WO2022007285A1

WO2022007285A1 - Barrier-free mobile balance vehicle

Info

Publication number: WO2022007285A1
Application number: PCT/CN2020/128284
Authority: WO
Inventors: 仲兆宏
Original assignee: 仲兆宏
Priority date: 2020-07-09
Filing date: 2020-11-12
Publication date: 2022-01-13
Also published as: CN111759606A; CN111759606B

Abstract

A barrier-free mobile balance vehicle, comprising: a carrying platform (1), a frame part (2), and a wheel set part (6); the carrying platform (1) is supported above the frame part (2), and the wheel set part (6) is connected to the frame part (2); the frame part (2) comprises a first quadrilateral located above and a second quadrilateral located below; the first quadrilateral is the same size as the second quadrilateral, and the first quadrilateral and the second quadrilateral each comprise two connecting rods as well as shaft rods (23) respectively connected between two ends of the two connecting rods; the shaft rods (23) and the connecting rods are rotatably connected; a pair of bases (25) are respectively disposed at two ends of the first quadrilateral and the second quadrilateral; the bases (25) extend at least between the first quadrilateral and the second quadrilateral, and each base (25) is fixedly connected to the shaft rods (23) of the first quadrilateral and second quadrilateral at the ends in which same is located; and the connecting rod (21) of the first quadrilateral, the connecting rod of the second quadrilateral and the pair of bases (25) located on the same side of the frame part (2) form a parallelogram. The balance vehicle can safely and smoothly travel on flat roads, rugged roads, narrow spaces and stairs, is simple and convenient to operate, and has high travel efficiency.

Description

无障碍移动平衡车Barrier-free mobile balance car

技术领域technical field

本发明涉及一种无障碍移动平衡车，该无障碍移动平衡车适于在平地、崎岖道路、楼梯等各种地形上无障碍地通行。The present invention relates to a barrier-free mobile balance vehicle, which is suitable for unobstructed passage on various terrains such as flat ground, rough road and stairs.

背景技术Background technique

无障碍移动平衡车适用于载物和载人，载物的无障碍移动平衡车通常被用于物流搬运领域，载人的无障碍移动平衡车通常用于帮助残疾人和老年人在各种场所无障碍通行，尤其是帮助他们上下楼梯。The barrier-free mobile balance car is suitable for carrying objects and people. The barrier-free mobile balance car for loading is usually used in the field of logistics handling. The barrier-free mobile balance car for people is usually used to help the disabled and the elderly in various places. Barrier-free access, especially to help them go up and down stairs.

现有的无障碍移动平衡车大致分为两种：一种是轮式，另一种是履带和轮的组合式。轮式的平衡车在行走过程中抖动较大，在上下楼梯过程中抓地能力不强，存在倾倒的风险；履带和轮的组合式平衡车在平地行走时，轮子与地面接触，利用轮子行走，在通过楼梯时，履带着地，利用履带上下楼梯。与轮式平衡车相比，组合式平衡车在上下楼梯时抓地能力更强，行走更加平稳。The existing barrier-free mobile balance vehicles are roughly divided into two types: one is a wheeled type, and the other is a combination type of track and wheel. The wheeled balance car shakes greatly during walking, and the grip ability is not strong in the process of going up and down the stairs, and there is a risk of tipping; when the combined track and wheel balance car is walking on flat ground, the wheels are in contact with the ground, and the wheels are used for walking. , When passing through the stairs, crawler to the ground, use the crawler to go up and down the stairs. Compared with the wheeled balance car, the combined balance car has stronger grip when going up and down the stairs, and the walking is more stable.

然而，现有的组合式平衡车存在不足：However, the existing combined balance car has shortcomings:

第一，平衡车左右两侧的履带为整体式，在跨过楼梯与平台的结合部时，由于车体后部缺少支撑，仅仅依靠履带无法到达平台，需要配置辅助支撑装置，例如安装可收放的辅助轮，这样，在到达楼梯与平台的结合部时，放下辅助轮，支撑车体的后部，帮助履带到达平台上，当到达平台时，再将辅助轮收起，这样的设计存在操作繁琐、爬楼效率低的问题；First, the tracks on the left and right sides of the balance car are integrated. When crossing the junction between the stairs and the platform, due to the lack of support at the rear of the car body, the platform cannot be reached by the track alone. It is necessary to configure auxiliary support devices, such as the installation of retractable The auxiliary wheel is placed so that when reaching the junction of the stairs and the platform, the auxiliary wheel is lowered to support the rear of the car body and help the crawler to reach the platform. When the platform is reached, the auxiliary wheel is put away. Such a design exists. The problems of cumbersome operation and low efficiency of climbing stairs;

第二，平衡车在爬楼过程中会出现摆动的情况，如图1a和图1b所示，当履带接触到楼梯台阶准备爬楼时，履带与地面之间的夹角为a，在履带爬上该楼梯台阶的过程中，履带前端逐渐向上抬起，其与地面之间的夹角逐渐变大，当履带即将到达该楼梯台阶的平面时，履带与地面之间的夹角增大到b，当角度过大时，容易造成履带打滑，同时导致，在整个爬楼过程中，平衡车不断地摆动，同理，在下楼过程中，平衡车同样存在摆动的情况，这就使得承载平台无法保持水平，乘坐者感觉到颠簸和不平稳；Second, the balance car will swing during the process of climbing the stairs. As shown in Figure 1a and Figure 1b, when the crawler is in contact with the stairs to climb the stairs, the angle between the crawler and the ground is a. In the process of going up the stair step, the front end of the crawler is gradually lifted upward, and the angle between it and the ground gradually increases. When the crawler is about to reach the plane of the stair step, the angle between the crawler and the ground increases to b. , When the angle is too large, it is easy to cause the track to slip, and at the same time, during the whole process of climbing the stairs, the balance car swings continuously. Similarly, in the process of going downstairs, the balance car also swings, which makes the bearing platform unable to Stay level, the occupant feels bumps and jitters;

第三，现有的组合式平衡车只能单向爬楼，对于双跑楼梯以及多跑楼梯而言，相邻两个梯段的方向相反，因此，当平衡车到达中间平台时需要掉头，而要完成掉头就需要将平衡车的履带着地切换成轮子着地，待掉头完成后，再将轮子着地切换成履带着地，这样的设计使得爬楼时的操作更加繁琐，爬行效率更低；Third, the existing combined balance car can only climb stairs in one direction. For double-run stairs and multi-run stairs, the directions of two adjacent stairs are opposite. Therefore, when the balance car reaches the middle platform, it needs to turn around. To complete the U-turn, it is necessary to switch the crawler ground of the balance car to the ground of the wheels. After the U-turn is completed, the ground of the wheels is switched to the ground of the crawler. This design makes the operation of climbing stairs more complicated and the crawling efficiency is lower;

另外，通常中间平台的空间狭窄，平衡车调转方向较为困难，对于残疾人和老年人而言，存在安全隐患。In addition, the space in the middle platform is usually narrow, and it is difficult to turn the balance car, which is a safety hazard for the disabled and the elderly.

发明内容SUMMARY OF THE INVENTION

为解决现有技术存在的不足，本发明提出一种无障碍移动平衡车，该平衡车能够在平路、崎岖路面以及楼梯上平稳、安全的行走，其操作简单方便，尤其是在上下楼梯时，无需另外设置辅助支撑装置。In order to solve the shortcomings of the prior art, the present invention proposes a barrier-free mobile balance car, which can walk smoothly and safely on flat roads, rough roads and stairs, and is simple and convenient to operate, especially when going up and down stairs. , no additional auxiliary support device is required.

为实现上述目的，本发明提出如下的技术方案：For achieving the above object, the present invention proposes the following technical scheme:

无障碍移动平衡车，包括承载平台、框架部分、轮组部分，承载平台被支撑于框架部分的上方，轮组部分与框架部分连接，框架部分包括位于上方的第一四边形和位于下方的第二四边形，第一四边形与第二四边形大小相等，第一四边形和第二四边形均包括2根连杆、以及分别连接于2根连杆两端之间的轴杆，轴杆与连杆为可旋转连接，一对基座分别设置在第一四边形和第二四边形的两端，基座至少在第一四边形和第二四边形之间延伸，每个基座与其所在端的第一四边形和第二四边形的轴杆固定连接，位于框架部分同一侧的第一四边形的连杆、第二四边形的连杆、以及一对基座构成一个平行四边形。The barrier-free mobile balance car includes a carrying platform, a frame part, and a wheel set part, the carrying platform is supported above the frame part, the wheel set part is connected with the frame part, and the frame part includes a first quadrilateral located above and a bottom The second quadrilateral, the first quadrilateral and the second quadrilateral are equal in size, the first quadrilateral and the second quadrilateral both include two connecting rods and are respectively connected between the two ends of the two connecting rods The shaft rod and the connecting rod are rotatably connected, a pair of bases are respectively arranged at both ends of the first quadrilateral and the second quadrilateral, and the bases are at least on the first quadrilateral and the second quadrilateral Extending between the shapes, each base is fixedly connected with the shafts of the first quadrilateral and the second quadrilateral at its end, and the connecting rods of the first quadrilateral and the second quadrilateral are located on the same side of the frame part. The connecting rod and a pair of bases form a parallelogram.

本发明还提出如下的技术方案：The present invention also proposes the following technical scheme:

无障碍移动平衡车，其包括：Accessible mobile balance car, which includes:

框架部分，框架部分包括一对上连杆、一对下连杆、一对基座，一对上连杆的两端之间以及一对下连杆的两端之间通过轴杆连接，且轴杆与上连杆、下连杆为可旋转连接，一对基座分别设置在上连杆和下连杆的两端，且与轴杆连接，上连杆、下连杆、以及一对基座共同构成平行四边形；The frame part includes a pair of upper links, a pair of lower links, and a pair of bases, and the two ends of the pair of upper links and the two ends of the pair of lower links are connected by shaft rods, and The shaft rod is rotatably connected with the upper connecting rod and the lower connecting rod. A pair of bases are respectively arranged on both ends of the upper connecting rod and the lower connecting rod, and are connected with the shaft rod. The upper connecting rod, the lower connecting rod, and a pair of The bases together form a parallelogram;

轮组部分，轮组部分包括4个独立的轮组，4个轮组两两一组，通过横轴连接；The wheel set part, the wheel set part includes 4 independent wheel sets, and the 4 wheel sets are connected in pairs by a horizontal axis;

悬挂机构，其连接在轮组部分和框架部分之间；a suspension mechanism connected between the wheel section and the frame section;

摆动控制机构，用于控制轮组的倾斜角度，摆动控制机构与轮组部分的横轴连接；The swing control mechanism is used to control the inclination angle of the wheel set, and the swing control mechanism is connected with the horizontal axis of the wheel set part;

平衡控制机构，其安装于框架部分上，且作用于平行四边形，通过感知承载平台或框架部分的倾斜调整平行四边形，以使得被框架部分支撑的承载平台始终处于水平位置。The balance control mechanism is mounted on the frame part and acts on the parallelogram, and adjusts the parallelogram by sensing the inclination of the bearing platform or the frame part, so that the bearing platform supported by the frame part is always in a horizontal position.

