CN102697610A - Double-crawler-wheel obstacle crossing wheelchair - Google Patents

Abstract

A double-crawler-wheel obstacle crossing wheelchair comprises a chair part and a switching mechanism which is used for switching the roller transmission and the crawler wheel transmission of the double-crawler-wheel obstacle crossing wheelchair, wherein the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel, which are connected with each other through a connection bracket, the maximal angular speed of the crawler wheels is described in the specification, wherein omega represents the angular speed, m represents the mass of a multifunctional climbing wheelchair, h represents a gravity core height of the multifunctional climbing wheelchair, L represents the contact length between the crawler wheel and the floor, J represents the rotation inertness of the multifunctional climbing wheelchair, alpha represents an angle between a bottom line of the crawler wheel and the floor, and r represents an angle between a connection line of the gravity core of the multifunctional climbing chair and a front landing point and the crawler wheel. The structural error of a four-bar mechanism is compensated by applying a five-bar mechanism, so that the switching mechanism of the double-crawler-wheel obstacle crossing wheelchair realizes high-precision movement output, or completes a complicated movement principle; and the obstacles are crossed by adopting the double-crawler-wheel way, so that the obstacle crossing stability can be guaranteed.

Description

Two Athey wheel obstacle detouring wheelchairs

Technical field

The present invention relates to machinery and control technology field, relate in particular to a kind of pair of Athey wheel obstacle detouring wheelchair.

Background technology

Wheelchair is their requisite walking-replacing tool for old person.But, just can't cross over when traditional wheelchair runs into bank.Wherein, upper and lower stair these handicapped crowds' biggest obstacle just., be thought of as these houses and install elevator additional, but, cause this plan stranded in order to solve the problem of these house stair activities in 200 years countries owing to the each side reason.

At present, external is the transporting equipment-stairs-mover by the emergency evacuation of building for solving the mode that the person that takes the wheelchair crosses over stair, is about to wheelchair and is temporarily fixed on the stairs-mover, uses stair activity.Replace after finishing using, operation sequence is loaded down with trivial details again.Though can solve the person's stair activity of taking the wheelchair, just can't stair activity at the building that are not equipped with stairs-mover.

Stair-climbing wheel chair uses four-bar mechanism or planetary wheeling mechanism to realize stair activity usually both at home and abroad.For planetary gear type stair-climbing wheel chair, simple in structure, and do not topple over when utilizing self-locking mechanism to guarantee stair activity.But this stair-climbing wheel chair is relatively poor to the adaptability of stair, can not satisfy the demand of user to comfortableness and reliability.

For adding Athey wheel type stair-climbing wheel chair, when stair activity, adopt the mode that adds Athey wheel, guaranteed the seriality of stair activity process.But the said Athey wheel type stair-climbing wheel chair that adds needs help to accomplish down at other people when Athey wheel being installed at every turn, and complex operation, and the structure heaviness is carried inconvenience, has limited the place of wheelchair stair activity largely.

For Athey wheel and wheel combination type stair-climbing wheel chair, this wheelchair uses four bar structures, through the conversion of up-down wheel with realization wheel and Athey wheel.But said stair-climbing wheel chair adopts four bar structures, and one degree of freedom is only arranged, so can not realize high-precision operation output or accomplish more complicated motion rule.

So to the problem that prior art exists, this case designer relies on the industry experience for many years of being engaged in, the active research improvement is so there be a kind of pair of Athey wheel obstacle detouring wheelchair of invention.

Summary of the invention

The present invention be directed in the prior art; Adopt traditional stair-climbing wheel chair relatively poor to the adaptability of stair; Can not satisfy the demand of user, and can not realize high-precision operation output or accomplish more defective such as complicated motion rule a kind of pair of Athey wheel obstacle detouring wheelchair is provided comfortableness and reliability.

