CN103395340A - Stair climbing wheel - Google Patents
Stair climbing wheel Download PDFInfo
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- CN103395340A CN103395340A CN2013103609943A CN201310360994A CN103395340A CN 103395340 A CN103395340 A CN 103395340A CN 2013103609943 A CN2013103609943 A CN 2013103609943A CN 201310360994 A CN201310360994 A CN 201310360994A CN 103395340 A CN103395340 A CN 103395340A
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Abstract
The invention provides a stair climbing wheel and solves the problems that a gravity center moving curve is not smooth when a conventional transport tool suitable for being used for climbing a stair climbs stairs, and the tool cannot stop power output during a stair-climbing process. The technical scheme is as follows: at least three spokes which are uniformly distributed on the circular outer surface of a shaft sleeve are arranged on the shaft sleeve of the wheel, and arc-shaped track grooves are formed in the spokes; a steel ring is formed by sector-shaped frameworks with the same quantity as that of the spokes; a limiting block matched with an arc-shaped track groove is fixed on one straight side of each sector-shaped framework; and each spoke is fixed on the sector-shaped framework matched with the spoke. The stair climbing wheel has the benefits as follows: the wheel can adapt to the leveled ground as well as a stair type plane; and when the wheel climbs the stairs, the gravity center curve is stable, and the wheel can be stopped and restarted at any time as required. The stair climbing wheel also has the characteristics of extremely high control accuracy, high practicability, low cost and the like.
Description
Technical field
The present invention relates to the level and smooth mobile field of ladder, specifically a kind of cart for travelling up or down stairs wheel that can make vehicle increase with smooth curve.
Background technology
Stair are one of necessary component of modern multi-story and high-rise building, and healthy normal person is unimpeded for stair activity.But, suffer from deformity, weak old man will produce much inconvenience while on stair, advancing.People, pull with the very inconvenience of Shi Yihui of advancing on stair of the dolly of weight, it is main because stair are a kind of important floor gap vertical transportation means, and drop is larger; So pull dolly, can produce severe jolt upstairs the time.
The existing transportation means that is applicable to climbing stair roughly can be divided into two kinds.A kind of is to have a plurality of wheels, adopts the transportation means of planetary gear structure, and in Qi Zaipa building process, gravity center shift is level and smooth not, during motion, still can produce and jolt, and, because structure principle causes drive torque bigger than normal, waste time and energy.Adopt track structure can guarantee to climb the gravity center shift of transportation means in the building process level and smooth, can not produce significantly and jolt.In Dan Zaipa building process, can not arbitrarily stop, can not losing propulsive effort, must directly reach landing.
Summary of the invention
The purpose of this invention is to provide a kind of cart for travelling up or down stairs wheel that can make vehicle increase with smooth curve.
Technical scheme of the present invention is: it comprises spoke and steel ring, it is characterized in that: on the axle sleeve of wheel at least with three spokes that are evenly distributed on the axle sleeve rounded outer surface, on described spoke also with the arc track groove; Described steel ring is comprised of the fan-like pattern skeleton identical with spoke quantity, on a straight flange of fan-like pattern skeleton, is fixed with the limiting stopper that matches with the arc track groove; Each spoke all is fixed on fan-like pattern skeleton with matching.
Described spoke all is in same plane.
In the groove of above-mentioned arc track groove, two ends all are equipped with locating piece.
The end of spoke and limiting stopper are fixed on the same straight flange of fan-like pattern skeleton.
Cart for travelling up or down stairs wheel of the present invention refers in particular on the wheel that is applied in wheelchair.
Cart for travelling up or down stairs wheel of the present invention refers in particular on the wheel that is applied in little shape load-carrying vehicle.
When the steel ring of wheel launched, the profile of steel ring was the figure of at least three end to end compositions of sail shape curve.The upper end that described sail shape curve is straight line and an end of a camber line connect to form, and the other end of its mean line is connected with the straight-line lower end of second sail shape curve, so repeatedly surrounds the steel ring profile.