本发明具有如下有益效果：The present invention has the following beneficial effects:

(1)采用特殊的框架设计，使得框架部分具有左右两个可变形的平行四边形，这样，当平衡车遇到障碍物、框架部分的连杆发生倾斜时，框架部分的中心竖杆与连杆之间的夹角发生变化，从而保持中心竖杆始终处于竖直位置，承载平台始终处于水平位置；根据平行四边形的特性，基座始终保持与中心竖杆平行，竖直于地面，从而保证轮组与地面的夹角固定不变(在不启动摆动控制机构的前提下)，这样的设计使得平衡车无论是行走在坑洼路段还是上下楼梯，都能平稳行驶，承载平台始终水平，大大降低履带打滑的风险。(1) A special frame design is adopted, so that the frame part has two deformable parallelograms on the left and right, so that when the balance car encounters an obstacle and the connecting rod of the frame part is inclined, the central vertical rod of the frame part and the connecting rod The angle between them changes, so that the central vertical rod is always in a vertical position, and the bearing platform is always in a horizontal position; The angle between the group and the ground is fixed (on the premise that the swing control mechanism is not activated). This design enables the balance car to run smoothly no matter whether it is walking on potholes or going up and down stairs, and the bearing platform is always horizontal, which greatly reduces the Risk of track slippage.

(2)框架部分采用前后对称的设计方式，使得平衡车既可以前进上楼，也可以后退上楼，实现双向爬楼，这样设计的好处在于：在通过双跑楼梯或多跑楼梯时，在楼梯的中间平台上，可通过轮组的麦克纳姆轮着地直接横向移动平衡车，而无需在中间平台上掉头转向，大大提高了行走的效率。(2) The frame part adopts a front-to-back symmetrical design, so that the balance car can go upstairs or back upstairs to achieve two-way climbing. On the middle platform of the stairs, the balance car can be directly moved laterally through the Mecanum wheel of the wheel set, without turning around on the middle platform, which greatly improves the walking efficiency.

(3)4个独立的轮组通过悬挂机构连接至框架部分，该悬挂机构使得平衡车在遇到障碍物时，4个轮组都能接触地面，提升了平衡车行驶的抓地能力，并且，该悬挂机构具有减震的功能，进一步提升了行驶平稳性和舒适性。(3) The 4 independent wheel sets are connected to the frame part through the suspension mechanism. The suspension mechanism enables the 4 wheel sets to contact the ground when the balancing vehicle encounters obstacles, which improves the grip ability of the balancing vehicle. , The suspension mechanism has the function of shock absorption, which further improves the driving stability and comfort.

(4)4个独立的轮组为平衡车提供了分段式履带，在上下楼梯时，分段式履带的行走方式无需另外设置辅助支撑装置，在行走过程中，也省去了辅助支撑装置的切换步骤；另外，履带的改进设计使得平衡车在轮组倾斜一定角度行驶或爬楼时，履带以平面段与楼梯台阶或者楼梯的中间平台接触，一方面，在爬楼过程中，该平面段与台阶平面接触，有效避免了打滑问题，另一方面，该平面段外侧至少分布两个履带齿，这样，当轮组倾斜一定角度准备爬楼或者行走到楼梯的中间平台上时，至少两个履带齿与地面接触，保证了车体的平稳性，而在现有技术中，履带的圆弧段与地面接触，圆弧段外侧的齿形分布，会出现左右两个轮组中的一个轮组以履带相邻两个齿之间的凹处着地，而另一个轮组以齿着地，导致车体左右具有高度差，引起车体抖动，本发明的轮组设计有效地解决了现有技术中存在的该问题。(4) Four independent wheel sets provide segmented tracks for the balance car. When going up and down the stairs, the walking mode of segmented tracks does not require additional auxiliary support devices. During the walking process, auxiliary support devices are also omitted. In addition, the improved design of the crawler makes the crawler contact with the stair step or the middle platform of the stair in a flat section when the wheel group is inclined at a certain angle or climbs the stairs. On the one hand, during the stair climbing process, the plane On the other hand, at least two track teeth are distributed on the outside of the plane segment, so that when the wheel set is inclined at a certain angle to climb stairs or walk to the middle platform of the stairs, at least two Each track tooth is in contact with the ground to ensure the stability of the car body. However, in the prior art, the circular arc section of the crawler track is in contact with the ground, and the tooth profile distribution on the outside of the circular arc section will appear one of the left and right wheel sets. The wheel set touches the ground with the recess between two adjacent teeth of the track, while the other wheel set touches the ground with the teeth, resulting in a height difference between the left and right of the car body, causing the car body to shake. The wheel set design of the present invention effectively solves the problem of existing This problem exists in the technology.

(5)摆动控制机构与轮组的动力传输切换机构联动，操作者在调整轮组摆动角度的同时也实现了轮组行走工具的选择，操作方便，结构巧妙。(5) The swing control mechanism is linked with the power transmission switching mechanism of the wheel group. The operator can adjust the swing angle of the wheel group and also realize the selection of the wheel group walking tool. The operation is convenient and the structure is ingenious.

附图说明Description of drawings

下面结合附图对本发明作进一步描写和阐述。The present invention will be further described and explained below in conjunction with the accompanying drawings.

图1a是现有技术中平衡车在爬楼过程中的示意图。Fig. 1a is a schematic diagram of a balance vehicle in the process of climbing stairs in the prior art.

图1b是图1a中的平衡车在爬楼过程中的另一示意图。Fig. 1b is another schematic diagram of the self-balancing vehicle in Fig. 1a in the process of climbing stairs.

图2是本发明首选实施方式的无障碍移动平衡车的示意图。FIG. 2 is a schematic diagram of a barrier-free mobile balance car according to a preferred embodiment of the present invention.

图3是图2中无障碍移动平衡车的框架部分的示意图。FIG. 3 is a schematic diagram of the frame portion of the barrier-free mobile balance car in FIG. 2 .

图4a是图3中框架部分的另一示意图。FIG. 4a is another schematic view of the frame portion of FIG. 3 .

图4b是图4a中的框架部分在遇到障碍物时发生变形的示意图。Fig. 4b is a schematic diagram of the deformation of the frame part in Fig. 4a when it encounters an obstacle.

图5是图3中框架部分的基座的示意图。FIG. 5 is a schematic view of the base of the frame portion of FIG. 3 .

图6是图2中无障碍移动平衡车的平衡控制机构的示意图。FIG. 6 is a schematic diagram of the balance control mechanism of the barrier-free mobile balance car in FIG. 2 .

图7是图2中无障碍移动平衡车的悬挂机构的示意图，为清楚地显示构造，其中一个轮组被拆去。FIG. 7 is a schematic view of the suspension mechanism of the barrier-free mobile balance car in FIG. 2 , with one wheel set removed to clearly show the structure.

图8是图2中无障碍移动平衡车的摆动控制机构的示意图。FIG. 8 is a schematic diagram of the swing control mechanism of the barrier-free mobile balance car in FIG. 2 .

图9是图2中无障碍移动平衡车的轮组一侧的内部结构示意图。FIG. 9 is a schematic diagram of the internal structure of one side of the wheel set of the barrier-free mobile balance car in FIG. 2 .

图10是图2中无障碍移动平衡车的轮组另一侧的内部结构示意图。FIG. 10 is a schematic diagram of the internal structure of the other side of the wheel set of the barrier-free mobile balance car in FIG. 2 .

图11是图2中无障碍移动平衡车的轮组在爬楼梯时的示意图。FIG. 11 is a schematic diagram of the wheel set of the barrier-free mobile balance car in FIG. 2 when climbing stairs.

图12是无障碍移动平衡车轮组部分的动力传输切换机构的剖视图。Fig. 12 is a cross-sectional view of the power transmission switching mechanism of the unobstructed movement of the balance wheel set portion.

图13是无障碍移动平衡车在崎岖路面行走模式下的示意图。Fig. 13 is a schematic diagram of a barrier-free mobile balance vehicle in a walking mode on a rough road.

图14是无障碍移动平衡车在楼梯行走模式下的示意图。Fig. 14 is a schematic diagram of the barrier-free mobile balance car in the stair walking mode.

图15是无障碍移动平衡车在狭窄空间行走模式下的示意图。Fig. 15 is a schematic diagram of the barrier-free mobile balance vehicle in a narrow space walking mode.

具体实施方式detailed description

下面将结合附图、通过对本发明的优选实施方式的描述，更加清楚、完整地阐述本发明的技术方案。The technical solutions of the present invention will be more clearly and completely described below through the description of the preferred embodiments of the present invention with reference to the accompanying drawings.

如图2所示，本发明首选实施方式的无障碍移动平衡车包括承载平台1、框架部分2、平衡控制机构3、悬挂机构4、摆动控制机构5、轮组部分6。As shown in FIG. 2 , the barrier-free mobile balance vehicle of the preferred embodiment of the present invention includes a carrying platform 1 , a frame part 2 , a balance control mechanism 3 , a suspension mechanism 4 , a swing control mechanism 5 , and a wheel set part 6 .

以下对无障碍移动平衡车的各个部分的构造和工作原理进行详细描述。The structure and working principle of each part of the barrier-free mobile balance car are described in detail below.

承载平台Bearing platform

如图2所示，承载平台1被支撑于框架部分2的上方，其用于承载物体或者人体。当用于承载物体时，承载平台1可以是容纳物体的一个容器或装置；当用于承载人体时，承载平台1可以是一个轮椅。承载平台1的形状和构造可以根据实际需要进行设计。As shown in FIG. 2, the carrying platform 1 is supported above the frame part 2, which is used for carrying objects or human bodies. When used for carrying objects, the carrying platform 1 can be a container or device for holding objects; when used for carrying human bodies, the carrying platform 1 can be a wheelchair. The shape and structure of the carrying platform 1 can be designed according to actual needs.