In order to address the above problem, the present invention provides a kind of pair of Athey wheel obstacle detouring wheelchair, comprising: chair portion, and said chair portion is used for user and takes; Switching mechanism; Said switching mechanism is arranged on said chair subordinate; And be used in the roller transmission of said pair of Athey wheel obstacle detouring wheelchair and the switching between the Athey wheel transmission; Said Athey wheel transmission has through connecting first Athey wheel and second Athey wheel that support connects, and said first Athey wheel and said second Athey wheel further comprise support; Support wheel, said support wheel are arranged on the said support; Be arranged on said support wheel one side, and intermeshing in twos first gear, second gear, and the 3rd gear; Be integral and intermeshing the 4th gear with said second gear shape; Be integral and intermeshing the 5th gear with said the 3rd gear shape; And be meshing with each other with said the 4th gear and said the 5th gear external tooth and be positioned at the crawler belt gear in the said support wheel outside; The maximum angular rate of said Athey wheel is in

formula; ω is an angular velocity, and m is multi-functional stair-climbing wheel chair quality, and h is the height of C.G. of multi-functional stair-climbing wheel chair; L is Athey wheel and ground contact length; J is the rotary inertia of multi-functional stair-climbing wheel chair, and α is the angle between Athey wheel bottom line and the ground, and r is the line of multi-functional stair-climbing wheel chair center of gravity and preceding earth point and the angle of Athey wheel.

Optional, one of said switching mechanism end flexibly connects with being arranged on said pair of first fixing point on the Athey wheel obstacle detouring wheelchair, and the other end of said switching construction is fixedly connected with second fixing point on the said pair of Athey wheel obstacle detouring wheelchair.

Optional, an end of first bar of said switching mechanism and said first fixing point flexibly connect; One end of second bar of the other end of said first bar and said switching mechanism flexibly connects; First linear electric motors, one end on the other end of said switching mechanism second bar and said the 4th bar flexibly connects; The axle type connects first kink of said second bar at the end points place of said the 3rd bar; The other end of said the 4th bar and said the 5th bar flexibly connect; The other end of said the 5th bar is fixedly connected with said the 3rd bar; One end of said the 6th bar is fixedly installed on said the 3rd bar; One end of second linear electric motors on the other end of said the 6th bar and said the 7th bar flexibly connects; One end of the other end of said the 7th bar and said the 8th bar flexibly connects; The other end of said the 8th bar flexibly connects with an end of the bar that is fixedly installed on second fixing point; Second kink of said the 8th bar connects in the end points axle type of said the 3rd bar.

Optional, the switching mechanism of said pair of Athey wheel obstacle detouring wheelchair may further comprise the steps in handoff procedure:

Execution in step S1: said first linear motor driving, and extend laterally growth;

Execution in step S2: an end that differs from said junction point of second bar that flexibly connects with said first linear electric motors is the center of circle with first fixing point, and the length between 2 is that radius moves clockwise; That is, first bar clockwise rotates around the A point, and said second bar is under the promotion of said first linear electric motors, and along with first bar rotates, and the end points C point that promotes the 3rd bar moves up and down;

Execution in step S3: said the 8th bar end that differs from second fixing point around said bar under the driving of second direct current generator rotates, and under the promotion of said the 8th bar, makes the end points J point of said the 3rd bar move up and down.

Execution in step S4: in the end points C of said the 3rd bar point, J point move up and down process, realize the up-down of Athey wheel, and then realize the switching between roller transmission and the Athey wheel transmission.

In sum; The structural failure of the switching mechanism utilization five-rod compensation four-bar mechanism of according to the invention pair of Athey wheel obstacle detouring wheelchair; Realize high-precision motion output or accomplish more complicated motion rule, and adopt two crawler belt mode obstacle detourings, guarantee the stationarity of obstacle detouring.

Description of drawings

Perspective view for the two Athey wheel obstacle detouring wheelchairs of the present invention shown in Figure 1;

Shown in Figure 2 is the theory structure sketch map of the switching mechanism of the two Athey wheel obstacle detouring wheelchairs of the present invention;

Shown in Figure 3 is the motor process principle schematic of the switching mechanism of the two Athey wheel obstacle detouring wheelchairs of the present invention;

Shown in Figure 4 is the motor process initial stage sketch map of the switching mechanism of the two Athey wheel obstacle detouring wheelchairs of the present invention;

Sketch map in the motor process of the switching mechanism for the two Athey wheel obstacle detouring wheelchairs of the present invention shown in Figure 5;

Athey wheel structural representation for the two Athey wheel obstacle detouring wheelchairs of the present invention shown in Figure 6;

The shown in Figure 7 chance for according to the invention pair of Athey wheel obstacle detouring wheelchair hinders the sketch map that preparation is crossed;

Shown in Figure 8 is that according to the invention pair of Athey wheel obstacle detouring wheelchair chance barrier crossed the sketch map of process;

The shown in Figure 9 chance for according to the invention pair of Athey wheel obstacle detouring wheelchair hinders the sketch map that is near completion and crosses.

