CN207225506U - Climb building walking mechanism and the balance car with the mechanism - Google Patents
Climb building walking mechanism and the balance car with the mechanism Download PDFInfo
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- CN207225506U CN207225506U CN201721098532.9U CN201721098532U CN207225506U CN 207225506 U CN207225506 U CN 207225506U CN 201721098532 U CN201721098532 U CN 201721098532U CN 207225506 U CN207225506 U CN 207225506U
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Abstract
Technical solutions of the utility model disclose a kind of balance car climbed building walking mechanism and have the mechanism, including running part and portion of climbing, main carrying wheel, driving device are individually fixed in the both ends of main carrying axletree, and the wheel carrier that climbs, which is fixed on, to climb on wheel shaft, and some rollers, which are installed on, to climb on wheel carrier；Driving device, so as to control main carrying vehicle wheel rotation, climbs by driving main carrying axletree to rotate and is provided with arrangement of clutch between wheel carrier and main carrying axletree, the wheel carrier that climbs is combined or separated with main carrying axletree by arrangement of clutch；Technical solutions of the utility model on common wheel walking structure by adding portion's structure of climbing so that walking structure has the function of climbing stair, makes its step ability of crossing in climbing stair significantly be strengthened；It is less compared to common climbing device to run component, it is only necessary to which climbing stair can be achieved in driving device, main carrying wheel and the wheel carrier that climbs, and simple in structure, weight is lighter, more energy efficient during use, and manufacture cost is low.
Description
Technical field
Mobile device technology field is the utility model is related to, building walking mechanism is climbed more particularly, to one kind and there is the mechanism
Balance car.
Background technology
Wheel is widely used in daily life as a kind of efficient carrying tool.However, if it is desired to
Mobile device with wheel is gone upstairs, especially continuous quick staircase structure when, it is very difficult.
Utility model content
The technical problem that the utility model solves is that the existing mobile device with wheel has difficulties when going upstairs.
To solve above-mentioned technical problem, technical solutions of the utility model provide one kind and climb building walking mechanism, wherein, bag
Include,
Running part, including main carrying wheel, main carrying axletree, vehicle frame and driving device, the main carrying wheel, institute
The both ends that driving device is individually fixed in the main carrying axletree are stated, the vehicle frame is installed on institute by main carrying wheel bearing
State on main carrying axletree；
Climb portion, including the wheel shaft that climbs, climb wheel carrier and some rollers, the wheel shaft that climbs passes through the wheel bearing that climbs and pacifies
Loaded in the main carrying axletree, the wheel carrier that climbs be fixed on it is described climb on wheel shaft, some rollers are installed on institute
State and climb on wheel carrier；
Described climb is provided with arrangement of clutch between wheel carrier and the main carrying axletree, and the wheel carrier that climbs passes through described
Arrangement of clutch is combined or separated with the main carrying axletree.
Optionally, the main carrying axletree has a shaft shoulder close to one end of the wheel carrier that climbs, the arrangement of clutch and
The shaft shoulder contact or separation.
Optionally, the driving device includes stator and rotor, the rotor and the main carrying axletree installation.
Optionally, the arrangement of clutch includes clutch part and clutch-plate, and the clutch-plate is installed on by the clutch part
It is described to climb on wheel carrier.
Optionally, when the clutch-plate is contacted with the main carrying axletree, wheel carrier and the main carrying vehicle of climbing
Wheel shaft is opposite to be combined, and the wheel carrier that climbs described in the driving device driving rotates together with the main carrying axletree, climbs building walking
Mechanism carries out climb mode；
When the clutch-plate is separated with the main carrying axletree, the wheel carrier that climbs is opposite with the main carrying axletree
Separation, the driving device driving main carrying axletree rotate, and the wheel carrier that climbs stops operating, climb building walking mechanism into
Row level walking pattern.
Optionally, some extension rods are evenly arranged with the circumferencial direction of the wheel carrier that climbs, on each extension rod
It is removably installed a roller.
