CN208541488U

CN208541488U - One kind electric boosted can walk and climb building driving device

Info

Publication number: CN208541488U
Application number: CN201820290569.XU
Authority: CN
Inventors: 贾银霞; 高国楹
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-03-01
Filing date: 2018-03-01
Publication date: 2019-02-26
Anticipated expiration: 2028-03-01
Also published as: TWM576451U

Abstract

It electric boosted can walk the utility model discloses one kind and climb building driving device, be combined using by walking mechanism with crawl frame, constitute innovative Planetary Gear Transmission principle；When level road is walked, driving portion drive sun gear rotates in the forward direction, and there are two traveling wheels for tool simultaneously with ground face contact, and sun gear drive planetary gear is around the reversed rotation of planet axis, the internal tooth and external tooth and planetary gear synchronous backward of gear ring rotate, so that transmission gear drives traveling wheel to rotate in the forward direction realization walking rotation；When stair are creeped, sun gear is rotated in the forward direction, and traveling wheel meets stair and is obstructed, and transmission gear, the internal tooth of gear ring and external tooth stop operating, and sun gear drives planetary gear to revolve along internal tooth forward direction, so that planet axis, which drives crawl frame to rotate in the forward direction, realizes that obstacle detouring is creeped；Solve existing star wheel structure causes crawl frame power reverse to operate when traveling wheel can not operate, it is difficult to completion the technical issues of climbing building function, and have the characteristics that structure simply with it is safe and reliable.

Description

One kind electric boosted can walk and climb building driving device

Technical field

It is specifically a kind of electric boosted to walk and climb building driving dress the utility model relates to climb building equipment technology field It sets.

Background technique

For the wheelchair stair-climbing or carrying heavy goods of not elevator, it is a very difficult thing, needs to consume more people Power could be completed, and therefore, be come into being using electric-powered automatic load climbing machine or stair-climbing wheel chair.Climbing machine or building climbing wheel The execution running gear of chair is substantially similar, can be divided into according to its kind of drive: crawler type, stepping brace type and three kinds of star wheel type.

Wherein, the Stair climbing device of Track Type mechanism is continuous walking manner, but when crawler belt often leaves a step or row It will appear the front and back due to deviation of gravity center when entering next step to tilt, be not suitable for being greater than 30- along too smooth and gradient in stair rank 35 degree of environment uses, in addition the heavier mass of crawler belt and wear it is larger, with cause it is inconvenient to use, stair rank edge is caused to damage Wound and later period maintenance problem at high cost, while its resistance is also larger in level walking, corner is turned round not flexible.In this regard, Various improvement mechanisms were proposed both at home and abroad, but still less desirable at present.

Stepping brace type Stair climbing device has the history of last 100 years, is alternately supported by two sets of supporting arrangements, to realize up and down The function of stair is developed and is improved by continuous for many years, has the advantages that use extensively and safety is relatively high, but stepping branch Support formula Stair climbing device haves the characteristics that complicated mechanism, structure height are integrated, and a large amount of high rigidity light materials make in addition With causing cost high.

The Climbing building device of star wheel type is made of several steamboats being evenly distributed on Y shape, five-pointed star or cross tie-rod, respectively A steamboat not only can be around respective axis rotation, but also can revolve together around central axis with tie-rod, each small in level walking Rotation is taken turns, and when stair climbing, each steamboat revolves together, to realize the function of climbing building, star wheel type Climbing building device has transmission knot Structure is simple, and level walking, stair climbing and turning corner are all relatively more flexible, and light quality and cheap advantage, suitable for pushing away Wide application.

Notification number is that the utility model patent of CN103932849B discloses a kind of under-driven adaptive formula stair-climbing wheel chair, Drive lacking train include gear-box, wheel frame axle, axis, small axis, wheel, gearbox, the gear wheel being set on wheel frame axle, on axis The pinion gear of movable set, pinion gear, middle gear and gear wheel are arranged at gear-box on the middle gear of movable set, small axis Interior, wheel is identical as pinion gear quantity, and is fixedly connected with pinion gear, and gear wheel and middle gear are mutually ratcheting, middle gear and small tooth Wheel is mutually ratcheting, and the power output end connection of wheel frame axle and gearbox, which is three-arm star-shaped train, three-arm star-shaped wheel It is that advantage is can be across higher obstacle；