框架部分frame part

如图3所示，框架部分2主要包括一对上连杆21、一对下连杆22、一对中心竖杆24、一对基座25，以及连接于一对上连杆21、一对下连杆22两端之间的轴杆23。As shown in FIG. 3 , the frame portion 2 mainly includes a pair of upper links 21 , a pair of lower links 22 , a pair of central vertical rods 24 , a pair of bases 25 , and a pair of upper links 21 , a pair of The shaft 23 between the two ends of the lower link 22 .

结合图3和图4a所示，上连杆21与下连杆22的长度相等、位置相对。两根轴杆23分别可旋转地连接在两个上连杆21的两端之间，构成第一四边形A1；另外两根轴杆23分别可旋转地连接在两个下连杆22的两端之间，构成第二四边形A2。第一四边形A1位于第二四边形A2的上方。As shown in FIG. 3 and FIG. 4 a , the upper link 21 and the lower link 22 have the same length and opposite positions. The two shaft rods 23 are respectively rotatably connected between the two ends of the two upper links 21 to form the first quadrilateral A1; the other two shaft rods 23 are respectively rotatably connected to the two lower links 22. Between the two ends, a second quadrilateral A2 is formed. The first quadrilateral A1 is located above the second quadrilateral A2.

一对中心竖杆24分别与位于同一侧的上连杆21和下连杆22可旋转地连接。进一步地，中心竖杆24与上连杆21的中点M和下连杆22的中点N可旋转地连接。更进一步地，中心竖杆24的下端与下连杆22的中点N可旋转连接。两个上连杆21的中点M之间连接第一中间连接杆210，两个下连杆22的中点N之间连接第二中间连接杆220，第一中间连接杆210位于第二中间连接杆220的上方。第一中间连接杆210的两端分别与上连杆21、中心竖杆24可旋转地连接，第二中间连接杆220的两端分别与下连杆22、中心竖杆24可旋转地连接。A pair of central vertical rods 24 are respectively rotatably connected with the upper link 21 and the lower link 22 located on the same side. Further, the central vertical rod 24 is rotatably connected with the midpoint M of the upper link 21 and the midpoint N of the lower link 22 . Furthermore, the lower end of the central vertical rod 24 is rotatably connected with the midpoint N of the lower link 22 . The first intermediate connecting rod 210 is connected between the midpoints M of the two upper links 21 , the second intermediate connecting rod 220 is connected between the midpoints N of the two lower links 22 , and the first intermediate connecting rod 210 is located in the second middle Above the connecting rod 220 . Both ends of the first intermediate connecting rod 210 are rotatably connected to the upper connecting rod 21 and the central vertical rod 24 respectively, and both ends of the second intermediate connecting rod 220 are rotatably connected to the lower connecting rod 22 and the central vertical rod 24 respectively.

如图3至图5所示，一对基座25分别设置在框架部分2的前后两端处。具体地，基座25包括上部251、下部252、中间部253。中间部253从第二四边形A2延伸至第一四边形A1。上部251和下部252分别连接于中间部253的上下两端，位于框架部分2前端的基座上部251和下部252向着车体的前方延伸，位于框架部分2后端的基座上部251和下部252向着车体的后方延伸，这样的结构设计使得基座25大致为C型形状。在本实施方式中，上部251为一块板，下部252为两根杆。在其他实施方式中，上部251和下部252也可以采用其他形状，并不限于本实施方式，基座的整体形状也不限于C型。As shown in FIGS. 3 to 5 , a pair of bases 25 are provided at the front and rear ends of the frame portion 2, respectively. Specifically, the base 25 includes an upper portion 251 , a lower portion 252 , and a middle portion 253 . The intermediate portion 253 extends from the second quadrilateral A2 to the first quadrilateral A1. The upper part 251 and the lower part 252 are respectively connected to the upper and lower ends of the middle part 253 , the upper part 251 and the lower part 252 of the base located at the front end of the frame part 2 extend toward the front of the vehicle body, and the upper part 251 and the lower part 252 of the base located at the rear end of the frame part 2 are toward the front of the vehicle body. The rear of the vehicle body extends, and such a structural design makes the base 25 approximately C-shaped. In this embodiment, the upper part 251 is a plate, and the lower part 252 is two rods. In other embodiments, the upper part 251 and the lower part 252 can also adopt other shapes, which are not limited to this embodiment, and the overall shape of the base is not limited to a C-shape.

在装配状态下，位于框架部分2前后两端处的基座25的开口分别朝向平衡车的前方和后方。基座25与轴杆23固定或旋转连接，具体地，基座上部251位于上连杆21的上面，其下表面与第一四边形A1的轴杆23固定或旋转连接；基座下部252的两根杆的自由端与第二四边形A2的轴杆23固定或旋转连接。In the assembled state, the openings of the base 25 at the front and rear ends of the frame portion 2 face the front and the rear of the balance car, respectively. The base 25 is fixedly or rotatably connected to the shaft 23, specifically, the upper part 251 of the base is located above the upper link 21, and its lower surface is fixedly or rotatably connected to the shaft 23 of the first quadrilateral A1; the lower part 252 of the base The free ends of the two rods are fixedly or rotatably connected with the shaft rod 23 of the second quadrilateral A2.

上述的结构设计使得位于框架部分同一侧的一个上连杆21、一个下连杆22和一对基座25构成一个平行四边形B1，整个框架部分2则具有左右两个平行四边形B1、B2，一对基座25充当平行四边形B1、B2的两个侧边。The above-mentioned structural design makes an upper link 21, a lower link 22 and a pair of bases 25 located on the same side of the frame portion to form a parallelogram B1, and the entire frame portion 2 has two left and right parallelograms B1, B2, one The base 25 serves as the two sides of the parallelogram B1, B2.

在上述首选实施方式中，轴杆23为4根独立的连接轴，分别可旋转地连接在一对上连杆21的两端和一对下连杆22的两端之间，同时还与基座25固定或旋转连接。在其他实施方式中，轴杆23也可以与基座25为一体构件，或者是基座25的一部分；另外，轴杆23可以是从框架部分一侧的上、下连杆21、22延伸至框架部分另一侧的上、下连杆21、22，也可以是连接于基座上部251、下部252两侧的较短轴杆，两侧较短轴杆分别与一对上连杆21、一对下连杆旋转连接，这样的结构设计仍然能构成上述的具有上下两个四边形A1、A2以及左右两个平行四边形B1、B2的框架部分。In the above preferred embodiment, the shaft rods 23 are four independent connecting shafts, which are respectively rotatably connected between the two ends of the pair of upper links 21 and the two ends of the pair of lower links 22, and are also connected to the base The seat 25 is fixed or rotationally connected. In other embodiments, the shaft 23 can also be an integral member with the base 25, or a part of the base 25; in addition, the shaft 23 can be extended from the upper and

lower links

21 and 22 on one side of the frame part to The upper and

lower links

21 and 22 on the other side of the frame part may also be shorter shafts connected to both sides of the upper part 251 and the lower part 252 of the base, and the shorter shafts on both sides are respectively connected with a pair of

upper links

21 and 22. A pair of lower connecting rods are rotatably connected, and such a structural design can still constitute the above-mentioned frame part with two upper and lower quadrilaterals A1 and A2 and two left and right parallelograms B1 and B2.

框架部分2的工作原理为： Framework Part 2 works as follows:

如图4b所示，当平衡车遇到障碍物时，下连杆22发生倾斜，此时，调整中心竖杆24与下连杆22之间的夹角，使得平行四边形B1、B2发生变形(这里的变形指内角发生变化)，从而保持中心竖杆24处于竖直位置。根据平行四边形的特性，基座25始终保持与中心竖杆24平行，因此，基座25也保持竖直。由于承载平台1连接于中心竖杆24的顶部，中心竖杆24保持竖直，那么承载平台1将保持在水平位置，从而保证了承载平台1上的物体或人体的平稳性，不会因为路面的崎岖、坑洼而发生倾斜。As shown in Figure 4b, when the balance car encounters an obstacle, the lower link 22 is inclined. At this time, the angle between the central vertical rod 24 and the lower link 22 is adjusted, so that the parallelograms B1 and B2 are deformed ( Deformation here refers to a change in the inner angle), thereby maintaining the central vertical rod 24 in a vertical position. According to the characteristic of a parallelogram, the base 25 is always kept parallel to the central vertical rod 24, and therefore, the base 25 is also kept vertical. Since the carrying platform 1 is connected to the top of the central vertical rod 24, and the central vertical rod 24 remains vertical, the carrying platform 1 will remain in a horizontal position, thereby ensuring the stability of the object or human body on the carrying platform 1, and will not be affected by the road surface. The roughness and potholes are tilted.

平衡控制机构balance control mechanism

如图6所示，平衡控制机构3安装在框架部分2上，用于感知承载平台1的倾斜，并调整中心竖杆24与下连杆22之间的夹角，使得中心竖杆24始终保持在竖直位置，整个平衡车保持在一个平衡的状态。As shown in FIG. 6 , the balance control mechanism 3 is installed on the frame part 2 to sense the inclination of the bearing platform 1 and adjust the angle between the central vertical rod 24 and the lower link 22 so that the central vertical rod 24 is always maintained In the vertical position, the entire balance car is kept in a balanced state.

平衡控制机构3包括平衡电机31、传动副32、平衡传动轴33、一对平衡齿轮34、一对弧形齿轮35和平衡模块(图未示)。平衡传动轴33可旋转地连接在两个中心竖杆24之间，且与第一中间连接杆210和第二中间连接杆220平行。平衡电机31和传动副32设置在框架部分2内，具体地，平衡电机31设置在一对中心竖杆24之间，并位于平衡传动轴33的下方。在本实施方案中，优选地，传动副32为第一蜗轮蜗杆传动副，蜗杆322与平衡电机31的输出轴固定连接，蜗轮321固定安装在平衡传动轴33上。一对平衡齿轮34分别安装在平衡传动轴33的两端，且分别位于两个中心竖杆24的外侧。一对弧形齿轮35分别与两个下连杆22固定连接，或者与下连杆22为一体构件。弧形齿轮35与下连杆22的中间部位连接，并以下连杆22的中心N为圆心，其齿面位于下连杆22的上方，与平衡齿轮34啮合。The balance control mechanism 3 includes a balance motor 31 , a transmission pair 32 , a balance transmission shaft 33 , a pair of balance gears 34 , a pair of arc gears 35 and a balance module (not shown). The balance transmission shaft 33 is rotatably connected between the two central vertical rods 24 and is parallel to the first intermediate connecting rod 210 and the second intermediate connecting rod 220 . The balance motor 31 and the transmission pair 32 are arranged in the frame portion 2 , and specifically, the balance motor 31 is arranged between a pair of central vertical rods 24 and is located below the balance transmission shaft 33 . In this embodiment, preferably, the transmission pair 32 is a first worm gear transmission pair, the worm 322 is fixedly connected with the output shaft of the balance motor 31 , and the worm gear 321 is fixedly installed on the balance transmission shaft 33 . A pair of balance gears 34 are respectively installed on both ends of the balance transmission shaft 33 and are respectively located on the outer sides of the two central vertical rods 24 . A pair of arc gears 35 are fixedly connected to the two lower links 22 respectively, or are integral components with the lower links 22 . The arc gear 35 is connected with the middle part of the lower link 22 , and the center N of the lower link 22 is the center of the circle.