The specific embodiment

By the technology contents, the structural feature that specify the invention, reached purpose and effect, will combine embodiment and conjunction with figs. to specify below.

See also Fig. 1, the perspective view for the two Athey wheel obstacle detouring wheelchairs of the present invention shown in Figure 1.Said pair of Athey wheel obstacle detouring wheelchair 1 comprises chair portion 10, and said chair portion 10 is used for user and takes; Switching mechanism 11 between roller transmission and the Athey wheel transmission; Said switching mechanism 11 is arranged on said chair portion 10 times; And be used for the switching between the said roller transmission that helps upright Climbing building device 1 is transmitted with Athey wheel; And the auxiliary mechanism 12 of standing, the said auxiliary mechanism 12 of standing is arranged on said chair portion 10 downsides, and is used for auxiliary user and stands.

Please continue to consult Fig. 1, and combine to consult Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Figure 2 is the theory structure sketch map of the switching mechanism of the two Athey wheel obstacle detouring wheelchairs of the present invention.Shown in Figure 3 is the motor process theory structure sketch map of the switching mechanism of the two Athey wheel obstacle detouring wheelchairs of the present invention.Shown in Figure 4 is the motor process initial stage sketch map of the switching mechanism of the two Athey wheel obstacle detouring wheelchairs of the present invention.Sketch map in the motor process of the switching mechanism for the two Athey wheel obstacle detouring wheelchairs of the present invention shown in Figure 5.In the present invention, said pair of Athey wheel obstacle detouring wheelchair 1 adopts two Athey wheel transmission manner in upper and lower stair and obstacle detouring.Wherein, the switching between said roller transmission means and the Athey wheel transmission means is controlled through the up-down of 11 pairs of said Athey wheels of said switching mechanism and is realized.One of said switching mechanism 11 end flexibly connects with first fixing point 13 that is arranged on the said pair of Athey wheel obstacle detouring wheelchair 1; The other end of said switching construction 11 is fixedly connected with second fixing point 14 on the said pair of Athey wheel obstacle detouring wheelchair 1.

Please continue to consult Fig. 2, Fig. 3, Fig. 4, Fig. 5, the switching mechanism 11 of according to the invention pair of Athey wheel obstacle detouring wheelchair 1 is a five-rod, by 2 linear electric motors controls, has 8 movable devices and 11 lower pairs, and its degree of freedom is 2.Particularly, an end A point of first bar 110 of said switching mechanism 11 and said first fixing point 13 flexibly connect; One end of the other end B point of said first bar 110 and second bar 111 of said switching mechanism 11 flexibly connects; The first linear electric motors 113a, one end on the other end D point of said switching mechanism 11 second bars 111 and said the 4th bar 112 flexibly connects; First kink 1111 of said second bar 111 connects in the C of the end points place of said the 3rd bar 114 point axle type; The other end E point of said the 4th bar 112 and said the 5th bar 115 flexibly connect; The other end of said the 5th bar 115 is fixedly connected with said the 3rd bar 114; One end of said the 6th bar 116 is fixedly installed on said the 3rd bar 114; The end of the second linear electric motors 113b on the other end of said the 6th bar 116 and said the 7th bar 117 flexibly connects; One end of the other end of said the 7th bar 117 and said the 8th bar 118 flexibly connects; The other end of said the 8th bar 118 flexibly connects with an end of the bar 119 that is fixedly installed on second fixing point 14; Second kink 1181 of said the 8th bar 118 connects in the end points J of said the 3rd bar 114 point axle type.

Please continue to consult Fig. 2, Fig. 3, Fig. 4, Fig. 5, and the operation principle of the switching mechanism 11 of according to the invention pair of Athey wheel obstacle detouring wheelchair 1 is detailed.When the switching mechanism 11 of according to the invention pair of Athey wheel obstacle detouring wheelchair 1 switches between roller transmission and Athey wheel transmission, may further comprise the steps:

Execution in step S11: the said first linear electric motors 113a drives, and extends laterally growth.At this moment, an end B who the differs from said junction point o'clock A point with first fixing point 13 of second bar 111 that flexibly connects with the said first linear electric motors 113a is the center of circle, and the length of AB is that radius moves clockwise; That is, first bar 110 clockwise rotates around the A point.Said second bar 111 is under the promotion of the said first linear electric motors 113a, and along with first bar 111 rotates, and the end points C point that promotes the 3rd bar 114 moves up and down.