The model system of axes: first determine a bit to put as initial point and to set up fixed coordinate system xoy take this as the wheel contour center, the x axle is parallel to the stair ascent direction, with upwards for just; The y axle is perpendicular to the stair ascent direction, with upwards for just.In the wheel movement process, wheel is done clickwise around initial point O on one side, and the x axle of an edge xoy system of axes carries out translation.So the movement relation between wheel and stair can be equivalent to wheel and do clickwise around fixed origin O, and step moves down along oblique line E direction.Wheel system of axes x'oy' is consistent with fixed coordinate system xoy initial position, and O does clickwise around initial point.The step system of axes is take a D as initial point, and horizontal direction is the x axle, and vertical direction is the y axle.
M: length of bench, the i.e. length of limit A in figure;
N: shoulder height, the i.e. length of limit B in figure;
S: the step step-length,
γ: ascending angle,
P: the step number that one week of rotation of wheel promotes;
T: the distance that step moves down along oblique line E;
H, L: the distance in step summit D initial position and xoy system of axes between y axle and x axle;
α: the angle of rotation of wheel system of axes is the function of miles of relative movement t, can be at the uniform velocity rotate or accelerate the arbitrary functions such as rotation, and for uniform movement is got in easy calculating,
.
Annotate: angle herein such as unreceipted is Circular measure.
Then calculate equation of locus: the fortune merit mode of step in the xoy system of axes, for along x axle negative direction, to move t, can obtain each limit of step, the equation of locus of point in the xoy system of axes:
The path of motion expression formula of some D in the xoy system of axes:
The path of motion expression formula of limit A in the xoy system of axes:
Above-mentioned expression formula is converted in wheel system of axes x'oy' to the angle between xoy system of axes and x'oy' system of axes
, obtain following equation.
The path of motion expression formula of some D in the x'oy' system of axes:
The path of motion expression formula of limit A in the x'oy' system of axes:
In the x'oy' system of axes, the path of motion of step is that an edge oblique line E moves down, Yi Bian around angle [alpha] of initial point O left-hand revolution.Each limit of step two adjacent edges in motion process form an intersection point, and these intersection points form a curve, and the path of motion of summit D has also formed a curve, the expression formula of curvilinear equation following (following equation is in the x'oy' system of axes);
The first paragraph curve: limit A in motion process, the intersection point equation of locus that two adjacent edges form:
Second segment curve: some D forms in motion process equation of locus:
Wherein:
,
,
,
,
C: the angle difference between two crossing straight lines, constant, c is less, and curve is unreasonable to be thought.
Take the intersection point A of curve 1 and curve 2 as starting point, take a B as End of Curve, the length of curve between 2 equals m; The curve A B that obtains is the wheel contour shape.Point A and some B are corresponding respectively
,
.
The track of center of circle O under the step coordinate:
,
Wheel contour is subjected to following parameter influence:
Step dimension: m, n;
The relative position of the wheel center of circle and step, i.e. H, L;
The step number P that one week of rotation of wheel climbs;
The rotation of wheel angle
And the functional relation between step miles of relative movement t.
In given m, n, P, rotation of wheel angle
And under the condition of the functional relation between step miles of relative movement t, the value by Rational choice H, L, be optimized profile, when the angle of the tangential direction of the tangent line of profile initial point and terminal is
The time, contour motion is the most steady.By this curve take initial point as annular array P time, connect the starting and terminal point of each several part profile, namely obtain a complete wheel contour.Connecting the lines of the starting point of adjacent profile and terminal as long as guarantee with step, not interfere, can be arbitrary shape.
The invention has the beneficial effects as follows and not only can make wheel adapt to ground grading but also can make wheel adapt to the staged plane of stair.During the Zai Pa building, not only the center of gravity curve is steady, and can be as required who be to stop restarting the present invention also to have a degree of control high, reliable and stable, the characteristics such as practical, with low cost.