Optionally, some rollers are more than the main carrying wheel around the diameter of a circle that wheel carrier is formed that climbs
Diameter.
Optionally, the driving device connection external connection power source.
To solve above-mentioned technical problem, technical solutions of the utility model also provide a kind of climbs with any of the above-described described
The balance car of building walking mechanism, wherein, including building walking mechanism and vehicle body are climbed described at least two, the body bottom both sides
Respectively building walking mechanism is climbed described in installation one.
The beneficial effect of technical solutions of the utility model is：
Technical solutions of the utility model on common wheel walking structure by adding portion's structure of climbing so that walking knot
Structure has the function of climbing stair, makes its step ability of crossing in climbing stair significantly be strengthened；Run component phase
It is less compared with common climbing device, it is only necessary to which that climbing stair, knot can be achieved in driving device, main carrying wheel and the wheel carrier that climbs
Structure is simple, and weight is lighter, more energy efficient during use, and manufacture cost is low.
Brief description of the drawings
Fig. 1 is the stereogram of the utility model first embodiment Zhong Pa buildings walking mechanism；
Fig. 2 is the sectional view of the utility model first embodiment Zhong Pa buildings walking mechanism；
Fig. 3 is the stereogram of balance car in the utility model first embodiment；
The view on when Fig. 4 is the utility model first embodiment Zhong Pa building walking mechanism level walkings and ground；
The view on when Fig. 5 is the utility model first embodiment Zhong Pa building walking mechanism parkings and ground；
Fig. 6 is that clutch-plate is combined and structure during discrete state with main carrying axletree in the utility model first embodiment
Schematic diagram；
Fig. 7~Figure 12 is the workflow step schematic diagram of the utility model first embodiment Zhong Pa buildings walking mechanism；
Figure 13 is the structure diagram of the utility model second embodiment Zhong Pa buildings walking mechanism；
Figure 14 is the structure diagram of the utility model 3rd embodiment Zhong Pa buildings walking mechanism.
Embodiment：
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but not as the utility model
Limit.
Embodiment one
In the description of the utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " suitable
The orientation or position relationship of the instruction such as hour hands ", " counterclockwise " are based on orientation shown in the drawings or position relationship, merely to just
In description the utility model and simplified description, rather than indicate or imply that signified device or element must be with specifically square
Position, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the utility model.
Refer to shown in Fig. 1 and Fig. 2, show a kind of embodiment climbs building running gear, wherein, including,
Running part, including main carrying wheel 11, main carrying axletree 12, vehicle frame 13 and driving device 14, main carrying vehicle
Wheel 11, driving device 14 are individually fixed in the both ends of main carrying axletree 12, and vehicle frame 13 is installed by main carrying wheel bearing 15
In on main carrying axletree 12；
Climb portion, including the wheel shaft 21 that climbs, climb wheel carrier 22 and some rollers 23, the wheel shaft 21 that climbs is by the wheel shaft that climbs
Hold 24 to be installed in main carrying axletree 12, the wheel carrier 22 that climbs, which is fixed on, to climb on wheel shaft 21, and some rollers 23, which are installed on, to climb
On wheel carrier 22；
Driving device 14 is by driving main carrying axletree 12 to rotate so as to control main carrying wheel 11 to rotate, and climb wheel carrier
Arrangement of clutch 3 is installed between 22 and main carrying axletree 12, the wheel carrier 22 that climbs passes through arrangement of clutch 3 and main carrying axletree 12
With reference to or separation.
In the present embodiment, main carrying axletree 12 has a shaft shoulder 121 close to the one end for the wheel carrier 22 that climbs, arrangement of clutch 3 and
The shaft shoulder 121 is contacted or separated.
In the present embodiment, driving device 14 includes stator 142 and rotor 141, and rotor 141 is installed with main carrying axletree 12
And main carrying axletree 12 is driven to rotate.