Execution in step S12: said the 8th bar 118 end K point that differs from second fixing point 14 around said bar 119 under the driving of the second direct current generator 113b rotates, and under the promotion of said the 8th bar 118, makes the end points J point of said the 3rd bar 114 move up and down.

Execution in step S13: in the end points C of said the 3rd bar 114 point, J point move up and down process, realize the up-down of Athey wheel, and then realize the switching between roller transmission and the Athey wheel transmission.

See also Fig. 6, the Athey wheel structural representation for the two Athey wheel obstacle detouring wheelchairs of the present invention shown in Figure 6.Athey wheel 18a, the 18b of said pair of Athey wheel obstacle detouring wheelchair 1 include support 180; Support wheel 181, said support wheel 181 are arranged on the said support 180; Be arranged on said support wheel 181 1 sides, and intermeshing in twos first gear 182, second gear 183, and the 3rd gear 184; Be integrally formed and intermeshing the 4th gear 185 with said second gear 183; Be integrally formed and intermeshing the 5th gear 186 with said the 3rd gear 184, and be meshing with each other with said the 5th gear 186 external tooths with said the 4th gear 185 and be positioned at the crawler belt gear 187 in said support wheel 181 outsides.Wherein, said Athey wheel 18a connects through being connected support 188 with said Athey wheel 18b.In the motor process of said Athey wheel 18a, 18b, first gear 181 that said external motor (not shown) drives between said second gear 183 and said the 3rd gear 184 rotates; Said first gear 181 also drives said second gear 183 and 184 rotations of said the 3rd gear; Said second gear 183 is with said the 3rd gear 184 and then drive said the 4th gear 185 and 186 rotations of said the 5th gear, drives the rotation of said crawler belt gear 187 with this.

Please continue to consult Fig. 6, and combine to consult Fig. 7, Fig. 8, Fig. 9, the shown in Figure 7 chance for according to the invention pair of Athey wheel obstacle detouring wheelchair hinders the sketch map that preparation is crossed.Shown in Figure 8 is that according to the invention pair of Athey wheel obstacle detouring wheelchair chance barrier crossed the sketch map of process.The sketch map that hinders the process of crossing that is near completion of meeting for according to the invention pair of Athey wheel obstacle detouring wheelchair shown in Figure 9.

When according to the invention pair of Athey wheel obstacle detouring wheelchair 1 runs into protrusion barrier 2 and prepares to cross; Said Athey wheel 18b adjustment state; Enumerate ground, said pair of Athey wheel obstacle detouring wheelchair 1 is with the last barrier 2 of speed v, and L is the contact length on said Athey wheel 18b and ground; When center of gravity was positioned at the left side of barrier 2 fulcrum O, the angle between this moment said Athey wheel 18b bottom line and the ground is t and increasing gradually in time

$\sin \mathrm{\α}=\frac{h_0}{L-\mathrm{vt}}$

In the formula: h ₀Be the height of barrier 2, because h ₀<<l, so the α value is less, sin α=α, this moment, the angular velocity omega and the angular acceleration a of two Athey wheel obstacle detouring wheelchairs 1 were respectively

$\mathrm{\&omega;}=\frac{\mathrm{d\&alpha;}}{\mathrm{dt}}=\frac{{\mathrm{vh}}_o}{{(1-\mathrm{vt})}^2}$

$a=\frac{{\mathrm{d\&alpha;}}^2}{\mathrm{<figure-callout\; id="2"\; label="d\; t"\; filenames="HDA00001792935600041.png,HDA00001792935600042.png"\; state="\{\{state\}\}">d</figure-callout>}{t}^{}{}^2}=\frac{{2v}^2{h}_o}{{(1-\mathrm{vt})}^3}$

In the process of according to the invention pair of Athey wheel obstacle detouring wheelchair 1 throwing over barrier 2, said function stair-climbing wheel chair 1 continues to climb up barrier 2 with speed v, and center of gravity surpasses fulcrum O; Under the effect of gravity and movement velocity; Said function stair-climbing wheel chair 1 is done plane motion, around said fulcrum O rotate on one side, move forward on one side; Position of centre of gravity is gradually away from the fulcrum O of barrier 2 at this moment, and center of gravity is got square to fulcrum O and increased gradually.