But above-mentioned technical proposal climbs building drive train when encountering obstacle, and wheel can stop operating, and then make pinion gear Can also stop operating with middle gear, gear wheel the generation of entire train can be made to turn over forward the torque of middle gear with realize across Cross obstacle, but problem is, gear wheel and middle gear and middle gear and pinion gear be using outer ratcheting driving form, namely The direction of rotation of gear wheel and middle gear is on the contrary, pinion gear is identical as the direction of rotation of gear wheel, when gear wheel rotates forward, Middle gear, which plays transmission effect, makes pinion gear also synchronous forward rotation；Gear wheel rotate forward be positive to it is forward when, gear wheel Entire train can be made to generate to bull gear drive is contrary the torque of middle gear to rotate backward, even if also entire train produces It is raw turn over rotation and it is non-forward turn over, in turn resulting in wheelchair draws back, to cannot achieve forward across obstacle Stair climbing is needed using function；In addition, being found by the retrieval analysis to existing patented technology, three wall star trains are all made of Similar outer ratcheting driving form is stated, therefore researching and designing one kind is able to achieve stair climbing and is needed using function, and light reliable Pocket-wheel wheelchair drive mechanism is very necessary.

Utility model content

In order to solve the above technical problems, electric boosted can walk the purpose of this utility model is to provide one kind and climb building drive Dynamic device can effectively realize the use function that level road walking and stair are creeped using the transmission working principle of planetary gear construction It needs, solves existing star wheel structure and crawl frame power reverse is caused to operate when traveling wheel can not operate, it is difficult to which building is climbed in completion The problem of function, has the characteristics that structure is simple, light reliable and practical.

In order to achieve the above objectives, the technical solution of the utility model is as follows:

One kind electric boosted can walk and climb building driving device, including crawl frame, driving portion and walking mechanism, the row Walking mechanism includes traveling wheel group and planetary gear set, and the quantity of the traveling wheel group is multiple and constitutes with planetary gear set axle center and be The starriness at center；

The traveling wheel group includes and the shaft of crawl frame rotation connection, the transmission gear that is mounted in shaft and fixed Traveling wheel in shaft outer end；

The planetary gear set includes main shaft, sun gear, planet axis, planetary gear and gear ring, and the main axis is connected to Connect on crawl frame and with the power output end of driving portion, the sun gear is installed in the outer end of main shaft, the planet axis with climb Row frame is fixedly connected, and the planetary gear is rotatably connected on the outer end of planet axis, and the quantity of planetary gear is multiple, the gear ring tool There are the internal tooth and external tooth concentric with sun gear；

The planetary gear and ratcheting outside sun gear, and planetary gear and ratcheting in the internal tooth of the gear ring, the external tooth and pass It is ratcheting outside moving gear；

Level road walking working condition, driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, and there are two walkings for tool Wheel drives planetary gear to surround the reversed rotation of planet axis with ground face contact, sun gear, and the internal tooth and external tooth of gear ring are synchronous with planetary gear It reversely rotates, so that transmission gear drives traveling wheel to rotate in the forward direction realization walking rotation；

Stair are creeped working condition, and driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, and traveling wheel meets stair It is obstructed, transmission gear, the internal tooth of gear ring and external tooth stop operating, and sun gear drives planetary gear to revolve along internal tooth forward direction, so that row Star axis drives crawl frame to rotate in the forward direction and realizes that obstacle detouring is creeped.

It further, further include the gear ring fixed plate for being mounted on main shaft and being located on the outside of gear ring, and the gear ring is fixed Plate is detachably connected with gear ring.

It further, further include unilateral bearing, the shaft is realized by unilateral bearing and is rotatablely connected with crawl frame.

Further, the quantity of the traveling wheel group is 3-5.

Further, the driving portion includes rotating electric machine and gear, the rotating electric machine by gear with Main shaft power connection.

It further, further include the power control unit being electrically connected with rotating electric machine, the power control unit includes storing Battery pack, battery monitoring module, display and charging module, sensor and control module, manipulation of switches and motor drive module.

Further, the sensor in the sensor and control module includes angular transducer, the angular transducer For sensing walking and angle of creeping to control the output power size of motor drive module or the revolving speed size of main shaft.