平衡模块用于感应承载平台的倾斜，其可以采用现有技术中常用的倾斜传感器，例如陀螺仪传感器。平衡模块可以设置在承载平台1或者中心竖杆24上。The balance module is used to sense the inclination of the carrying platform, and it can use a common inclination sensor in the prior art, such as a gyro sensor. The balance module can be arranged on the carrying platform 1 or the central vertical rod 24 .

平衡控制机构3的工作原理为：The working principle of the balance control mechanism 3 is:

当平衡车在前进过程中遇到障碍物时，框架部分2的前端抬高，框架部分的下连杆22向后倾斜，中心竖杆24以及承载平台1向后略微倾斜，此倾斜角度非常小，约为1°～2°，并不会引起承载平台上的物体或人体的较大倾斜和不适感。此时，平衡模块感应到倾斜，并对感应到的倾斜数据进行处理，然后反馈给平衡电机31，平衡电机31接收到信号并开始工作，带动蜗杆322转动，通过第一蜗轮蜗杆传动副带动平衡传动轴33转动，继而带动安装在平衡传动轴33上的平衡齿轮34转动，平衡齿轮34与弧形齿轮35啮合，带动中心竖杆24绕下连杆22的中心N转动，从而改变中心竖杆24与下连杆22之间的夹角，使得中心竖杆24保持在竖直位置，承载平台1保持在水平位置，整个平衡车处于平衡状态。反之，当框架部分2的后端抬高时，平衡控制机构3同样也能保持整个平衡车处于平衡状态。When the balance car encounters an obstacle in the process of moving forward, the front end of the frame part 2 is raised, the lower link 22 of the frame part is inclined backward, the central vertical rod 24 and the carrying platform 1 are slightly inclined backward, and the inclination angle is very small. , about 1° to 2°, and will not cause greater inclination and discomfort of the object or human body on the bearing platform. At this time, the balance module senses the tilt, processes the sensed tilt data, and then feeds it back to the balance motor 31. The balance motor 31 receives the signal and starts to work, which drives the worm 322 to rotate, and drives the balance through the first worm gear and worm drive pair. The drive shaft 33 rotates, and then drives the balance gear 34 installed on the balance drive shaft 33 to rotate, the balance gear 34 meshes with the arc gear 35, and drives the central vertical rod 24 to rotate around the center N of the lower connecting rod 22, thereby changing the central vertical rod The included angle between 24 and the lower link 22 keeps the central vertical rod 24 in a vertical position, the carrying platform 1 remains in a horizontal position, and the entire balance car is in a balanced state. On the contrary, when the rear end of the frame part 2 is raised, the balance control mechanism 3 can also keep the whole balance vehicle in a balanced state.

在其他实施方式中，第一蜗轮蜗杆传动副也可以采用其他动力传动机构替代，例如齿轮传动机构，但是蜗轮蜗杆传动副具有自锁功能，当平衡电机停止工作时，平行四边形B1、B2将保持在所调整的状态，不会发生变化。In other embodiments, the first worm gear transmission pair can also be replaced by other power transmission mechanisms, such as a gear transmission mechanism, but the worm gear transmission pair has a self-locking function. When the balance motor stops working, the parallelograms B1 and B2 will remain In the adjusted state, no change will occur.

悬挂机构suspension mechanism

结合图2、图7、图8所示，悬挂机构4连接于框架部分2和轮组部分6之间，用于将轮组部分6连接至框架部分2上。As shown in FIG. 2 , FIG. 7 , and FIG. 8 , the suspension mechanism 4 is connected between the frame part 2 and the wheel set part 6 for connecting the wheel set part 6 to the frame part 2 .

轮组部分6包括4个独立的轮组，位于平衡车前端的两个前轮组和位于平衡车后端的两个后轮组之间分别通过横轴7连接，横轴7的外部设置横轴壳70，横轴7能相对于横轴壳70旋转。前后轮组分别通过悬挂机构4连接于框架部分2上。每个悬挂机构4包括一对减震器41、4个悬挂连杆42。减震器41和悬挂连杆42分别设置在轮组处，且位于轮组的内侧。减震器41和悬挂连杆42的一端与横轴壳70连接，另一端与基座25连接。具体地，减震器41的一端与基座上部251固定连接，减震器41的另一端与横轴壳70固定连接；每个悬挂连杆42的两端均安装球头420，4个悬挂连杆42中的2个其一端通过球头420与基座的中间部253连接，另一端通过球头420与横轴壳70连接，构成一对上悬挂连杆，另外2个悬挂连杆42位于上悬挂连杆的下方，为下悬挂连杆，其一端通过球头420与基座的下部252连接，另一端通过球头420与横轴壳70连接。球头420的设置使得悬挂连杆42既能多角度的旋转，又能绕自身轴线旋转。The wheel set part 6 includes 4 independent wheel sets, the two front wheel sets at the front end of the balance car and the two rear wheel sets at the rear end of the balance car are respectively connected by a horizontal shaft 7, and a horizontal shaft is arranged outside the horizontal shaft 7. The housing 70 and the horizontal shaft 7 are rotatable relative to the horizontal shaft housing 70 . The front and rear wheel sets are respectively connected to the frame part 2 through the suspension mechanism 4 . Each suspension mechanism 4 includes a pair of shock absorbers 41 and four suspension links 42 . The shock absorber 41 and the suspension link 42 are respectively provided at the wheel set, and are located on the inner side of the wheel set. One end of the shock absorber 41 and the suspension link 42 is connected to the horizontal axle housing 70 , and the other end is connected to the base 25 . Specifically, one end of the shock absorber 41 is fixedly connected to the upper part 251 of the base, and the other end of the shock absorber 41 is fixedly connected to the horizontal axle housing 70 ; One end of two of the connecting rods 42 is connected with the middle part 253 of the base through the ball head 420, and the other end is connected with the horizontal shaft shell 70 through the ball head 420 to form a pair of upper suspension connecting rods, and the other two suspension connecting rods 42 Below the upper suspension link is the lower suspension link, one end of which is connected to the lower part 252 of the base through the ball head 420 , and the other end is connected to the horizontal axle housing 70 through the ball head 420 . The arrangement of the ball head 420 enables the suspension link 42 to rotate at multiple angles and rotate around its own axis.

悬挂机构4的工作原理为：The working principle of the suspension mechanism 4 is:

当车体左侧遇到障碍物而抬高时，与横轴7左侧连接的轮组被抬高，横轴壳70的左侧抬高，左侧的减震器41被压缩，4个悬挂连杆42绕球头420旋转，从而保证了4个轮组都接触地面。反之，当车体右侧遇到障碍物而抬高时，悬挂机构4同样能保证4个轮组都接触地面。When the left side of the vehicle body encounters an obstacle and is raised, the wheel set connected to the left side of the horizontal shaft 7 is raised, the left side of the horizontal shaft shell 70 is raised, the shock absorber 41 on the left side is compressed, and the four The suspension link 42 rotates around the ball head 420, thereby ensuring that all four wheel sets are in contact with the ground. Conversely, when the right side of the vehicle body encounters an obstacle and is raised, the suspension mechanism 4 can also ensure that all four wheel sets are in contact with the ground.

当车体前后两端同时遇到障碍物时，与横轴7连接的前后轮组同时抬高，横轴壳70抬高，前后两端的减震器41同时被压缩，悬挂连杆42绕球头420转动，从而保证了4个轮组都接触地面。When the front and rear ends of the vehicle body encounter obstacles at the same time, the front and rear wheel sets connected to the horizontal axle 7 are raised at the same time, the horizontal axle housing 70 is raised, the shock absorbers 41 at the front and rear ends are compressed at the same time, and the suspension link 42 wraps around the ball The head 420 is rotated, thereby ensuring that all four wheel sets are in contact with the ground.

本发明的悬挂机构使得前面两个轮组、后面两个轮组与框架部分之间的相对位置可以独立调整，从而保证了4个轮组同时接触地面，而不会发生其中一个或多个轮组悬空的问题，并且，该悬挂机构的减震器能有效减小各个轮组的震动，提高了平衡车的行驶平稳性。The suspension mechanism of the present invention enables the relative positions between the front two wheel sets, the rear two wheel sets and the frame part to be independently adjusted, thereby ensuring that the four wheel sets contact the ground at the same time, and one or more of them will not occur. In addition, the shock absorber of the suspension mechanism can effectively reduce the vibration of each wheel group and improve the running stability of the balance car.

摆动控制机构Swing control mechanism

结合图2和图8所示，摆动控制机构5与轮组部分6连接，用于控制轮组的摆动角度。As shown in FIG. 2 and FIG. 8 , the swing control mechanism 5 is connected with the wheel set part 6 for controlling the swing angle of the wheel set.

摆动控制机构5包括一对摆动电机51、一对第二蜗轮蜗杆传动副。一个摆动电机51和一个第二蜗轮蜗杆传动副构成一个摆动控制子机构。摆动控制机构5的两个摆动控制子机构分别设置在前轮组和后轮组处，分别控制前轮组和后轮组的摆动角度。The swing control mechanism 5 includes a pair of swing motors 51 and a pair of second worm gear transmission pairs. A swing motor 51 and a second worm gear drive pair constitute a swing control sub-mechanism. The two swing control sub-mechanisms of the swing control mechanism 5 are respectively arranged at the front wheel group and the rear wheel group, and respectively control the swing angles of the front wheel group and the rear wheel group.

两个摆动控制子机构的结构和工作原理相同，现以其中一个摆动控制子机构为例介绍其构造。第二蜗轮蜗杆传动副设置在横轴壳70内，其中，蜗轮521固定安装在横轴7上，与蜗轮521啮合的蜗杆522与摆动电机51的输出轴固定连接。优选地，摆动电机51设置在横轴壳70的上方，第二蜗轮蜗杆传动副52的蜗轮蜗杆箱与横轴壳70为一体结构。The structure and working principle of the two swing control sub-mechanisms are the same. Now, one of the swing control sub-mechanisms is taken as an example to introduce its structure. The second worm gear and worm drive pair is arranged in the horizontal shaft housing 70 , wherein the worm gear 521 is fixedly installed on the horizontal shaft 7 , and the worm 522 meshing with the worm gear 521 is fixedly connected to the output shaft of the swing motor 51 . Preferably, the swing motor 51 is arranged above the horizontal shaft housing 70 , and the worm gear box of the second worm gear transmission pair 52 and the horizontal shaft housing 70 are integrally structured.