In the present embodiment, arrangement of clutch 3 includes clutch part 31 and clutch-plate 32, and clutch-plate 32 is installed on by clutch part 31
Climb on wheel carrier 22.
In the present embodiment, when clutch-plate 32 is contacted with main carrying axletree 12, climb wheel carrier 22 and main carrying axletree 12
Opposite to combine, driving device 14 drives the wheel carrier 22 that climbs to be rotated together with main carrying axletree 12, climbs building walking mechanism 100 and carries out
Climb mode；When clutch-plate 32 is separated with main carrying axletree 12, climb wheel carrier 22 and main carrying 12 relative separation of axletree, drive
Dynamic device 14 drives main carrying axletree 12 to rotate, and the wheel carrier 22 that climbs stops operating, and climbs building walking mechanism 100 and carries out level walking
Pattern.
In the present embodiment, some extension rods 221, each extension rod are evenly arranged with the circumferencial direction for the wheel carrier 22 that climbs
A roller 23 is removably installed on 221.
In the present embodiment, some rollers 23 are more than main carrying wheel 11 around the diameter of a circle that the wheel carrier 22 that climbs is formed
Diameter.
In the present embodiment, driving device 14 connects external connection power source (not shown), and power source can be power supply, motor, liquid
Pressure motor etc..
Shown in Figure 3, technical solutions of the utility model also provide a kind of balance car for having and climbing building walking mechanism, its
In, including at least two climb building walking mechanism 100 and vehicle body 4,4 two bottom sides of vehicle body install one and climb building walking mechanism respectively
100, vehicle body 4 has further included foot pedal 41 and handle 42.
Pass through the characteristic and function of following explanation further insight the utility model.
Refer to shown in Fig. 4, Fig. 5 and Fig. 6, wheel construction form of climbing in the utility model includes main bearing wheels and the wheel that climbs
The novel wheel-type walking mechanism of composition, passes through arrangement of clutch 3 and main carrying wheel 11 (more particularly main carrying axletree 12)
Connection, needs with specific, whether can use climb mode with free switching, during using climb mode, when walking mechanism touches
During the first layer step of stair, the inductor in walking mechanism detects signal, sends the signal to control system, control system
Control arrangement of clutch 3 with it is main carrying wheel 11 is combined (as shown in left in Figure 6), climb wheel 22,23 and it is main carry wheel 11 be total to
With output；During level walking, arrangement of clutch 3 separates (as shown in right in Figure 6) with main carrying wheel 11, only main carrying wheel 11
Contribute (as shown in Figure 4), pacifically switching is rapidly between walking mode for climb mode；A wheel is only leaned on, in parking operating mode downlink
Standing (as shown in Figure 5) can also be stablized by walking mechanism.
It can be applied to climb the balance car of building walking mechanism structure in the present embodiment with this, and using balance car to be mobile flat
The robot device of platform.
The mechanism composition of the present embodiment Zhong Pa buildings walking mechanism is described as follows：
As depicted in figs. 1 and 2, the wheel type traveling mechanism in the utility model is main to carry wheel 11 mainly by trolley frame 13,
Climb wheel 22,23, and driving device 14 forms.Trolley frame 13 is small vehicle main body, is connected on vehicle body 4 (as shown in Figure 3), and master holds
Carrier vehicle wheel 11 directly touches the ground 200, is responsible for being carried through the car body weight of the transmission of trolley frame 13, the wheel that climbs is main carrying vehicle
The accessory structure of wheel 11, act as the equivalent radius of wheel of extension walking mechanism, improves its ability by stairway step, drives
Device 14 is then responsible for driving walking mechanism movement.