The utility model has the beneficial effects that

1, the utility model constitutes innovative crypto gear and makees using walking mechanism is combined with crawl frame Principle, walking mechanism include traveling wheel group and planetary gear set, planetary gear set include main shaft, sun gear, planet axis, planetary gear with And gear ring；In flat pavement running working condition, driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, and there are two rows for tool Wheel and ground face contact are walked, sun gear drives planetary gear to surround the reversed rotation of planet axis, and the internal tooth and external tooth and planetary gear of gear ring are same Step reversely rotates, so that transmission gear drives traveling wheel to rotate in the forward direction realization walking rotation；Stair creep working condition when, driving Portion's power is transmitted to main shaft so that sun gear rotates in the forward direction, and traveling wheel meets stair and is obstructed, the internal tooth and external tooth of transmission gear, gear ring It stops operating, sun gear drives planetary gear to revolve along internal tooth forward direction, so that planet axis drives crawl frame to rotate in the forward direction realization obstacle detouring It creeps, so that the use function of effectively realizing that level road walking and stair are creeped needs；

2, gear ring of the setting with internal tooth and external tooth in the utility model, can both play sun gear to the in the same direction of transmission gear Power transmitting effect can also guarantee that planetary gear drives crawl frame to revolve in the same direction along internal tooth when transmission gear and gear ring are fixed and be obstructed Turn, solves existing star wheel structure and crawl frame power reverse is caused to operate when traveling wheel can not operate, it is difficult to which Lou Gong is climbed in completion Can the problem of, the power output of sun gear is smooth, and operation is flexibly without clamping stagnation, using light reliable；

3, the shaft in the utility model is realized by unilateral bearing and is rotatablely connected with crawl frame, using unilateral bearing or Surmount bearing, can still be operated and be walked by manpower one direction when driving portion loses electric power or motor breaks down, user Just, meet different actual use needs；

4, the utility model can electric boosted walking with climb building driving device, the quantity of traveling wheel group can be according to actually answering With needing specifically to be set, crawl frame is corresponding with traveling wheel group, effectively instead of traditional manpower transport's mode, may be adapted to not It creeps with load transportation and what wheelchair was creeped climbs building application, and have its simple structure, compact layout, light quality, price low Honest and clean and practical feature, is suitable for popularization and application.

Detailed description of the invention

Fig. 1 is that the utility model one kind can the electric boosted structural schematic diagram walked and climb building driving device；

Fig. 2 is a kind of example structure schematic diagram of planetary gear set of the utility model；

Fig. 3 is the flow diagram of the power control unit of the utility model.

Specific embodiment

It is practical to this below in conjunction with attached drawing for the purpose of this utility model, technical solution and advantage is more clearly understood It is novel to be described in further detail.

It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this reality The ordinary meaning understood with novel one of ordinary skill in the art.

As shown in Figure 1, one kind electric boosted can walk and climb building driving device, including crawl frame 1, driving portion and walking Mechanism, crawl frame are used as the connection with wheelchair or load transportation Stair climbing device, for being mounted on longitudinal the two of bottom of frame Structure connection and supporting role are played in side, while driving portion is also installed on vehicle frame, for providing power to walking mechanism, creep Frame need to carry out corresponding setting with driving portion according to walking mechanism, and specific structure is not made herein in combination with existing machinery technological means It repeats；The walking mechanism includes traveling wheel group 3 and planetary gear set 4, the quantity of the traveling wheel group be it is multiple and constitute with Starriness namely multiple traveling wheel groups centered on planetary gear set axle center are climbed in being uniformly arranged centered on planetary gear set axle center The setting of row frame can be corresponding with the quantity of traveling wheel group；Preferably, the quantity of traveling wheel group is 3-5, different to meet Load-carrying is needed using function, according to practical application experience, if when 3 traveling wheel groups, can be conducive to make traveling wheel group across compared with High obstacle is creeped needs suitable for stair；

The traveling wheel group include with the shaft 31 of crawl frame rotation connection, the transmission gear 32 that is mounted in shaft and It is installed in the traveling wheel 33 of shaft outer end, if the quantity of traveling wheel group is three, line is constituted between the axle center of three shafts Equilateral triangle needs spacing to be arranged between adjacent traveling wheel, interferes to avoid generation；

The planetary gear set includes main shaft 41, sun gear 42, planet axis 43, planetary gear 44 and gear ring 45, the main shaft It is rotatably connected on crawl frame and is connect with the power output end of driving portion, the sun gear is installed in the outer end of main shaft, described Planet axis is fixedly connected with crawl frame, and the planetary gear is rotatably connected on the outer end of planet axis, and the quantity of planetary gear be it is multiple, Preferably three, can also be corresponding with the quantity of traveling wheel group, it can specifically be set according to actual needs；In addition, when walking When wheel is similarly set as three with planetary gear, crawl frame and the preferably corresponding setting of the quantity of traveling wheel and planetary gear, and it is excellent It selects and is located on same line between the axle center of main shaft, planet axis and shaft；The gear ring has the internal tooth concentric with sun gear 45a and external tooth 45b；The planetary gear and ratcheting outside sun gear, and planetary gear and ratcheting, the external tooth in the internal tooth of the gear ring With it is ratcheting outside transmission gear；