摆动控制机构5的工作原理为：The working principle of the swing control mechanism 5 is:

当摆动电机51接收到开始工作的信号后执行转动，带动蜗杆522旋转，继而通过第二蜗轮蜗杆传动副带动蜗轮521以及横轴7一起旋转，由于横轴7与两侧的轮组固定连接，因而两侧的轮组随着横轴7一起转动，即实现了摆动。When the swing motor 51 rotates after receiving the signal to start working, it drives the worm 522 to rotate, and then drives the worm wheel 521 and the horizontal shaft 7 to rotate together through the second worm gear and worm drive pair. Therefore, the wheel sets on both sides rotate together with the horizontal shaft 7, that is, the swing is realized.

这里的信号可以是操作者或乘坐者通过车体上的按钮、遥控器、手机APP、获知自动驾驶控件等方式向摆动电机51发出的控制信号。The signal here may be a control signal sent by the operator or occupant to the swing motor 51 through a button on the vehicle body, a remote control, a mobile phone APP, and an automatic driving control.

摆动电机51能正反向旋转，其旋转方向不同，轮组摆动的方向也不同，即轮组既可以向前摆动也可以向后摆动，以适应不同的楼梯倾斜方向。The swing motor 51 can rotate in forward and reverse directions, and the rotation direction of the wheel group is different, that is, the wheel group can swing forward or backward to adapt to different stair inclination directions.

摆动控制机构的第二蜗轮蜗杆传动副具有自锁功能，当轮组被转动到某个角度时，即被锁定在该角度位置。此时，轮组与横轴壳70之间的角度固定，由于横轴壳70与基座25之间为悬挂连接，两者之间不能相对转动，因此，轮组与基座25之间的角度保持不变，无论上、下连杆21、22前后倾斜角度如何变化，只要中心竖杆保持竖直，根据平行四边形的特性，基座与中心竖杆始终平行，所以轮组与地面之间的角度也保持不变，这样使得平衡车上下楼梯时轮组与楼梯台阶之间的夹角保持不变，不会出现轮组上下摆动的现象，上下楼梯更加稳定。The second worm gear transmission pair of the swing control mechanism has a self-locking function, and when the wheel set is rotated to a certain angle, it is locked at the angular position. At this time, the angle between the wheel set and the horizontal axle housing 70 is fixed. Since the horizontal axle housing 70 and the base 25 are connected by suspension, they cannot rotate relative to each other. Therefore, the angle between the wheel set and the base 25 The angle remains the same, no matter how the front and rear inclination angles of the upper and

lower links

21 and 22 change, as long as the central vertical rod remains vertical, according to the characteristics of the parallelogram, the base and the central vertical rod are always parallel, so there is no difference between the wheel set and the ground. The angle of the wheel set also remains unchanged, so that the angle between the wheel set and the stair steps remains unchanged when the balance car goes up and down the stairs, and the phenomenon of the wheel set swinging up and down will not occur, and the stairs will be more stable.

轮组的不同摆动角度适用于不同的行走模式，行走模式将在下文介绍。Different swing angles of the wheel set are suitable for different walking modes, which will be described below.

轮组部分wheel part

如图9和图10所示，轮组部分6的4个独立轮组采用独立驱动的方式，每个轮组均包括内置的行走电机60。As shown in FIG. 9 and FIG. 10 , the four independent wheel sets of the wheel set part 6 are independently driven, and each wheel set includes a built-in travel motor 60 .

4个轮组的构造相同，此处以其中一个轮组为例介绍其内部结构。The four wheel sets have the same structure, and here we take one of the wheel sets as an example to introduce its internal structure.

轮组为两层结构，分别为履带层和轮子层，两层并排布置。在装配状态下，履带层处于轮组的内侧，靠近框架部分2，轮子层处于轮组的外侧。The wheel set is a two-layer structure, which are respectively the track layer and the wheel layer, and the two layers are arranged side by side. In the assembled state, the track layer is on the inside of the wheel set, close to the frame part 2, and the wheel layer is on the outside of the wheel set.

履带层具有履带61，履带61内设置履带主动轮611和若干个履带辊612，履带主动轮611位于履带61内的一端，若干个履带辊612沿着履带61内的两侧排布，具体地，履带辊612从靠近履带主动轮611处向着远离履带主动轮611的一端依次排布，位于两侧的履带辊612一一对应。在该排布方向上，两侧的履带辊612之间的距离逐渐增大，这样的设计使得履带61一头窄一头宽，由履带主动轮611支撑的一端为窄端，与窄端相对的另一端为宽端，宽端具有平面段613。而处于最末的两个履带辊612之间的距离相比于与其相邻的两个履带辊之间的距离缩小，因此在平面段613两端形成倾斜平面段614。该倾斜平面段614一端与平面段613连接，另一端与履带61的侧边615连接。由于一般家用楼梯的倾斜角度约为30°，优选地，倾斜平面段614与轮组中心平面的夹角α为25°～40°。The crawler layer has a crawler belt 61 , a crawler belt driving wheel 611 and a number of crawler belt rollers 612 are arranged in the crawler belt 61 , the crawler belt driving wheel 611 is located at one end of the crawler belt 61 , and several crawler belt rollers 612 are arranged along both sides of the crawler belt 61 , specifically , the crawler rollers 612 are arranged in sequence from the position close to the crawler driving wheel 611 to the end away from the crawler driving wheel 611 , and the crawler rollers 612 located on both sides correspond one-to-one. In this arrangement direction, the distance between the track rollers 612 on both sides gradually increases. This design makes the track 61 narrow at one end and wide at the other, and the end supported by the track driving wheel 611 is the narrow end, and the other end opposite the narrow end is One end is the wide end, which has a flat segment 613 . The distance between the last two crawler rollers 612 is smaller than the distance between the two adjacent crawler rollers, so inclined plane sections 614 are formed at both ends of the plane section 613 . One end of the inclined plane section 614 is connected with the plane section 613 , and the other end is connected with the side edge 615 of the crawler belt 61 . Since the inclination angle of a general domestic staircase is about 30°, preferably, the included angle α between the inclined plane section 614 and the center plane of the wheel set is 25°˜40°.

倾斜平面段614的外表面至少具有两个履带齿616。这样，当轮组倾斜一定角度准备爬楼或者行走到楼梯的中间平台上时，倾斜平面段614的至少两个履带齿616与地面接触，保证了车体的平稳性，而在现有技术中，履带的圆弧段与地面接触，圆弧段外侧的齿形分布，会出现左右两个轮组中的一个轮组以履带相邻两个齿之间的凹处着地，而另一个轮组以齿着地，导致车体左右具有高度差，引起车体抖动，本发明的轮组设计有效地解决了现有技术中存在的该问题。The outer surface of the inclined plane segment 614 has at least two track teeth 616 . In this way, when the wheel set is inclined at a certain angle to climb stairs or walk on the middle platform of the stairs, at least two track teeth 616 of the inclined plane section 614 are in contact with the ground, ensuring the stability of the vehicle body, while in the prior art , the circular arc segment of the track is in contact with the ground, and the tooth profile distribution on the outside of the circular segment will appear that one of the left and right wheel sets will land in the recess between the two adjacent teeth of the track, while the other wheel set will land on the ground. Touching the ground with teeth results in a height difference between the left and right of the vehicle body, causing the vehicle body to shake. The wheel set design of the present invention effectively solves the problem existing in the prior art.

如图11所示，基于上述的履带层结构设计，平衡车在爬楼梯时，台阶的楼梯角81与履带的侧边615接触，爬坡能力强，台阶的平面82与倾斜平面段614接触，爬坡稳定、安全。相比于现有技术中两端为圆弧面的履带而言，倾斜平面段614大大提升了平衡车在上下楼梯时的稳定性。As shown in FIG. 11, based on the above-mentioned crawler layer structure design, when the balance car climbs the stairs, the stair corner 81 of the step is in contact with the side edge 615 of the crawler, and the climbing ability is strong, and the plane 82 of the step is in contact with the inclined plane section 614, Stable and safe climbing. Compared with the prior art crawler with arc surfaces at both ends, the inclined plane section 614 greatly improves the stability of the balance vehicle when going up and down stairs.

轮子层包括行走轮62和麦克娜姆轮63，它们分别设置在轮子层的两端。进一步地，行走轮62靠近履带61的窄端，麦克娜姆轮63靠近履带61的宽端。这样设计的好处在于：当平衡车在爬楼时，由于麦克纳姆轮的直径较小，其不会接触地面而影响履带的爬行。行走轮62和麦克娜姆轮63的外径分别超出履带61的两端。优选地，车体前面两个轮组行走轮62采用万向轮，后面两个轮组的行走轮62采用普通行走轮，以便于车体转弯。The wheel layer includes traveling wheels 62 and Mecanum wheels 63, which are respectively arranged at both ends of the wheel layer. Further, the traveling wheel 62 is close to the narrow end of the crawler 61 , and the Mecanum wheel 63 is close to the wide end of the crawler 61 . The advantage of this design is that when the balance car is climbing stairs, due to the small diameter of the Mecanum wheel, it will not touch the ground and affect the crawling of the crawler. The outer diameters of the traveling wheel 62 and the Mecanum wheel 63 respectively extend beyond both ends of the crawler belt 61 . Preferably, the running wheels 62 of the front two wheel sets of the vehicle body are universal wheels, and the running wheels 62 of the two rear wheel sets are ordinary running wheels, so as to facilitate the turning of the vehicle body.

行走电机60通过动力传动装置驱动履带61、麦克娜姆轮63、或者行走轮62转动。The traveling motor 60 drives the crawler belt 61 , the Mecanum wheel 63 , or the traveling wheel 62 to rotate through the power transmission device.

动力传动装置包括斜齿轮传动副680、第三蜗轮蜗杆传动副660、链轮传动机构600。其中，链轮传动机构600包括第一链轮601、第二链轮602、第三链轮603、第四链轮604、第五链轮605、第一链条606、第二链条607。The power transmission device includes a helical gear transmission pair 680 , a third worm gear transmission pair 660 , and a sprocket transmission mechanism 600 . The sprocket transmission mechanism 600 includes a first sprocket 601 , a second sprocket 602 , a third sprocket 603 , a fourth sprocket 604 , a fifth sprocket 605 , a first chain 606 , and a second chain 607 .

