end that wheel shaft is fixedly connected on centrally through bolt of big baffle ring；When wheel shaft rotates
When, the crawler belt outer panel for being fixedly connected on wheel shaft both ends is also rotated in company with around wheel shaft together with entire pedrail mechanism；Handle is cut with scissors
Be connected on front end in the middle part of wheel support, pin hole be provided among wheel support, be provided with lower Positioning holes and rear location hole on end cap, and with
Pin hole is corresponding, is placed with positioning pin and the spring of positioning pin bottom end connection in pin hole, the bottom end of positioning pin by bracing wire with
Handle is connected, and makes bracing wire that will pull out lower Positioning holes under positioning pin by touching handle, then as wheel support rotation and bullet
Under the elastic force effect of spring, after positioning pin is inserted into location hole.
4. the full ground type manned robot according to claim 3 equipped with trailing wheel elevating mechanism, it is arranged on the wheel support
There are pulley, the bracing wire to bypass pulley.
5. the full ground type manned robot according to claim 4 equipped with trailing wheel elevating mechanism, the two of the base support
Upper lateral part is provided with conversion shrapnel, and the conversion shrapnel includes slide-in portion and curved hook portion, by by pedrail mechanism around wheel shaft to
On rotate to certain altitude and rotate further back, the shake-up handle sticks into after conversion shrapnel when driving in the wrong direction further back, will touch and turns
When changing shrapnel, bracing wire will pull out rear location hole or lower Positioning holes under positioning pin.
6. the method for moving up/down steps of the full ground type manned robot according to claim 5 equipped with trailing wheel elevating mechanism,
It is characterized in that, including top bar process and process of getting out of a predicament or an embarrassing situation, wherein：（One）Top bar process steps are：1.1st step, appears on the stage
The rank last stage：When full ground type manned robot walking of occupant's operation equipped with trailing wheel elevating mechanism reaches at ladder of appearing on the stage,
Operation wheel shaft decelerating motor makes pedrail mechanism be rotating ground to the back lower place around wheel shaft；Operation hydraulic stem makes telescope support contract upwards,
And then so that wheel hub motor is in and leave the state of ground；It is out of service that wheel hub motor is operated simultaneously, while operating crawler belt decelerating motor
Make big belt wheel that synchronous belt be driven to walk forward；When the handle of front-wheel mechanism touches first step, bracing wire will be under positioning pin
Pull out lower Positioning holes, with handle step continue touching under, wheel support is forced to rotate, and front-wheel mechanism is in no branch at this time
Support force state；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to start to climb building；1.2nd step, rank after top bar
Section：When climb building to the last one along when operating handle, make bracing wire that will pull out rear location hole under positioning pin, at this time front-wheel mechanism
Touch ground；It as pedrail mechanism forward upward climbs building, and is rotated under the effect of gravity in wheel support, positioning pin is in spring
Elastic force effect is lower to be inserted into lower Positioning holes, and front-wheel mechanism is in the fixed state that lands at this time；Then operation wheel shaft decelerating motor makes
Pedrail mechanism is rotated away from ground rearwardly and upwardly around wheel shaft, and operating crawler belt decelerating motor at this time makes big belt wheel stop driving synchronous belt
It walks forward；Operation hydraulic stem makes telescope support stretch downwards, and then wheel hub motor is made to be in the state that lands, while operating wheel hub electricity
Machine brings into operation, and then the manned robot is made to walk forward；（One）Top bar process steps are：2.1st step, standard of getting out of a predicament or an embarrassing situation
The standby stage：When occupant operates manned robot walking to before leave from office ladder, operation wheel shaft decelerating motor make pedrail mechanism around
Wheel shaft rotates up, and when shake-up handle touches conversion shrapnel, bracing wire will pull out lower Positioning holes under positioning pin, then as
Under wheel support rotation and the elastic force effect of spring, after positioning pin is inserted into location hole；Then operation pedrail mechanism around wheel shaft back
It is restored to initial rear position, front-wheel mechanism is in liftoff state at this time；2.2nd step, gets out of a predicament or an embarrassing situation the last stage：Work as big belt wheel
Row to first platform along when, operation hydraulic stem so that telescope support is contracted upwards, when synchronous belt put forth effort second platform along it is upper when, wheel hub
Motor, which initially enters, leaves the state of ground, and makes a little higher than synchronous belt of wheel hub motor, and then wheel hub motor will not be with when getting out of a predicament or an embarrassing situation
Step collides；Continuing operation crawler belt decelerating motor makes big belt wheel that synchronous belt be driven to start to get out of a predicament or an embarrassing situation；2.3rd step, gets out of a predicament or an embarrassing situation
Stage afterwards：When get out of a predicament or an embarrassing situation to the last one along when, operation hydraulic stem makes telescope support stretch downwards, and then wheel hub motor is made to be in
Land state, and operation wheel hub motor brings into operation, and then the manned robot is made to walk forward；2.4th step, end of getting out of a predicament or an embarrassing situation
Stage：Operation wheel shaft decelerating motor makes pedrail mechanism be rotated up around wheel shaft, when shake-up handle touches conversion shrapnel, bracing wire
Rear location hole will be pulled out under positioning pin, then as under wheel support rotation and the elastic force effect of spring, positioning pin is inserted into lower fixed
In the hole of position；Then operation pedrail mechanism is back restored to initial rear position around wheel shaft, and front-wheel mechanism is in the shape that lands at this time
State.
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| CN201810434213.3A CN108433897B (en) | 2018-05-08 | 2018-05-08 | All-terrain manned robot with rear wheel lifting mechanism and step-up and down method |
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| CN201810434213.3A CN108433897B (en) | 2018-05-08 | 2018-05-08 | All-terrain manned robot with rear wheel lifting mechanism and step-up and down method |
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| CN108433897B CN108433897B (en) | 2023-09-22 |
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| CN108433897B (en) | 2023-09-22 |
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