The driving portion preferably includes rotating electric machine and gear, and the rotating electric machine is dynamic by gear and main shaft Power connection, gear or be gearbox, can play the role of to rotating electric machine export velocity of rotation allotment, gear can Using existing mature technology means；

When making level road walking working condition, driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, and has at this time Two traveling wheels and ground face contact, since the resistance of traveling wheel is small, crawl frame is fixed, namely is constituted sun gear active, creeped The fixed passively operation mode with gear ring of frame, sun gear drive planetary gear to surround the reversed rotation of planet axis, the internal tooth of gear ring and outer Tooth and planetary gear synchronous backward rotate namely planetary gear due to it is ratcheting outside sun gear, make steering phase of the planetary gear with sun gear Instead, ratcheting in the internal tooth and planetary gear of gear ring, make gear ring and planetary gear turn to it is identical and turned to sun gear on the contrary, gear ring it is outer Tooth with it is ratcheting outside transmission gear, keep the steering of transmission gear and gear ring opposite and identical as sun gear steering, to make driving cog Wheel drives traveling wheel to rotate in the forward direction to realize that the use function of rotating forward walking needs；

It creeps working condition as stair, driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, at this time traveling wheel It meets stair to be obstructed, transmission gear is stopped rotation together with gear ring, namely the active of composition sun gear, gear ring are fixed and crawl frame quilt Dynamic operation mode, planetary gear makees reversed rotation under sun gear drive, while planetary gear makees positive revolution along the internal tooth of gear ring, To make planet axis drive crawl frame to rotate in the forward direction to realize and traveling wheel group is driven to need as the use function that obstacle detouring is creeped.

As shown from the above technical solution, the gear ring with internal tooth and external tooth of setting can both play sun gear to driving cog The power transmitting in the same direction effect of wheel can also ensure that planetary gear drives crawl frame edge when transmission gear and gear ring are fixed and be obstructed Internal tooth rotating Vortex solves existing star wheel structure and crawl frame power reverse is caused to operate when traveling wheel can not operate, it is difficult to The problem of building function, is climbed in completion.

The planetary gear set of the technical program can be attributed to following operation principle:

1) gear ring is fixed, and actively, crawl frame is passive for sun gear；2) gear ring is fixed, and actively, sun gear is passive for crawl frame；3) Sun gear is fixed, and actively, crawl frame is passive for gear ring；4) sun gear is fixed, and actively, gear ring is passive for crawl frame；5) crawl frame is fixed, Actively, gear ring is passive for sun gear；6) crawl frame is fixed, and actively, sun gear is passive for gear ring；7) gear ring, sun gear and crawl frame Any two are combined as a whole in three elements；8) gear ring, in three elements of sun gear and crawl frame any one element be actively, Remaining two elements is free.By above-mentioned principle it is found that the intermediate transmission using gear ring acts on, it can be achieved that a variety of different operating modes Principle, in the transmission gear engagement process with traveling wheel, it is ensured that the power output of sun gear is more smooth, and operation It is safe and reliable flexibly without clamping stagnation；According to the working principle of above-mentioned planetary gear set it can be concluded that, the planet of level road walking states Wheel group working principle are as follows: serial number 5) crawl frame fixes, and actively, gear ring is passive for sun gear, and stair are creeped the planetary gear set work of state Make principle are as follows: 1) gear ring is fixed, and actively, crawl frame is passive for sun gear.

As shown in Fig. 2, further including the tooth for being mounted on main shaft and being located on the outside of gear ring as a kind of preferred technical solution Fixed plate 46 is enclosed, and the gear ring fixed plate is detachably connected with gear ring, setting gear ring fixed plate can play the fixation to gear ring Effect, and rotated coaxially with main shaft, it is ensured that the reliable transmission and stability of gear ring；Another embodiment of gear ring, packet The gear ring internal gear 451 with internal tooth is included with the gear ring external gear of external tooth, is also provided separately internal tooth and external tooth, institute Gear ring external gear is stated with the axis hole for installing gear ring internal gear, by gear ring fixed plate to realize gear ring internal gear and gear ring External gear is detachably fixed connection；Meanwhile it easy to produce can also manufacture, meet different installations and use needs.

It further include unilateral bearing 5 as a kind of preferred technical solution, the shaft is realized and creeped by unilateral bearing Frame rotation connection；Using unilateral bearing or surmount bearing, it, still can be by when driving portion loses electric power or motor and breaks down The running walking of manpower one direction, it is easy to use, meet different actual use needs.