The specific internal structure of walking mechanism as depicted in figs. 1 and 2, is described below：
Main carrying axletree 12 is connected by main carrying wheel bearing 15 with trolley frame 13, it is main carry axletree 12 can be around
Main carrying wheel bearing 15 rotates；Main carrying wheel 11 is fixed on main carrying axletree 12, is rotated with wheel shaft；Main carrying wheel
Axis 12 is hollow structure, and the wheel shaft 21 wherein arrangement is climbed, the wheel shaft 21 that climbs is installed on main carrying wheel by the wheel bearing 24 that climbs
It is coaxial with main carrying axletree 12 in axis 12, and the wheel shaft 21 that climbs can be rotated around main carrying axletree 12；Climb wheel carrier 22
21 end of axletree of climbing is fixed on, is discoid, the shape with more extension rods 221.Fig. 1 and Fig. 2 gives three in showing
The form of root extension rod 221, during practical application, number can not be three, and the radical of extension rod 221 is more, then curvature when climbing
Change smaller, process of climbing is more steady, and its corresponding climbing ability is weaker.
In the end for climbing wheel carrier 22, roller 23 is installed, it is fixed on the end for 22 extension rod 221 of wheel carrier that climbs
Portion, can be cylinder or other shapes, act as increase earth-grasping force；Climb on wheel carrier 22, be also equipped with several clutches
Device 3, arrangement of clutch 3, which is fixed on, to climb on wheel carrier 22, and with climbing, wheel carrier 22 rotates, and is to include four in Fig. 1 and Fig. 2
The situation of arrangement of clutch 3；Arrangement of clutch 3 includes clutch part 31 and clutch-plate 32, and clutch part 31 is connected with clutch-plate 32, clutch-plate
32 under the driving of clutch part 31, can move axially so, and can carry axletree 12 or the wheel carrier 22 that climbs with main respectively
Fitting.
As shown in fig. 6, when clutch-plate 32 is bonded with main carrying axletree 12, climb wheel carrier 22 and main carrying can be made
Axletree 12 together rotates；When clutch-plate 32 is bonded with the wheel carrier 22 that climbs, then clutch-plate 32 and main carrying axletree 12 are de-
Open, the wheel carrier 22 that climbs can be freely rotated；The other end of main carrying axletree 12 is then connected with driving device 14；Driving device
14 can be decomposed into 141 two parts of driving device stator 142 and driving device rotor, and driving device rotor 141 is filled with driving
It is coaxial to put stator 142, and can mutually rotate and output torque；Driving device stator 142 is fixed with trolley frame 13, driving device
Rotor 141 is fixed with main carrying axletree 12, and therefore, main carrying axletree 12 can be under the driving of driving device 14, foundation
Certain relatively small vehicle frame 13 of principle rotates and output torque.
Refer to shown in Fig. 7~Figure 12, the walking mechanism in the present embodiment has three classes typical condition, is respectively：Level land row
Walk operating mode, climb building operating mode and parking operating mode, under every kind of operating mode, its operation principle is expressed as follows：
(a) level walking operating mode
When level walking, clutch-plate 32 is bonded with the wheel carrier 22 that climbs, and the wheel that climbs is in free state, due to climbing
On the lower, therefore the wheel that climbs is necessarily in the position shown in Fig. 7 or Fig. 4 to wheel center of gravity.During movement, main carrying wheel 11 rotates,
And the wheel carrier 22 that climbs is with driving device 14 due to not being related, it is maintained at that shown position is constant, and walking mechanism is in main carrying
Planar move, do not climb under the driving of wheel 11.
(b) building operating mode is climbed
When climbing building, clutch-plate 32 is bonded with main carrying axletree 12, and climbing device is with main 12 turns of axletree of carrying
It is dynamic.
The initial position climbed is as shown in fig. 7, the roller 23 that climbs props up 300 facade of stair, main carrying wheel 11 and ground
200 contacts, vehicle center of gravity fall in main carrying wheel 11 between 23 projection line of floor projection line and roller.
