CN102328680A - Inner planetary gear type stair climbing device - Google Patents
Inner planetary gear type stair climbing device Download PDFInfo
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- CN102328680A CN102328680A CN201110221786A CN201110221786A CN102328680A CN 102328680 A CN102328680 A CN 102328680A CN 201110221786 A CN201110221786 A CN 201110221786A CN 201110221786 A CN201110221786 A CN 201110221786A CN 102328680 A CN102328680 A CN 102328680A
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- stair climbing
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Abstract
The invention aims to provide an inner planetary gear type stair climbing device which is formed by wheels and a vehicle body. The vehicle body is connected with the wheels. Under the action of manpower, the operation of climbing up and down stairs is realized. Each wheel consists of a rubber tire, an annular gear, a planet carrier, a gear shaft system and a roller shaft system, wherein the rubber tire is connected with the annular gear; the annular gear is connected with the gear shaft system; and the gear shaft system and the roller shaft system are connected with the planet carrier, so that the stable and non-impact operation that the inner planetary gear type stair climbing device continuously climbs up and down the stairs is realized. For the the inner planetary gear type stair climbing device disclosed by the invention, due to the adoption of an nner planetary gear transmission mechanism and a centreless shaft design, the automatic switching of traveling on the flat ground and climbing up and down the stairs is realized by the manpower, and the wheels are in real-time contact with the ground in the process of climbing up and down the stairs so that the rigid impact is eliminated. The inner planetary gear type stair climbing device disclosed by the invention has no requirement on the sizes of a tread and a kicking surface of a step, can be widely applied to a stair climbing machine, a stair climbing cart, a stair climbing wheelchair and a luggage, has simple structure and low cost and is universal for various steps. The invention provides an effective solution for transportation under various conditions of climbing up and down the stairs.
Description
Technical field
The present invention relates to climb the building device, is exactly that the inner planet gear formula is climbed the building device specifically.
Background technology
The existing building device of climbing comprises: outer planet is wheeled climbs that building device, leg formula are climbed the building device, crawler type is climbed the building device, and these several kinds of each have their own advantages of mobile device are with not enough:
Much more comparatively wheeled the climbing on the device market, building of outer planet see that it is simple in structure, cheap.The wheeled building stationarity of climbing of climbing the building device of outer planet is directly proportional with the quantity of satellite gear, and the quantity of satellite gear can be two, three, four or more.Two satellite gears climb the building device wheel center amplitude maximum of jolting, but be accompanied by the increase of satellite gear quantity, the radial dimension multiplication of wheel, the wheel shaft height rises thereupon, causes safety to reduce.The stair case size in ordinarily resident building is limited in addition, causes the wheeled building device limited use of climbing of outer planet.
The leg formula is climbed the building device and is come from bio-robot, is reference with artiodactylous animals such as biped, four-footed, six foots and eight foots.Eight sufficient leg formulas climb that the building device comparatively more to be seen, realize climbing the building operation by two cover four-footed traveling gear alternate runs, with regard to present research situation, how in the experimental phase, because of its complex structure, bulky and operation are slowly popularized.
The crawler type mobile device is more common in tank and construction machinery and equipment, is generalized to climb the building device crawler type climbing machine technology maturation recently.Because friction drag is big in the crawler belt operational process, it is not nimble to turn, and causes energy utilization efficiency lower.In addition; Because the anterior angle and the relief angle of crawler belt are limited; Must install additional leading crawler belt with after lead crawler belt, climb the angle sudden change of building device between level land and staristep to cushion this, these additional devices have also increased structure complexity, cost and the control difficulty that crawler type is climbed the building device simultaneously.
Press in the market a kind of structure small and exquisite, with low cost climb the building device, alleviating high-intensity stair activity operation, the present invention use and give birth to, with the obvious advantage,
Summary of the invention
The object of the present invention is to provide a kind of inner planet gear formula to climb the building device.
The technical solution adopted for the present invention to solve the technical problems is: the inner planet gear formula is climbed the building device and is made up of wheel and car body, and wheel connects car body through the gear wheel shaft in the geared rotor system.
The present invention also has following technical characterictic:
(1) described wheel comprises rubber tyre, internally toothed annulus, pinion carrier, geared rotor system and roller shaft system, and rubber tyre connects internally toothed annulus, internally toothed annulus connection gear axle system and roller shaft system, pinion carrier connection gear axle system and roller shaft system.