The accompanying drawing explanation
Fig. 1 is system of axes schematic diagram of the present invention;
Fig. 2 be of the present invention in system of axes the structural representation of wheel outline;
Fig. 3 be of the present invention in system of axes the motion structure schematic diagram of wheel outline;
Fig. 4 is structural representation of the present invention;
Fig. 5 is that structure of the present invention is climbed the building view;
Fig. 6 is steel ring outline curve synoptic diagram of the present invention.
Below in conjunction with accompanying drawing, by example, invention is described in further detail, but following example is only the present invention's example wherein, do not represent the rights protection scope that the present invention limits, the scope of the present invention is as the criterion with claim.
The specific embodiment
Referring to Fig. 4 ~ 5, on the axle sleeve 1 of wheel with five spokes 2 that are evenly distributed on the axle sleeve rounded outer surface, on described spoke also with arc track groove 3; Described steel ring is comprised of the fan-like pattern skeleton 4 identical with spoke quantity, on a straight flange of fan-like pattern skeleton, is fixed with the limiting stopper 6 that matches with the arc track groove; Each spoke all is fixed on fan-like pattern skeleton with matching.Described spoke all is in same plane.In the groove of above-mentioned arc track groove, two ends all are equipped with locating piece 5.The end of spoke and limiting stopper are fixed on the same straight flange of fan-like pattern skeleton.When the steel ring of wheel launched, the profile of steel ring was the figure of at least three end to end compositions of sail shape curve.The upper end that described sail shape curve is straight line and an end of a camber line connect to form, and the other end of its mean line is connected with the straight-line lower end of second sail shape curve, so repeatedly surrounds the steel ring profile.
Principle of the present invention is: referring to Fig. 1, the model system of axes: first determine a bit to put as initial point and to set up fixed coordinate system xoy take this as the wheel contour center, the x axle is parallel to the stair ascent direction, with upwards for just; The y axle is perpendicular to the stair ascent direction, with upwards for just.In the wheel movement process, wheel is done clickwise around initial point O on one side, and the x axle of an edge xoy system of axes carries out translation.So the movement relation between wheel and stair can be equivalent to wheel and do clickwise around fixed origin O, and step moves down along oblique line E direction.Wheel system of axes x'oy' is consistent with fixed coordinate system xoy initial position, and O does clickwise around initial point.The step system of axes is take a D as initial point, and horizontal direction is the x axle, and vertical direction is the y axle.
M: length of bench, the i.e. length of limit A in figure;
N: shoulder height, the i.e. length of limit B in figure;
S: the step step-length,
γ: ascending angle,
P: the step number that one week of rotation of wheel promotes;
T: the distance that step moves down along oblique line E;
H, L: the distance in step summit D initial position and xoy system of axes between y axle and x axle;
α: the angle of rotation of wheel system of axes is the function of miles of relative movement t, can be at the uniform velocity rotate or accelerate the arbitrary functions such as rotation, and for uniform movement is got in easy calculating,
.
Annotate: angle herein such as unreceipted is Circular measure.
Then calculate equation of locus: the fortune merit mode of step in the xoy system of axes, for along x axle negative direction, to move t, can obtain each limit of step, the equation of locus of point in the xoy system of axes:
The path of motion expression formula of some D in the xoy system of axes:
The path of motion expression formula of limit A in the xoy system of axes:
Above-mentioned expression formula is converted in wheel system of axes x'oy' to the angle between xoy system of axes and x'oy' system of axes
, obtain following equation.
The path of motion expression formula of some D in the x'oy' system of axes:
The path of motion expression formula of limit A in the x'oy' system of axes:
In the x'oy' system of axes, the path of motion of step is that an edge oblique line E moves down, Yi Bian around angle [alpha] of initial point O left-hand revolution.Each limit of step two adjacent edges in motion process form an intersection point, and these intersection points form a curve, and the path of motion of summit D has also formed a curve, the expression formula of curvilinear equation following (following equation is in the x'oy' system of axes);
The first paragraph curve: limit A in motion process, the intersection point equation of locus that two adjacent edges form:
Second segment curve: some D forms in motion process equation of locus:
Wherein:
,
,
,
,
C: the angle difference between two crossing straight lines, constant, c is less, and curve is unreasonable to be thought.