第一链轮601、第二链轮602、第三链轮603和第一链条606构成第一链轮传动机构。第一链轮601、第二链轮602、第三链轮603沿着履带层的纵向依次排布，且靠近履带61的一侧边缘。第一链轮601套设在履带主动轮611上，两者固定连接，位于履带61的窄端，第二链轮602和第三链轮603位于两排履带辊612之间，第三链轮603位于履带61的宽端。The first sprocket 601 , the second sprocket 602 , the third sprocket 603 and the first chain 606 constitute a first sprocket transmission mechanism. The first sprocket 601 , the second sprocket 602 , and the third sprocket 603 are sequentially arranged along the longitudinal direction of the track layer, and are close to one side edge of the track 61 . The first sprocket 601 is sleeved on the crawler driving wheel 611, and the two are fixedly connected and located at the narrow end of the crawler 61. The second sprocket 602 and the third sprocket 603 are located between the two rows of crawler rollers 612. The third sprocket 603 is located at the wide end of the track 61 .

第一链条606围绕在第一链轮601和第三链轮603的***，第一链条606一侧的中间段绕至第二链轮602的另一侧，因而实现第一链条606同时与第一链轮601、第二链轮602、第三链轮603啮合。The first chain 606 is wrapped around the periphery of the first sprocket 601 and the third sprocket 603, and the middle section of one side of the first chain 606 is wound to the other side of the second sprocket 602, so that the first chain 606 can be simultaneously connected with the second sprocket 602. A sprocket 601, a second sprocket 602, and a third sprocket 603 mesh.

第四链轮604、第五链轮605和第二链条607构成第二链轮传动机构，该第二链轮传动机构靠近履带61另一侧的边缘，与第一链轮传动机构相对。The fourth sprocket 604 , the fifth sprocket 605 and the second chain 607 constitute a second sprocket transmission mechanism, which is close to the edge of the other side of the crawler belt 61 and is opposite to the first sprocket transmission mechanism.

行走轮62、麦克娜姆轮63、行走电机60以及第二链轮传动机构位于履带61的同一侧，优选地，行走轮62、麦克娜姆轮63和行走电机60位于轮组的外侧。The traveling wheel 62 , the Mecanum wheel 63 , the traveling motor 60 and the second sprocket transmission mechanism are located on the same side of the crawler belt 61 . Preferably, the traveling wheel 62 , the Mecanum wheel 63 and the traveling motor 60 are located outside the wheel set.

行走轮62安装在行走轮轴620上。第四链轮604与第二链轮602同轴，两者通过驱动轴608连接。麦克纳姆轮63与第三链轮603同轴，两者通过麦克纳姆轮轴630连接。第五链轮605与行走轮轴620之间设置齿轮传动副690，使得第五链轮605能通过该齿轮传动副690带动行走轮62转动。The traveling wheel 62 is mounted on the traveling wheel shaft 620 . The fourth sprocket 604 is coaxial with the second sprocket 602 , and the two are connected by a drive shaft 608 . The Mecanum wheel 63 is coaxial with the third sprocket 603 , and the two are connected by a Mecanum wheel shaft 630 . A gear transmission pair 690 is arranged between the fifth sprocket 605 and the traveling wheel shaft 620 , so that the fifth sprocket 605 can drive the traveling wheel 62 to rotate through the gear transmission pair 690 .

如图12所示，轮组部分6设置动力传输切换机构64，用于切换动力传输路径，从而切换平衡车的行走工具为履带61、行走轮62或麦克娜姆轮63。As shown in FIG. 12 , the wheel set part 6 is provided with a power transmission switching mechanism 64 for switching the power transmission path, so that the traveling tool of the balance car is switched to the crawler 61 , the traveling wheel 62 or the Mecanum wheel 63 .

动力传输切换机构64包括推杆641、顶针642、第一滑块643、第二滑块644、第一弹簧645、第二弹簧646、切换辅助件647。推杆641、顶针642、第一滑块643、第二滑块644、第一弹簧645、第二弹簧646设置在驱动轴608上，构成切换机构主体。The power transmission switching mechanism 64 includes a push rod 641 , an ejector pin 642 , a first sliding block 643 , a second sliding block 644 , a first spring 645 , a second spring 646 , and a switching auxiliary member 647 . The push rod 641 , the ejector pin 642 , the first slider 643 , the second slider 644 , the first spring 645 , and the second spring 646 are provided on the drive shaft 608 and constitute the main body of the switching mechanism.

推杆641安装在驱动轴608内，并且可相对于驱动轴608滑动。推杆641的一端伸出驱动轴608,该伸出端安装在轮组外壳65的孔内。第一滑块643和第二滑块644安装在驱动轴608的两端，它们能在驱动轴608上滑动，但不能相对于驱动轴608转动。在本实施方式中，第一滑块643和第二滑块644通过花键与驱动轴608连接，从而实现可以滑动但不能转动的效果，在其他实施方式中，也可以采用滑键或者其他合适的连接结构。同时，第一滑块643和第二滑块644与推杆641固定连接具体地，第一滑块643的一端与驱动轴608的一端连接，第一滑块643的另一端与推杆641伸出部分固定连接。第一弹簧645设置在轮组外壳65与第一滑块643之间。第二滑块644与推杆641固定连接。顶针642可滑动地套设在第二滑块644上，第二弹簧646设置在顶针642和第二滑块644之间。第二弹簧642的弹力大于第一弹簧645。顶针642的自由端伸出轮组壳65，与切换辅助件647相接触。Push rod 641 is mounted within drive shaft 608 and is slidable relative to drive shaft 608 . One end of the push rod 641 protrudes from the drive shaft 608 , and the protruding end is installed in the hole of the wheel housing 65 . The first sliding block 643 and the second sliding block 644 are installed on both ends of the driving shaft 608 , and they can slide on the driving shaft 608 but cannot rotate relative to the driving shaft 608 . In this embodiment, the first sliding block 643 and the second sliding block 644 are connected to the drive shaft 608 through splines, so as to achieve the effect of being slidable but not rotating. In other embodiments, sliding keys or other suitable connection structure. Meanwhile, the first sliding block 643 and the second sliding block 644 are fixedly connected with the push rod 641. Specifically, one end of the first sliding block 643 is connected with one end of the drive shaft 608, and the other end of the first sliding block 643 is extended with the push rod 641. Partially fixed connection. The first spring 645 is provided between the wheel housing 65 and the first slider 643 . The second sliding block 644 is fixedly connected with the push rod 641 . The ejector pin 642 is slidably sleeved on the second slider 644 , and the second spring 646 is arranged between the ejector pin 642 and the second slider 644 . The elastic force of the second spring 642 is greater than that of the first spring 645 . The free end of the ejector pin 642 protrudes out of the wheel housing 65 and is in contact with the switching auxiliary member 647 .

第二链轮602和第四链轮604通过轴承安装在驱动轴608上，蜗轮蜗杆传动副的蜗轮661固定安装在驱动轴608上，且位于第二链轮602和第四链轮604之间。第二链轮602、蜗轮661、第四链轮604位于第一滑块643和第二滑块644之间，进一步地，第四链轮604靠近第一滑块643，第二链轮602靠近第二滑块644。第四链轮604和第一滑块643相对的面上分别设置可以相互啮合的端面齿，第二链轮602和第二滑块644相对的面上分别设置可以相互啮合的端面齿。The second sprocket 602 and the fourth sprocket 604 are mounted on the drive shaft 608 through bearings, and the worm gear 661 of the worm gear pair is fixedly mounted on the drive shaft 608 and is located between the second sprocket 602 and the fourth sprocket 604 . The second sprocket 602 , the worm gear 661 , and the fourth sprocket 604 are located between the first sliding block 643 and the second sliding block 644 , further, the fourth sprocket 604 is close to the first sliding block 643 , and the second sprocket 602 is close to The second slider 644 . The opposite surfaces of the fourth sprocket 604 and the first sliding block 643 are respectively provided with mutually meshing end teeth, and the opposite surfaces of the second sprocket 602 and the second sliding block 644 are respectively provided with mutually meshing end teeth.

切换辅助件647与横轴壳70固定连接，切换辅助件647在朝向顶针642的一侧包括端面648和凹槽649。当摆动控制机构5工作时，顶针642随着轮组一起转动，与切换辅助件的端面648接触或者落入凹槽649内。The switching auxiliary member 647 is fixedly connected with the transverse shaft housing 70 , and the switching auxiliary member 647 includes an end surface 648 and a groove 649 on the side facing the ejector pin 642 . When the swing control mechanism 5 works, the ejector pin 642 rotates together with the wheel set, and contacts with the end surface 648 of the switching assistant or falls into the groove 649 .

当顶针642转动至与切换辅助件的端面648接触时，其受到端面648对其的压力，顶针642压缩第二弹簧646，第二弹簧646推动第二滑块644向着第二链轮602运动，第二滑块644的端面齿与第二链轮602的端面齿啮合，第二滑块644移动的同时带动推杆641向外侧移动，推杆641带动第一滑块643一起向外侧滑动并压缩第一弹簧645，第一滑块643的端面齿脱离与第四链轮604端面齿的啮合。此时，当行走电机60旋转时，其通过斜齿轮传动副680带动第三蜗轮蜗杆传动副660，第三蜗轮蜗杆传动副的蜗轮661带动驱动轴608旋转，驱动轴608带动第二滑块644以及与其啮合的第二链轮602一起旋转，第二链轮602与第一链条606啮合，第一链条606同时与第一链轮601和第三链轮603啮合，并带动第一链轮601和第三链轮603一起旋转，由于第一链轮601与履带主动轮611固定连接，第三链轮603与麦克纳姆轮630固定连接，因此第一链轮601和第三链轮603分别带动履带61和麦克娜姆轮63旋转，此为动力传输切换机构64的第一状态，在该第一状态下，履带61和麦克娜姆轮63为行走工具。When the ejector pin 642 is rotated to contact with the end surface 648 of the switching assistant, it is pressed against it by the end surface 648, the ejector pin 642 compresses the second spring 646, and the second spring 646 pushes the second slider 644 to move toward the second sprocket 602, The end surface teeth of the second slider 644 mesh with the end surface teeth of the second sprocket 602 . When the second slider 644 moves, it drives the push rod 641 to move to the outside, and the push rod 641 drives the first slider 643 to slide and compress the outside together. With the first spring 645 , the end surface teeth of the first slider 643 are disengaged from the end surface teeth of the fourth sprocket 604 . At this time, when the traveling motor 60 rotates, it drives the third worm gear drive pair 660 through the helical gear drive pair 680 , the worm gear 661 of the third worm gear drive pair drives the drive shaft 608 to rotate, and the drive shaft 608 drives the second slider 644 And the second sprocket 602 meshed with it rotates together, the second sprocket 602 meshes with the first chain 606, the first chain 606 meshes with the first sprocket 601 and the third sprocket 603 at the same time, and drives the first sprocket 601 It rotates together with the third sprocket 603. Since the first sprocket 601 is fixedly connected with the crawler driving wheel 611, and the third sprocket 603 is fixedly connected with the Mecanum wheel 630, the first sprocket 601 and the third sprocket 603 are respectively The crawler belt 61 and the Mecanum wheel 63 are driven to rotate, which is the first state of the power transmission switching mechanism 64. In this first state, the crawler belt 61 and the Mecanum wheel 63 are traveling tools.