The lifting stage climbed is as shown in figure 8, at this time, the roller 23 that climbs takes off residence face, the upper rolling forward of pushing tow main wheel 11
Dynamic, at this time, position of centre of gravity reach falls before and after projection of the roller 23 on ground of climbing that (when before floor projection, then trolley is climbed
Rise, on the contrary then trolley declines)
The extreme higher position in lifting stage is as shown in figure 9, at this time, position of centre of gravity is consistent with previous stage, main carrying wheel 11
Highest is reached, if the main wheel 11 that carries can reach step before this state is reached, climbing for this grade of step is completed, if not
Can, then into next stage, as shown in Figure 10, the roller 23 that climbs at this time takes off residence face, drives walking mechanism to climb upwards, this
When center of gravity still need in projection of the roller 23 on ground or before, then walking mechanism can be with climb steps
As shown in figure 11, after having climbed up level-one step for walking mechanism, the state for the next stage step for preparing to climb；Such as Figure 12
It is shown, climb up the state after all steps for walking mechanism.
, can be by clutch-plate 32 and the wheel carrier 22 that climbs if the position for the wheel that climbs is improper during climbing
Fitting, is operated alone main carrying wheel 11, adjusts walking mechanism and the relative position of step, its relative position is reached suitable position
Put.
(c) parking operating mode
As shown in figure 5, so-called parking operating mode, i.e. walking mechanism make vehicle slack.At this time, clutch-plate 32 and main carrying
Axletree 12 is bonded, and the wheel that climbs keeps opposing stationary with main carrying axletree 12, due to not moved between driving device 14, then
The main carrying relatively small vehicle frame 13 of axletree 12 does not move, and trolley center of gravity falls in main carrying wheel 11 and roller 23 in floor projection position
Between putting, trolley remains stationary as.
The output shaft of driving device 14 is hollow shaft, and main carrying axletree 12 passes through among driving device 14.Driving dress
Put 14 and can be, but not limited to the devices such as direct driving motor, hydraulic motor, air motor, the motor with all kinds of reduction boxes, motor.Using
Roller 23 be cylindrical roller, be easiest to process.
To sum up, technical solutions of the utility model on common wheel walking structure by adding portion's structure of climbing so that
Walking structure has the function of climbing stair, makes its step ability of crossing in climbing stair significantly be strengthened；Operation
Component is less compared to common climbing device, it is only necessary to which driving device, main carrying wheel and the wheel carrier that climbs can be achieved to climb
Stair, simple in structure, weight is lighter, more energy efficient during use, and manufacture cost is low.
Embodiment two
Shown in Figure 13, the structure and embodiment one of the present embodiment Zhong Pa buildings walking mechanism are essentially identical, it drives
The output shaft of device 14 is solid shafting, and main carrying axletree 12 is sleeved on the outside of driving device 14.Driving device 14 can with but not
It is limited to the devices such as direct driving motor, hydraulic motor, air motor, the motor with all kinds of reduction boxes, motor.Unique difference exists
In the roller 23 ' in the present embodiment is non-cylindrical roller, when roll profile is designed at that time, during climbing, is not in
Impact.
Embodiment three
Shown in Figure 14, the structure and embodiment one of the present embodiment Zhong Pa buildings walking mechanism are essentially identical, it drives
The output shaft of device 14 is solid shafting, and main carrying axletree 12 is sleeved on the outside of driving device 14.Driving device 14 can with but not
It is limited to the devices such as direct driving motor, hydraulic motor, air motor, the motor with all kinds of reduction boxes, motor.Unique difference exists
In the extension rod 221 to climb on wheel carrier 22 and roller 23 in the present embodiment " have five, walking mechanism is during building is climbed
It is more steady.
It these are only the utility model preferred embodiment, not thereby limit the embodiment and protection of the utility model
Scope, to those skilled in the art, should can appreciate that all with the utility model specification and diagramatic content institute
The equivalent substitution made and obviously change obtained scheme, should be included in the scope of protection of the utility model
It is interior.