Take the intersection point A of curve 1 and curve 2 as starting point, take a B as End of Curve, the length of curve between 2 equals m; The curve A B that obtains is the wheel contour shape.Point A and some B are corresponding respectively
,
.
The track of center of circle O under the step coordinate:
,
Referring to Fig. 2, wheel contour is subjected to following parameter influence:
Step dimension: m, n;
The relative position of the wheel center of circle and step, i.e. H, L;
The step number P that one week of rotation of wheel climbs;
The rotation of wheel angle
And the functional relation between step miles of relative movement t.
In given m, n, P, rotation of wheel angle
And under the condition of the functional relation between step miles of relative movement t, the value by Rational choice H, L, be optimized profile, when the angle of the tangential direction of the tangent line of profile initial point and terminal is
The time, contour motion is the most steady.By this curve take initial point as annular array P time, connect the starting and terminal point of each several part profile, namely obtain a complete wheel contour.Connecting the lines of the starting point of adjacent profile and terminal as long as guarantee with step, not interfere, can be arbitrary shape.
Referring to Fig. 3, when the step number that climbs when one week of rotation of wheel is P, replace the central angle of the circular arc of wheel contour to be
, arc radius R is
, the centre of gration of wheel and the relative position of circular arc have determined the path of motion of rotation of wheel center in the process of climbing.
Set up system of axes as shown in the figure: arc-coordinate be xoy take the circular arc center of circle as initial point, horizontal direction is the x axle, vertical direction is the y axle; Step system of axes x o y is take a step initial point as the center of circle, and horizontal direction is the x axle, and vertical direction is the y axle.Wheel center
At arc-coordinate, be that coordinate in xoy is
.When system of axes rolls forward along circular arc A,
Point forms in step system of axes x o y Movement Locus Equation is:
In formula:
For the anglec of rotation of system of axes xoy,
.
The point
Path of motion be the path of motion of rotation of wheel axle, be subjected to its initial position
Impact.When
The terminal of the path of motion of point overlaps with the starting point of next section path of motion, is conducive to rotation of wheel most, has:
With the point
For setting up system of axes in the center of circle
, connect
And making its midperpendicalar BC, some D is any point on midperpendicalar BC.Circular arc A, around a D left-hand revolution, is made to its center of circle O and point
Overlap, so just obtained circular arc A.By circular arc A around point
Array P time, just obtain the profile profile of whole wheel.The position of point D only exerts an influence to the path of motion of circular arc A, namely only affects the position after circular arc A folds.By circular arc A around point
Do annular array P time, just obtained complete wheel profile profile.Each section circular arc is not connected mutually, and can rotate around a bit.The profile similarity that shape preamble during expansion is mentioned, be adapted at moving under the stair environment; During contraction, be a complete circular wheel, be adapted at moving under the environment of plane.According to national building standard, the step-length of indoor stair should be not less than 26cm, walks highly should be not more than 17.5cm, gets step here and is of a size of: m=26cm, n=17.5cm;
Make P=5,5 steps namely climb in one week of rotation of wheel; L=17.7cm, H=12cm; Get step-length
Above-mentioned parameter is brought in the curvilinear equation under the x'oy' system of axes, obtains following two curvilinear equations:
Wherein:
,
,
,
With this, draw this cart for travelling up or down stairs wheel appearance curve.
Claims (7)
1. cart for travelling up or down stairs wheel, it comprises spoke and steel ring, it is characterized in that: on the axle sleeve of wheel at least with three spokes that are evenly distributed on the axle sleeve rounded outer surface, on described spoke also with the arc track groove; Described steel ring is comprised of the fan-like pattern skeleton identical with spoke quantity, on a straight flange of fan-like pattern skeleton, is fixed with the limiting stopper that matches with the arc track groove; Each spoke all is fixed on fan-like pattern skeleton with matching.