(2) described geared rotor system comprises gear wheel shaft, outer bearing, bearing a set of cups, jump ring, Bao Taojian, neck bearing, big roller, miniature gears, sleeve, flat shim, spring shim and nut; Gear wheel shaft connects outer bearing, thin sleeve, neck bearing and sleeve successively, and the gear wheel shaft axle head connects flat shim, spring shim and nut, outer bearing connection bearing a set of cups; The bearing a set of cups connects pinion carrier and jump ring; Neck bearing connects big roller, and big roller connects miniature gears, and miniature gears connects internally toothed annulus.
(3) described roller shaft is to comprise roller shaft, bearing, trundle, shim liner, little plain cushion, little spring pad and primary nut; Roller shaft is connection bearing, shim liner and pinion carrier successively; The roller shaft axle head connects little flat shim, little spring pad and primary nut; Bearing connects trundle, and trundle connects internally toothed annulus.
(4) described car body can be a framework, also can be suitcase, and framework is welded by the steel pipe fitting, and suitcase is made up of casing and scalable pull bar, and casing connects scalable pull bar.
The objective of the invention is to propose a kind of inner planet gear formula and climb the building device, it is made up of wheel and car body, and car body connects wheel, under the manpower effect, realizes the stair activity operation.Wheel is made up of rubber tyre, internally toothed annulus, pinion carrier, geared rotor system and roller shaft system; Rubber tyre connects internally toothed annulus; Internally toothed annulus connection gear axle system, geared rotor system is connected pinion carrier with roller shaft system, and realization inner planet gear formula is climbed steady, the shock-free continuous stair activity operation of building device.Inner planet gear formula of the present invention is climbed the building device by manpower, adopts inner planet gear transmission device and the design of no axle to realize that advance in the level land and the automatic conversion of stair activity, upward downstairs takes turns and the ground real-time contact in the process, dissolves rigid shock.
Inner planet gear formula of the present invention is climbed the building device tread and the riser size of step is not required, and can be widely used in climbing machine, climb building go-cart, stair-climbing wheel chair and baggage container.Its various steps simple in structure, cheap, pervasive.The present invention provides a kind of actv. solution for the transportation under the various stair activity conditions.
The present invention compares the beneficial effect that has with background technology:
1. do not have the axle design, structure is ingenious, and the wheel footpath is less;
2. inner planet gear transmission, it is steady to climb the building;
3. wheel construction is simple, and is with low cost;
4. climb downstairs not have on the building device and impact, reduce noise;
Description of drawings
Fig. 1 climbs the elevational cross-sectional view and the side view cutaway drawing of building device wheel for inner planet gear formula of the present invention;
Fig. 2 climbs the fragmentary detail view of building device geared rotor system for inner planet gear formula of the present invention;
Fig. 3 climbs the fragmentary detail view of building device roller shaft system for inner planet gear formula of the present invention;
Fig. 4 climbs the building process and the axle track scheme drawing of building device wheel for inner planet gear formula of the present invention;
Fig. 5 climbs the building device for inner planet gear formula of the present invention and climbs the right elevation of building go-cart, front elevation, birds-eye view and axonometric drawing;
Fig. 6 climbs building operation lateral plan for what inner planet gear formula of the present invention was climbed building device hutching;
Fig. 7 climbs building operation lateral plan for what inner planet gear formula of the present invention climbed that the building device climbs the building traveling bag;
Fig. 8 climbs building operation axonometric drawing for what inner planet gear formula of the present invention climbed that the building device climbs the building traveling bag.
The specific embodiment
Like Fig. 5, Fig. 6, Fig. 7 and shown in Figure 8, inner planet gear formula of the present invention is climbed the building device, and it is made up of wheel (1) and car body; It is characterized in that: wheel (1) connects car body through the gear wheel shaft (11) in the geared rotor system (5).Car body can be framework (7), also can be suitcase; It is characterized in that: framework (7) is welded by the steel pipe fitting, and suitcase is made up of casing (9) and scalable pull bar (10), and casing (9) connects scalable pull bar (10).
As shown in Figure 1, wheel (1) comprises rubber tyre (2), internally toothed annulus (3), pinion carrier (4), geared rotor system (5) and roller shaft system (6); It is characterized in that: rubber tyre (2) connects internally toothed annulus (3), internally toothed annulus (3) connection gear axle system (5) and roller shaft system (6), pinion carrier (4) connection gear axle system (5) and roller shaft system (6).As shown in Figure 4, single-wheel axle system (2) comprises planet circular system (4) and differential drive system (3); It is characterized in that: differential drive system (3) is connected planet circular system (4) through hollow shaft (13) with center shaft (17).