Claims (9)
1. one kind climbs building walking mechanism, it is characterised in that including：
Running part, including main carrying wheel, main carrying axletree, vehicle frame and driving device, the main carrying wheel, the drive
Dynamic device is individually fixed in the both ends of the main carrying axletree, and the vehicle frame is installed on the master by main carrying wheel bearing
Carry on axletree；
Climb portion, including the wheel shaft that climbs, climb wheel carrier and some rollers, the wheel shaft that climbs is installed on by the wheel bearing that climbs
In the main carrying axletree, the wheel carrier that climbs be fixed on it is described climb on wheel shaft, some rollers are installed on described climb
Rise on wheel carrier；
Described climb is provided with arrangement of clutch between wheel carrier and the main carrying axletree, and the wheel carrier that climbs passes through the clutch
Device is combined or separated with the main carrying axletree.
2. according to claim 1 climb building walking mechanism, it is characterised in that the main carrying axletree climbs close to described
One end of wheel carrier is equipped with the shaft shoulder, and the arrangement of clutch is contacted or separated with the shaft shoulder.
3. according to claim 1 climb building walking mechanism, it is characterised in that the driving device includes stator and rotor,
The rotor and the main carrying axletree installation.
4. according to claim 1 climb building walking mechanism, it is characterised in that the arrangement of clutch includes clutch part and clutch
Piece, the clutch-plate are installed on described climb on wheel carrier by the clutch part.
5. according to claim 4 climb building walking mechanism, it is characterised in that
When the clutch-plate is contacted with the main carrying axletree, the wheel carrier that climbs is opposite with the main carrying axletree to be tied
Close, the wheel carrier that climbs described in the driving device driving rotates together with the main carrying axletree, climbs building walking mechanism and is climbed
Rising mould formula；
When the clutch-plate with it is described it is main carrying axletree separate, it is described climb wheel carrier with it is described it is main carrying axletree it is opposite divide
From the driving device driving main carrying axletree rotates, and the wheel carrier that climbs stops operating, and climbs building walking mechanism and enters
Level walking pattern.
6. according to claim 1 climb building walking mechanism, it is characterised in that on the circumferencial direction of the wheel carrier that climbs uniformly
Some extension rods are provided with, a roller is removably installed on each extension rod.
7. according to claim 6 climb building walking mechanism, it is characterised in that some rollers are around the wheel carrier that climbs
The diameter of a circle formed is more than the diameter of the main carrying wheel.
8. according to claim 1 climb building walking mechanism, it is characterised in that the driving device connection external connection power source.
9. a kind of balance car for climbing building walking mechanism having as described in any in claim 1-8, it is characterised in that including extremely
Building walking mechanism and vehicle body are climbed described in two few, the body bottom both sides are installed respectively climbs building walking mechanism described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721098532.9U CN207225506U (en) | 2017-08-30 | 2017-08-30 | Climb building walking mechanism and the balance car with the mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721098532.9U CN207225506U (en) | 2017-08-30 | 2017-08-30 | Climb building walking mechanism and the balance car with the mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN207225506U true CN207225506U (en) | 2018-04-13 |
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ID=61859536
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721098532.9U Active CN207225506U (en) | 2017-08-30 | 2017-08-30 | Climb building walking mechanism and the balance car with the mechanism |
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| CN (1) | CN207225506U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499406A (en) * | 2017-08-30 | 2017-12-22 | 上海岭先机器人科技股份有限公司 | Climb building walking mechanism and the balance car with the mechanism |
-
2017
- 2017-08-30 CN CN201721098532.9U patent/CN207225506U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499406A (en) * | 2017-08-30 | 2017-12-22 | 上海岭先机器人科技股份有限公司 | Climb building walking mechanism and the balance car with the mechanism |
| WO2019041642A1 (en) * | 2017-08-30 | 2019-03-07 | 上海岭先机器人科技股份有限公司 | Stair-climbing and travel mechanism and self-balancing vehicle having same |
| CN107499406B (en) * | 2017-08-30 | 2020-03-17 | 上海岭先机器人科技股份有限公司 | Stair climbing walking mechanism and balance car with same |
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