当顶针642转动至落入凹槽649时，端面648的压力消失，顶针642被释放，第二弹簧646得到释放，第二滑块644向着顶针642的方向移动，从而脱离与第二链轮602的啮合，同时，第二滑块644带动推杆641一起向着轮组的内侧滑动，推杆641 带动第一滑块643滑动，使得第一滑块643的端面齿与第四链轮604的端面齿啮合，此时，当行走电机60旋转时，第四链轮604旋转，第四链轮604与第二链条607啮合，第二链条607带动第五链轮605转动，第五链轮605通过齿轮传动副690与行走轮轴620连接，最终带动行走轮62旋转，此为动力传输切换机构64的第二状态，在该第二状态下，行走轮62为行走工具。When the ejector pin 642 rotates to fall into the groove 649, the pressure on the end face 648 disappears, the ejector pin 642 is released, the second spring 646 is released, and the second slider 644 moves toward the direction of the ejector pin 642, thereby disengaging from the second sprocket 602 At the same time, the second slider 644 drives the push rod 641 to slide toward the inner side of the wheel set, and the push rod 641 drives the first slider 643 to slide, so that the end face teeth of the first slider 643 and the end face of the fourth sprocket 604 The teeth mesh. At this time, when the traveling motor 60 rotates, the fourth sprocket 604 rotates, the fourth sprocket 604 meshes with the second chain 607, the second chain 607 drives the fifth sprocket 605 to rotate, and the fifth sprocket 605 passes through The gear transmission pair 690 is connected with the traveling wheel shaft 620, and finally drives the traveling wheel 62 to rotate. This is the second state of the power transmission switching mechanism 64. In the second state, the traveling wheel 62 is a traveling tool.

上述动力传输切换机构64与摆动控制机构5联动，操作者在调整轮组摆动角度的同时既能实现轮组的动力传输的切换，结构设计巧妙，且操作简单方便，无需另外为动力传输切换机构配置动力驱动装置。The above-mentioned power transmission switching mechanism 64 is linked with the swing control mechanism 5, and the operator can realize the switching of the power transmission of the wheel set while adjusting the swing angle of the wheel set. The structure design is ingenious, and the operation is simple and convenient, and there is no need for another power transmission switching mechanism. Configure the power drive.

如图2以及图13至图15所示，本发明的无障碍移动车平衡具有公路行走模式、崎岖路面行走模式、楼梯行走模式、狭窄空间行走模式。As shown in FIG. 2 and FIGS. 13 to 15 , the barrier-free mobile vehicle balance of the present invention has a road travel mode, a rough road travel mode, a stair travel mode, and a narrow space travel mode.

如图2所示，在公路行走模式下，摆动控制机构5控制轮组部分6转动，使得轮组的行走轮62着地。4个轮组的行走电机60独立驱动行走轮62旋转，为每个行走轮62提供动力，从而使得平衡车在公路上时具有较快的行驶速度，以及较强的动力，操控性能和爬坡能力更强。另外，由于轮组的动力传递装置采用第三蜗轮蜗杆传动副660，所以当行走电机60不提供动力时，行走轮62则立即锁止，实现自锁，而不会出现坡道溜车的现象。As shown in FIG. 2 , in the road running mode, the swing control mechanism 5 controls the wheel set part 6 to rotate, so that the running wheel 62 of the wheel set touches the ground. The traveling motors 60 of the 4 wheel sets independently drive the traveling wheels 62 to rotate, and provide power for each traveling wheel 62, so that the balance car has a faster driving speed on the road, as well as stronger power, handling performance and climbing. more capable. In addition, since the power transmission device of the wheel set adopts the third worm gear transmission pair 660, when the traveling motor 60 does not provide power, the traveling wheel 62 is immediately locked to realize self-locking, and the phenomenon of rolling on the slope will not occur. .

如图13所示，在崎岖路面行走模式下，摆动控制机构5控制轮组部分6转动，使得轮组的履带61着地。在该模式下，操作者可以随机调整轮组的摆动角度，使得平衡车具有较强的通行能力。另外，前后轮组通过悬挂机构4与框架部分2连接，有效地保证了四条履带61都能与地面接触，既安全又可靠。As shown in FIG. 13 , in the rough road running mode, the swing control mechanism 5 controls the wheel set portion 6 to rotate so that the crawler belt 61 of the wheel set touches the ground. In this mode, the operator can randomly adjust the swing angle of the wheel set, so that the balance car has a strong passing ability. In addition, the front and rear wheel sets are connected with the frame part 2 through the suspension mechanism 4, which effectively ensures that the four crawler belts 61 can be in contact with the ground, which is safe and reliable.

如图14所示，在楼梯行走模式下，摆动控制机构5控制轮组部分6转动，使得轮组倾斜一定的角度，利用履带61上下楼梯。As shown in FIG. 14 , in the stair walking mode, the swing control mechanism 5 controls the wheel set part 6 to rotate, so that the wheel set is inclined at a certain angle, and the crawler belt 61 is used to go up and down the stairs.

如前所述，在准备爬楼前，摆动控制机构5驱动轮组倾斜一定的角度，轮组履带的倾斜平面段614与地面接触，倾斜平面段614外侧的至少两个履带齿使得平衡车左右两侧无高度差，避免了车体抖动的现象，提高了车体运行时的平稳性。在爬楼过程中，前端的两个轮组的履带侧边615与台阶的楼梯角81接触，后端的两个轮组的履带倾斜平面段614与台阶平面接触，既具有较强的爬坡能力、抓地能力，又保证了行驶的稳定性和安全性。另外，在爬楼过程中，轮组与基座之间的角度不变，也即轮组与地面之间的角度不变，因而不会出现在爬楼过程中、轮组上下摆动，导致车体不平稳的问题。As mentioned above, before climbing the stairs, the swing control mechanism 5 drives the wheel set to incline at a certain angle, the inclined plane section 614 of the wheel group crawler is in contact with the ground, and at least two crawler teeth on the outside of the inclined plane section 614 make the balance car left and right There is no height difference between the two sides, which avoids the phenomenon of vehicle body shaking and improves the stability of the vehicle body during operation. During the process of climbing the stairs, the track sides 615 of the two front wheel sets are in contact with the stair corner 81 of the steps, and the crawler inclined plane sections 614 of the two rear wheel sets are in contact with the step plane, which has strong climbing ability. , Grip ability, but also ensure the stability and safety of driving. In addition, during the process of climbing the stairs, the angle between the wheel set and the base remains unchanged, that is, the angle between the wheel set and the ground remains unchanged, so it will not appear that the wheel set will swing up and down during the climbing process, causing the car to move up and down. Body instability problem.

另外，本发明的平衡车采用4个独立的轮组，因而具有分段式的履带，当平衡车经过楼梯与平台的结合部时，前后轮组的履带都着地，并且履带的改进设计使得爬楼过程中，后面两个轮组的履带与台阶平面接触的部分为平面，能够实现平稳过渡，无需额外的辅助支撑装置，也省去了辅助支撑装置的打开、关闭等操作步骤，因而，简化了操作方法、节约了行走时间，能够安全、快速地上下楼梯。In addition, the balance car of the present invention adopts 4 independent wheel sets, so it has a segmented track. When the balance car passes through the junction of the stairs and the platform, the tracks of the front and rear wheel sets all land on the ground, and the improved design of the track makes climbing During the building process, the part where the crawler tracks of the rear two wheel sets are in contact with the plane of the step is flat, which can achieve a smooth transition, without the need for additional auxiliary support devices, and also saves the operation steps of opening and closing the auxiliary support devices. The operation method is improved, the walking time is saved, and the stairs can be safely and quickly ascended and descended.

当平衡车爬完第一段楼梯S1，到达中间平台S0时，摆动控制机构5控制轮组摆动，使得麦克纳姆轮63着地，以实现在狭窄的中间平台S0上平移，当车体移动至第二段楼梯S2处时，摆动控制机构5再将轮组调整为向后倾斜一定角度，开始爬第二段楼梯S2，在两段楼梯之间，无需掉头转向，节约了调整时间，加快了爬楼效率。When the balance car climbs the first stage of stairs S1 and reaches the middle platform S0, the swing control mechanism 5 controls the swing of the wheel set, so that the Mecanum wheel 63 touches the ground, so as to realize translation on the narrow middle platform S0. At the second stair S2, the swing control mechanism 5 adjusts the wheel set to tilt backward at a certain angle, and starts to climb the second stair S2. Between the two stairs, there is no need to turn around, saving the adjustment time and speeding up the Climbing efficiency.

本发明的框架设计实现了双向爬楼，在楼梯平台上无需转向掉头，更加简单安全。当然，如果操作者希望掉头，只需操作摆动控制机构，使得麦克纳姆轮着地，利用麦克纳姆轮调转平衡车的方向即可。The frame design of the invention realizes two-way climbing stairs, does not need to turn around on the stair platform, and is simpler and safer. Of course, if the operator wants to turn around, he only needs to operate the swing control mechanism to make the Mecanum wheel touch the ground, and then use the Mecanum wheel to reverse the direction of the balance car.

如图15所示，在狭窄空间行走模式下，摆动控制机构5控制轮组部分6转动，使得麦克纳姆轮63着地，由于麦克娜姆轮具有前进、后退、侧方向平移、原地转动的功能，因此，在狭窄的空间内，例如厨房、卫生间等、楼梯平台，操作者能轻松地行走。As shown in FIG. 15 , in the narrow space walking mode, the swing control mechanism 5 controls the rotation of the wheel set part 6 so that the Mecanum wheel 63 touches the ground. Function, therefore, the operator can walk easily in narrow spaces, such as kitchens, bathrooms, etc., stair landings.