Comprise gear wheel shaft (11), outer bearing (12), bearing a set of cups (13), jump ring (14), thin sleeve (15), neck bearing (16), big roller (17), miniature gears (18), sleeve (19), flat shim (20), spring shim (21) and nut (22) like Fig. 2 geared rotor system (5); It is characterized in that: gear wheel shaft (11) connects outer bearing (12), thin sleeve (15), neck bearing (16) and sleeve (19) successively; Gear wheel shaft (11) axle head connects flat shim (20), spring shim (21) and nut (22); Outer bearing (12) connection bearing a set of cups (13), bearing a set of cups (13) connects pinion carrier (4) and jump ring (14), and neck bearing (16) connects big roller (17); Big roller (17) connects miniature gears (18), and miniature gears (18) connects internally toothed annulus (3).
As shown in Figure 3, roller shaft system (6) comprises roller shaft (22), bearing (23), trundle (24), shim liner (25), little plain cushion (26), little spring pad (27) and primary nut (28); It is characterized in that: roller shaft (22) is connection bearing (23), shim liner (25) and pinion carrier (4) successively; Roller shaft (22) axle head connects little flat shim (26), little spring pad (27) and primary nut (28); Bearing (23) connects trundle (24), and trundle (24) connects internally toothed annulus (3).
As shown in Figure 4, the inner planet gear formula is climbed process: the a-b-c-d-a upstairs of building device wheel, and Fig. 4 left-half is a rough schematic view, and right half part is that wheel is climbed the axle trajectory diagram in the building process.Corresponding process downstairs is: a-d-c-b-a, the axle track is consistent with upstairs.With respect to common wheel, the inner planet gear formula climb building device wheel to climb building track ride comfort better, and dissolved rigid shock.
The above-mentioned specific embodiment is used for the present invention that explains, rather than invention is limited, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (5)
1. an inner planet gear formula is climbed the building device, and it is made up of wheel (1) and car body; It is characterized in that: wheel (1) connects car body through the gear wheel shaft (11) in the geared rotor system (5).
2. a kind of inner planet gear formula according to claim 1 is climbed the building device, and described wheel (1) comprises rubber tyre (2), internally toothed annulus (3), pinion carrier (4), geared rotor system (5) and roller shaft system (6); It is characterized in that: rubber tyre (2) connects internally toothed annulus (3), internally toothed annulus (3) connection gear axle system (5) and roller shaft system (6), pinion carrier (4) connection gear axle system (5) and roller shaft system (6).
3. a kind of inner planet gear formula according to claim 2 is climbed the building device, and described geared rotor system (5) comprises gear wheel shaft (11), outer bearing (12), bearing a set of cups (13), jump ring (14), thin sleeve (15), neck bearing (16), big roller (17), miniature gears (18), sleeve (19), flat shim (20), spring shim (21) and nut (22); It is characterized in that: gear wheel shaft (11) connects outer bearing (12), thin sleeve (15), neck bearing (16) and sleeve (19) successively; Gear wheel shaft (11) axle head connects flat shim (20), spring shim (21) and nut (22); Outer bearing (12) connection bearing a set of cups (13), bearing a set of cups (13) connects pinion carrier (4) and jump ring (14), and neck bearing (16) connects big roller (17); Big roller (17) connects miniature gears (18), and miniature gears (18) connects internally toothed annulus (3).
4. a kind of inner planet gear formula according to claim 2 is climbed the building device, and described roller shaft system (6) comprises roller shaft (22), bearing (23), trundle (24), shim liner (25), little plain cushion (26), little spring pad (27) and primary nut (28); It is characterized in that: roller shaft (22) is connection bearing (23), shim liner (25) and pinion carrier (4) successively; Roller shaft (22) axle head connects little flat shim (26), little spring pad (27) and primary nut (28); Bearing (23) connects trundle (24), and trundle (24) connects internally toothed annulus (3).