If h is the height of C.G. of said function stair-climbing wheel chair 1, L ₁Distance for said function stair-climbing wheel chair 1 center of gravity earth point before the Athey wheel 18b.According to dynamic differential equation, can get said function stair-climbing wheel chair 1 around the Changing Pattern of the angular acceleration a that puts with α.

J×a＝mg×cosα×(vt-L ₁+h×tanα)

In the formula: J is the rotary inertia of function stair-climbing wheel chair 1.

When said function stair-climbing wheel chair 1 moves forward; This moment, the front end of said function stair-climbing wheel chair 1 at first landed; Said function stair-climbing wheel chair 1 has bigger inertia, just impacts ground with bigger impulsive force, causes the strong collision on function stair-climbing wheel chair 1 and ground.Enumerate ground, suppose that the preceding touchdown point of said Athey wheel 18a is the A point, its speed is U _A, the speed of establishing after the collision is V _A, the impact inertia I in the time of can setting up said function stair-climbing wheel chair 1 preceding ground connection cake and collision on the ground according to theorem of impulse.

$I^2={2\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA00001792935600041.png,HDA00001792935600042.png"\; state="\{\{state\}\}">m</figure-callout>}}^2\&times;{\mathrm{\&omega;}}^2{\left[\frac{I}{m\&times;{\mathrm{\&omega;}}^2\&times;\cos \mathrm{\&alpha;}-0.5\&times;L}\right]}^2+2\mathrm{mJ}{\mathrm{\&omega;}}^2$

When said function stair-climbing wheel chair 1 bumped with ground, because acceleration and inertia, said function stair-climbing wheel chair 1 transferred to suddenly around preceding earth point A upset by rotating around fulcrum O, thereby produces an additional inertia angle c.

Enumerate ground, the dynamic analysis when establishing said function stair-climbing wheel chair 1 to climb next inclination angle being the barrier 2 of g, known said function stair-climbing wheel chair 1 height of C.G. is h, the line kA of center of gravity k and preceding earth point A and the angle of Athey wheel 18a are the r angle.According to principle of conservation of energy, the relation of angular velocity in the time of can setting up additional inertia angle c with collision:

$c=\arcsin [\frac{J\&times;{\mathrm{\&omega;}}^2}{2\mathrm{<figure-callout\; id="2"\; label="mg\; h"\; filenames="HDA00001792935600041.png,HDA00001792935600042.png"\; state="\{\{state\}\}">mg</figure-callout>}\sqrt{h^{}}\sqrt{{}^2+L^2}}-\sin (\mathrm{\&alpha;}+r)]-(\mathrm{\&alpha;}+r)$

Can know from said analysis, when said function stair-climbing wheel chair 1 is gone downstairs, whenever climb down the one-level step and just be equivalent to obstacle of said function stair-climbing wheel chair 1 leap, produce an additional inertia angle simultaneously.When a+c+r 90 ° the time, and said function stair-climbing wheel chair 1 turn forward the back because action of gravity falls back again barrier 2, make 2 pairs of said function stair-climbing wheel chairs 1 of barrier produce vibration and impact.That is twice impact just appears when, said function stair-climbing wheel chair 1 is whenever striden the next stage step.As a+c+r>90 ° times, this moment, center of gravity surpassed critical state, and said function stair-climbing wheel chair 1 will turn over forward around preceding earth point A just, tumbles downstairs.Apparently, prevent that said function stair-climbing wheel chair 1 from tumbling downstairs, and then need control the movement velocity of said function stair-climbing wheel chair 1.Significantly, the angular velocity of said function stair-climbing wheel chair 1 is big more, and the inertia angle is also big more.When said function stair-climbing wheel chair 1 is in critical state; Its maximum angular rate is in

formula; ω is an angular velocity; M is two Athey wheel obstacle detouring wheelchair quality; H is the height of C.G. of two Athey wheel obstacle detouring wheelchairs, and L is Athey wheel and ground contact length, and J is the rotary inertia of two Athey wheel obstacle detouring wheelchairs; α is the angle between Athey wheel bottom line and the ground, and r is two Athey wheel obstacle detouring wheelchair centers of gravity and the line of preceding earth point and the angle of Athey wheel.