As shown in figure 3, further including the power control unit being electrically connected with rotating electric machine, the power control unit includes storing Battery pack, battery monitoring module, display and charging module, sensor and control module, manipulation of switches and motor drive module, Battery group can provide electric power for motor, by battery monitoring module monitoring battery electricity and real-time use state, by display and Charging module shows the supplement of power condition and electricity, sensor and control module and manipulation of switches, can be used for driving device The adjusting or switching with MANUAL CONTROL mode are automatically controlled, each control module preferably uses the PLC collection of existing mature technology means At control.

Further, the sensor in the sensor and control module includes angular transducer, the angular transducer For sensing walking and angle of creeping to control the output power size of motor drive module or the revolving speed size of main shaft, herein may be used In conjunction with the needs of the wheelchair or load transportation part of installing this driving device, the Distance-sensing for sensing the feedback of position or distance is set Device and other application class sensor, do not repeat herein.

As shown from the above technical solution, one kind of the utility model electric boosted can walk and climb building driving device, can root Power is provided using two or more rotating electric machines according to loading capacity and actual needs, the mounting means of walking mechanism combines The structure of existing wheelchair and load-carrying climbing machine etc. carries out specific design to be connected and fixed；In addition its driving method is also not limited to electricity It pushes dynamic, can also be realized according to the progress of actual application environment and technology using other power modes.

Above explanation and examples are merely exemplary, does not constitute any restrictions to the scope of the utility model.This Field technical staff should be understood that can be to utility model technical side under the spirit and scope without departing from the utility model The details and form of case are modified or are replaced, but these modifications and replacement are each fallen in the protection scope of the utility model.

Claims

1. one kind electric boosted can walk and climb building driving device, including crawl frame (1), driving portion and walking mechanism, special Sign is: the walking mechanism includes traveling wheel group (3) and planetary gear set (4), the quantity of the traveling wheel group be it is multiple and Constitute the starriness centered on planetary gear set axle center；

The traveling wheel group include with the shaft (31) of crawl frame rotation connection, the transmission gear (32) that is mounted in shaft and It is installed in the traveling wheel (33) of shaft outer end；

The planetary gear set includes main shaft (41), sun gear (42), planet axis (43), planetary gear (44) and gear ring (45), institute It states main axis to be connected on crawl frame and connect with the power output end of driving portion, the sun gear is installed in the outer of main shaft End, the planet axis are fixedly connected with crawl frame, and the planetary gear is rotatably connected on the outer end of planet axis, and the quantity of planetary gear To be multiple, the gear ring has the internal tooth (45a) and external tooth (45b) concentric with sun gear；

The planetary gear and ratcheting outside sun gear, and planetary gear and ratcheting, the external tooth and driving cog in the internal tooth of the gear ring Wheel is outer ratcheting；

Level road is walked working condition, and driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, tool there are two traveling wheel with Ground face contact, sun gear drive planetary gear to surround the reversed rotation of planet axis, the internal tooth and external tooth and planetary gear synchronous backward of gear ring Rotation, so that transmission gear drives traveling wheel to rotate in the forward direction realization walking rotation；

Stair are creeped working condition, and driving portion power is transmitted to main shaft so that sun gear rotates in the forward direction, and traveling wheel meets stair and is obstructed, Transmission gear, the internal tooth of gear ring and external tooth stop operating, and sun gear drives planetary gear to revolve along internal tooth forward direction, so that planet axis band Dynamic crawl frame, which rotates in the forward direction, realizes that obstacle detouring is creeped.

2. one kind according to claim 1 electric boosted can walk and climb building driving device, it is characterised in that: further include peace Gear ring fixed plate (46) on main shaft and on the outside of gear ring, and the gear ring fixed plate is detachably connected with gear ring.

3. one kind according to claim 1 electric boosted can walk and climb building driving device, it is characterised in that: further include list To bearing (5), the shaft is realized by unilateral bearing and is rotatablely connected with crawl frame.

4. one kind according to claim 1 electric boosted can walk and climb building driving device, it is characterised in that: the walking The quantity of wheel group is 3-5.

5. one kind according to claim 1 electric boosted can walk and climb building driving device, it is characterised in that: the driving Portion includes rotating electric machine and gear, and the rotating electric machine is connect by gear with main shaft power.

6. one kind according to claim 5 can it is electric boosted walking with climb building driving device, it is characterised in that: further include with Rotating electric machine electrical connection power control unit, the power control unit include battery group, battery monitoring module, display and Charging module, sensor and control module, manipulation of switches and motor drive module.