上述具体实施方式仅仅对本发明的优选实施方式进行描述，而并非对本发明的保护范围进行限定。在不脱离本发明设计构思和精神范畴的前提下，本领域的普通技术人员根据本发明所提供的文字描述、附图对本发明的技术方案所作出的各种变形、替代和改进，均应属于本发明的保护范畴。本发明的保护范围由权利要求确定。The above-mentioned specific embodiments merely describe the preferred embodiments of the present invention, but do not limit the protection scope of the present invention. Without departing from the design concept and spirit scope of the present invention, various modifications, substitutions and improvements made to the technical solutions of the present invention by those of ordinary skill in the art according to the text description and drawings provided by the present invention shall belong to protection scope of the present invention. The protection scope of the present invention is determined by the claims.

Claims

无障碍移动平衡车，包括承载平台、框架部分、轮组部分，所述承载平台被支撑于所述框架部分的上方，所述轮组部分与所述框架部分连接，其特征在于，The barrier-free mobile balance car includes a bearing platform, a frame part, and a wheel set part, the bearing platform is supported above the frame part, and the wheel set part is connected with the frame part, and is characterized in that:

所述框架部分包括位于上方的第一四边形和位于下方的第二四边形，所述第一四边形与第二四边形大小相等，所述第一四边形和第二四边形均包括2根连杆、以及分别连接于所述2根连杆两端之间的轴杆，所述轴杆与所述连杆为可旋转连接，The frame portion includes a first quadrilateral located above and a second quadrilateral located below, the first quadrilateral and the second quadrilateral being equal in size, the first quadrilateral and the second quadrilateral The polygons all include two connecting rods and shaft rods respectively connected between the two ends of the two connecting rods, and the shaft rods and the connecting rods are rotatably connected,

一对基座分别设置在所述第一四边形和第二四边形的两端，所述基座至少在所述第一四边形和第二四边形之间延伸，每个所述基座与其所在端的第一四边形和第二四边形的轴杆固定连接，位于框架部分同一侧的所述第一四边形的连杆、所述第二四边形的连杆、以及所述一对基座构成一个平行四边形。A pair of bases are respectively disposed at both ends of the first quadrilateral and the second quadrilateral, the bases extend at least between the first quadrilateral and the second quadrilateral, each of which is The base is fixedly connected to the first quadrilateral and second quadrilateral shaft rods at the end where it is located, and the first quadrilateral connecting rod and the second quadrilateral connecting rod are located on the same side of the frame part. , and the pair of bases form a parallelogram.
如权利要求1所述的无障碍移动平衡车，其特征在于，所述基座包括上部、下部、中间部，所述上部与所述第一四边形的轴杆连接，所述下部与所述第二四边形的轴杆连接，所述中间部连接于所述上部和下部之间。The barrier-free mobile balance car according to claim 1, wherein the base comprises an upper part, a lower part and a middle part, the upper part is connected with the shaft of the first quadrilateral, and the lower part is connected with the The second quadrilateral shaft is connected, and the middle part is connected between the upper part and the lower part.
如权利要求2所述的无障碍移动平衡车，其特征在于，所述框架部分包括一对中心竖杆，每个所述中心竖杆可旋转地连接于位于框架部分同一侧的所述第一四边形和第二四边形的连杆的中点处，所述中心竖杆与所述基座的中间部保持平行，所述承载平台安装在所述中心竖杆的顶部。3. The barrier-free mobile balance vehicle of claim 2, wherein the frame portion includes a pair of central vertical rods, each of the central vertical rods being rotatably connected to the first center rods on the same side of the frame portion At the midpoint of the connecting rods of the quadrilateral and the second quadrilateral, the central vertical rod is kept parallel to the middle part of the base, and the carrying platform is mounted on the top of the central vertical rod.
如权利要求3所述的无障碍移动平衡车，其特征在于，所述框架部分上安装平衡控制机构，所述平衡控制机构包括平衡电机、第一蜗轮蜗杆传动副、平衡传动轴、一对平衡齿轮、一对弧形齿轮和平衡模块。The barrier-free mobile balance car according to claim 3, wherein a balance control mechanism is installed on the frame part, and the balance control mechanism comprises a balance motor, a first worm gear transmission pair, a balance transmission shaft, a pair of balance Gears, a pair of curved gears and a balance module.
如权利要求4所述的无障碍移动平衡车，其特征在于，所述平衡电机通过所述第一蜗轮蜗杆传动副连接所述平衡传动轴，所述平衡传动轴可旋转地连接于所述一对中心竖杆之间，所述一对平衡齿轮分别安装在所述平衡传动轴的两端，所述弧形齿轮与所述平衡齿轮啮合，并与所述第二四边形的连杆固定连接，其弧形齿面以所述第二四边形的连杆中点为圆心。The barrier-free mobile balance car according to claim 4, wherein the balance motor is connected to the balance drive shaft through the first worm gear drive pair, and the balance drive shaft is rotatably connected to the one Between the centering vertical rods, the pair of balance gears are respectively installed at both ends of the balance transmission shaft, the arc gears mesh with the balance gears, and are fixed with the second quadrilateral connecting rod connected, and the arc tooth surface takes the middle point of the connecting rod of the second quadrangle as the center of the circle.
如权利要求1所述的无障碍移动平衡车，其特征在于，所述轮组部分包括4个独立的轮组，位于平衡车前部的两个前轮组以及位于平衡车后部的两个后轮组之间分别通过横轴相互连接，所述横轴外设置横轴壳。The barrier-free mobile balance car according to claim 1, wherein the wheel set part comprises 4 independent wheel sets, two front wheel sets at the front of the balance car and two at the rear of the balance car The rear wheel sets are respectively connected to each other through a horizontal shaft, and a horizontal shaft housing is arranged outside the horizontal shaft.
如权利要求6所述的无障碍移动平衡车，其特征在于，所述前轮组和后轮组分别通过悬挂机构与所述框架部分连接，所述悬挂机构的一端与所述基座连接，所述悬挂机构的另一端与所述横轴壳连接。The barrier-free mobile balance car according to claim 6, wherein the front wheel group and the rear wheel group are respectively connected with the frame part through a suspension mechanism, and one end of the suspension mechanism is connected with the base, The other end of the suspension mechanism is connected with the horizontal axle housing.
如权利要求7所述的无障碍移动平衡车，其特征在于，每个所述悬挂机构包括一对减震器和4个悬挂连杆，所述一对减震器位于所述4个悬挂连杆的外侧。The barrier-free mobile balance car according to claim 7, wherein each of the suspension mechanisms comprises a pair of shock absorbers and 4 suspension links, and the pair of shock absorbers are located in the 4 suspension links. outside of the rod.
如权利要求8所述的无障碍移动平衡车，其特征在于，所述减震器的两端分别与所述基座和所述横轴壳固定连接，所述悬挂连杆的两端分别安装球头，通过球头分别与所述基座和所述横轴壳连接。The barrier-free mobile balance car according to claim 8, wherein both ends of the shock absorber are fixedly connected to the base and the horizontal axle housing respectively, and both ends of the suspension link are respectively installed The ball head is respectively connected with the base and the transverse shaft shell through the ball head.
如权利要求9所述的无障碍移动平衡车，其特征在于，所述前轮组和后轮组分别设置摆动控制机构，每个所述摆动控制机构包括摆动电机和第二蜗轮蜗杆传动副，所述蜗轮蜗杆传动副的蜗杆与所述摆动电机的输出轴固定连接，所述蜗轮蜗杆传动副的蜗轮与所述横轴固定连接。The barrier-free mobile balance car according to claim 9, wherein the front wheel group and the rear wheel group are respectively provided with a swing control mechanism, and each of the swing control mechanisms includes a swing motor and a second worm gear transmission pair, The worm of the worm gear and worm drive pair is fixedly connected with the output shaft of the swing motor, and the worm wheel of the worm gear and worm drive pair is fixedly connected with the horizontal shaft.
无障碍移动平衡车，其特征在于，包括：The barrier-free mobile balance car is characterized in that it includes:

承载平台，用于承载物体或者人体；The carrying platform is used to carry objects or human bodies;

框架部分，所述框架部分包括一对上连杆、一对下连杆、一对基座，所述一对上连杆的两端之间以及所述一对下连杆的两端之间通过轴杆连接，且所述轴杆与所述上连杆、下连杆为可旋转连接，所述一对基座分别设置在所述上连杆和下连杆的两端，且与所述轴杆连接，所述上连杆、下连杆、以及一对基座共同构成平行四边形；a frame part, the frame part includes a pair of upper links, a pair of lower links, and a pair of bases, between the two ends of the pair of upper links and between the two ends of the pair of lower links The shaft is connected by a shaft, and the shaft is rotatably connected with the upper link and the lower link. The pair of bases are respectively arranged on both ends of the upper link and the lower link, and are connected with the upper and lower links. The shaft is connected, and the upper link, the lower link, and a pair of bases together form a parallelogram;

轮组部分，所述轮组部分包括4个独立的轮组，所述4个轮组两两一组，通过横轴连接；a wheel set part, the wheel set part includes 4 independent wheel sets, and the 4 wheel sets are connected in pairs by a horizontal axis;

悬挂机构，其连接在所述轮组部分与所述框架部分之间；a suspension mechanism connected between the wheel set portion and the frame portion;

摆动控制机构，用于控制所述轮组的倾斜角度，所述摆动控制机构与所述轮组部分的横轴连接；a swing control mechanism for controlling the inclination angle of the wheel set, the swing control mechanism is connected with the transverse shaft of the wheel set part;

平衡控制机构，其安装于所述框架部分上，且作用于所述平行四边形，通过感知承载平台或框架部分的倾斜调整平行四边形，以使得被所述框架部分支撑的承载平台始终处于水平位置。A balance control mechanism, mounted on the frame portion and acting on the parallelogram, adjusts the parallelogram by sensing the inclination of the carrier platform or the frame portion, so that the carrier platform supported by the frame portion is always in a horizontal position.
如权利要求11所述的无障碍移动平衡车，其特征在于，所述平衡车包括公路行走模式、崎岖路面行走模式、楼梯行走模式、狭窄空间行走模式。The barrier-free mobile balance vehicle according to claim 11, wherein the balance vehicle includes a road walking mode, a rough road walking mode, a stair walking mode, and a narrow space walking mode.
如权利要求12所述的无障碍移动平衡车，其特征在于，所述平衡车在任一行走模式下，所述轮组与所述基座之间的角度保持不变，所述轮组与地面之间的角度保持不变。The barrier-free mobile balance car according to claim 12, characterized in that, in any walking mode of the balance car, the angle between the wheel set and the base remains unchanged, and the wheel set and the ground remain unchanged. The angle between them remains the same.