5. a kind of inner planet gear formula according to claim 1 is climbed the building device, and described car body can be framework (7), also can be suitcase; It is characterized in that: framework (7) is welded by the steel pipe fitting, and suitcase is made up of casing (9) and scalable pull bar (10), and casing (9) connects scalable pull bar (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110221786A CN102328680A (en) | 2011-08-04 | 2011-08-04 | Inner planetary gear type stair climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110221786A CN102328680A (en) | 2011-08-04 | 2011-08-04 | Inner planetary gear type stair climbing device |
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| Publication Number | Publication Date |
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| CN102328680A true CN102328680A (en) | 2012-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110221786A Pending CN102328680A (en) | 2011-08-04 | 2011-08-04 | Inner planetary gear type stair climbing device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2531418C1 (en) * | 2013-09-10 | 2014-10-20 | Николай Петрович Дядченко | Vehicle wheel with planetary arrangement of reverse motion transmission |
| CN104385845A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Gear and rack variable eccentricity obstacle crossing wheel |
| CN105966521A (en) * | 2016-06-14 | 2016-09-28 | 李蕴洲 | Multi-functional on-load stair climbing dolly |
| US9789017B2 (en) | 2015-05-04 | 2017-10-17 | Orbis Wheels, Inc. | Centerless wheel assembly |
| CN108860363A (en) * | 2017-05-10 | 2018-11-23 | 孟志 | It is wheeled to climb building barrier-exceeding vehicle |
| TWI677331B (en) * | 2018-03-01 | 2019-11-21 | 高國楹 | Electric assisted walking and climbing drive device |
| US10492964B2 (en) | 2015-05-04 | 2019-12-03 | Orbis Wheels, Inc. | Spokeless wheel |
| CN111409727A (en) * | 2020-05-06 | 2020-07-14 | 徐航 | Method for realizing stair climbing of robot |
| WO2020231345A1 (en) * | 2019-05-16 | 2020-11-19 | National University Of Singapore | A wheel arrangement |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2132020B1 (en) * | 1997-04-17 | 2000-04-16 | Navarro Francisco S Cabanillas | ROLLING DEVICE FOR AUTOMOBILE VEHICLES AND WHEELCHAIRS. |
| CN200960945Y (en) * | 2006-09-01 | 2007-10-17 | 华中科技大学 | Convertible star-wheel planet-wheel stairs-climbing wheel |
| CN101622169A (en) * | 2007-02-12 | 2010-01-06 | 斯甘有限责任公司 | Stair-climbing wheeled vehicle |
-
2011
- 2011-08-04 CN CN201110221786A patent/CN102328680A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2132020B1 (en) * | 1997-04-17 | 2000-04-16 | Navarro Francisco S Cabanillas | ROLLING DEVICE FOR AUTOMOBILE VEHICLES AND WHEELCHAIRS. |
| CN200960945Y (en) * | 2006-09-01 | 2007-10-17 | 华中科技大学 | Convertible star-wheel planet-wheel stairs-climbing wheel |
| CN101622169A (en) * | 2007-02-12 | 2010-01-06 | 斯甘有限责任公司 | Stair-climbing wheeled vehicle |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2531418C1 (en) * | 2013-09-10 | 2014-10-20 | Николай Петрович Дядченко | Vehicle wheel with planetary arrangement of reverse motion transmission |
| CN104385845A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Gear and rack variable eccentricity obstacle crossing wheel |
| TWI624381B (en) * | 2015-05-04 | 2018-05-21 | 奧比斯車輪有限公司 | Centerless wheel assembly and method for addressing slippage |
| US9789017B2 (en) | 2015-05-04 | 2017-10-17 | Orbis Wheels, Inc. | Centerless wheel assembly |
| US9849047B2 (en) | 2015-05-04 | 2017-12-26 | Orbis Wheels, Inc. | Wheelchair |
| US9861540B2 (en) | 2015-05-04 | 2018-01-09 | Orbis Wheels, Inc. | Slippage control |
| US10492964B2 (en) | 2015-05-04 | 2019-12-03 | Orbis Wheels, Inc. | Spokeless wheel |
| CN105966521A (en) * | 2016-06-14 | 2016-09-28 | 李蕴洲 | Multi-functional on-load stair climbing dolly |
| CN108860363A (en) * | 2017-05-10 | 2018-11-23 | 孟志 | It is wheeled to climb building barrier-exceeding vehicle |
| TWI677331B (en) * | 2018-03-01 | 2019-11-21 | 高國楹 | Electric assisted walking and climbing drive device |
| US11701276B2 (en) | 2018-03-01 | 2023-07-18 | Daniel Kao | Driving device capable of walking and stair-climbing by electric power |
| WO2020231345A1 (en) * | 2019-05-16 | 2020-11-19 | National University Of Singapore | A wheel arrangement |
| CN111409727A (en) * | 2020-05-06 | 2020-07-14 | 徐航 | Method for realizing stair climbing of robot |
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Application publication date: 20120125 |