In sum; The structural failure of the switching mechanism utilization five-rod compensation four-bar mechanism of according to the invention pair of Athey wheel obstacle detouring wheelchair; Realize high-precision motion output or accomplish more complicated motion rule, and adopt two crawler belt mode obstacle detourings, guarantee the stationarity of obstacle detouring.

Those skilled in the art all should be appreciated that, under the situation that does not break away from the spirit or scope of the present invention, can carry out various modifications and modification to the present invention.Thereby, if when any modification or modification fall in the protection domain of appended claims and equivalent, think that the present invention contains these modifications and modification.

Claims (4)

1. two Athey wheel obstacle detouring wheelchair is characterized in that said pair of Athey wheel obstacle detouring wheelchair comprises:

Chair portion, said chair portion is used for user and takes;

Switching mechanism; Said switching mechanism is arranged on said chair subordinate; And be used in the roller transmission of said pair of Athey wheel obstacle detouring wheelchair and the switching between the Athey wheel transmission; Said Athey wheel transmission has through connecting first Athey wheel and second Athey wheel that support connects, and said first Athey wheel and said second Athey wheel further comprise support; Support wheel, said support wheel are arranged on the said support; Be arranged on said support wheel one side, and intermeshing in twos first gear, second gear, and the 3rd gear; Be integral and intermeshing the 4th gear with said second gear shape; Be integral and intermeshing the 5th gear with said the 3rd gear shape; And be meshing with each other with said the 4th gear and said the 5th gear external tooth and be positioned at the crawler belt gear in the said support wheel outside; The maximum angular rate of said Athey wheel is in

formula; ω is an angular velocity; M is multi-functional stair-climbing wheel chair quality; H is the height of C.G. of multi-functional stair-climbing wheel chair, and L is Athey wheel and ground contact length, and J is the rotary inertia of multi-functional stair-climbing wheel chair; α is the angle between Athey wheel bottom line and the ground, and r is the line of multi-functional stair-climbing wheel chair center of gravity and preceding earth point and the angle of Athey wheel.

2. as claimed in claim 1 pair of Athey wheel obstacle detouring wheelchair; It is characterized in that; One of said switching mechanism end flexibly connects with being arranged on said pair of first fixing point on the Athey wheel obstacle detouring wheelchair, and the other end of said switching construction is fixedly connected with second fixing point on the said pair of Athey wheel obstacle detouring wheelchair.

3. as claimed in claim 1 pair of Athey wheel obstacle detouring wheelchair is characterized in that, an end of first bar of said switching mechanism and said first fixing point flexibly connect; One end of second bar of the other end of said first bar and said switching mechanism flexibly connects; First linear electric motors, one end on the other end of said switching mechanism second bar and said the 4th bar flexibly connects; The axle type connects first kink of said second bar at the end points place of said the 3rd bar; The other end of said the 4th bar and said the 5th bar flexibly connect; The other end of said the 5th bar is fixedly connected with said the 3rd bar; One end of said the 6th bar is fixedly installed on said the 3rd bar; One end of second linear electric motors on the other end of said the 6th bar and said the 7th bar flexibly connects; One end of the other end of said the 7th bar and said the 8th bar flexibly connects; The other end of said the 8th bar flexibly connects with an end of the bar that is fixedly installed on second fixing point; Second kink of said the 8th bar connects in the end points axle type of said the 3rd bar.

4. as claimed in claim 1 pair of Athey wheel obstacle detouring wheelchair is characterized in that, the switching mechanism of said pair of Athey wheel obstacle detouring wheelchair may further comprise the steps in handoff procedure:

Execution in step S1: said first linear motor driving, and extend laterally growth;

Execution in step S2: an end that differs from said junction point of second bar that flexibly connects with said first linear electric motors is the center of circle with first fixing point, and the length between 2 is that radius moves clockwise; That is, first bar clockwise rotates around the A point, and said second bar is under the promotion of said first linear electric motors, and along with first bar rotates, and the end points C point that promotes the 3rd bar moves up and down;

Execution in step S3: said the 8th bar end that differs from second fixing point around said bar under the driving of second direct current generator rotates, and under the promotion of said the 8th bar, makes the end points J point of said the 3rd bar move up and down.

Execution in step S4: in the end points C of said the 3rd bar point, J point move up and down process, realize the up-down of Athey wheel, and then realize the switching between roller transmission and the Athey wheel transmission.

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