2. a kind of cart for travelling up or down stairs is taken turns according to claim 1, and it is characterized in that: described spoke all is in same plane.
3. a kind of cart for travelling up or down stairs is taken turns according to claim 1, it is characterized in that: in the groove of above-mentioned arc track groove, two ends all are equipped with locating piece.
4. a kind of cart for travelling up or down stairs is taken turns according to claim 1, and it is characterized in that: the end of spoke and limiting stopper are fixed on the same straight flange of fan-like pattern skeleton.
5. a kind of cart for travelling up or down stairs is taken turns according to claim 1, it is characterized in that: cart for travelling up or down stairs wheel of the present invention refers in particular on the wheel that is applied in wheelchair.
6. a kind of cart for travelling up or down stairs is taken turns according to claim 1, it is characterized in that: cart for travelling up or down stairs wheel of the present invention refers in particular on the wheel that is applied in little shape load-carrying vehicle.
7. a kind of cart for travelling up or down stairs is taken turns according to claim 1, it is characterized in that: when the steel ring of wheel launched, the profile of steel ring was the figure of at least three end to end compositions of sail shape curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310360994.3A CN103395340B (en) | 2013-08-19 | 2013-08-19 | Stair climbing wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310360994.3A CN103395340B (en) | 2013-08-19 | 2013-08-19 | Stair climbing wheel |
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|---|---|
| CN103395340A true CN103395340A (en) | 2013-11-20 |
| CN103395340B CN103395340B (en) | 2015-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310360994.3A Expired - Fee Related CN103395340B (en) | 2013-08-19 | 2013-08-19 | Stair climbing wheel |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443101A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Deforming wheel mechanism for stair climbing robot |
| CN104443093A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Unmanned ladder climbing robot |
| CN106143552A (en) * | 2016-08-19 | 2016-11-23 | 邢君 | A kind of construction go-cart |
| CN112319658A (en) * | 2020-11-20 | 2021-02-05 | 哈尔滨蜜国郎物业有限公司 | Transport robot |
| KR20210036025A (en) * | 2019-09-25 | 2021-04-02 | 넥센타이어 주식회사 | Rolling apparatus for vehicle racing |
| CN112606625A (en) * | 2020-11-09 | 2021-04-06 | 北京交通大学 | Deformation wheel based on four-bar mechanism |
| CN112977581A (en) * | 2021-03-01 | 2021-06-18 | 李伦伟 | Cart for building construction |
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| CN102350917A (en) * | 2011-07-27 | 2012-02-15 | 中国科学院深圳先进技术研究院 | Folding combined obstacle detouring wheel |
| CN103054677A (en) * | 2012-11-29 | 2013-04-24 | 广西大学 | Electrically powered wheelchair capable of stably walking on staircase and flat ground |
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| DE102006049711A1 (en) * | 2005-10-19 | 2007-05-03 | Kotlarov, Peter | Wheelchair, has stairs climbing unit like crawler and including lever which is rotatably fixed at frame of unit or wheelchair and driven with respect to frame of unit, where rotating axle of lever has specific distance from seat rear edge |
| CN201111480Y (en) * | 2007-05-21 | 2008-09-10 | 张以毅 | Wheel capable of going upstairs and downstairs |
| CN201492596U (en) * | 2009-05-14 | 2010-06-02 | 谢传坤 | Double-purpose electric wheel chair capable of going upwards and downstairs and going on flat road |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443101A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Deforming wheel mechanism for stair climbing robot |
| CN104443093A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Unmanned ladder climbing robot |
| CN106143552A (en) * | 2016-08-19 | 2016-11-23 | 邢君 | A kind of construction go-cart |
| KR20210036025A (en) * | 2019-09-25 | 2021-04-02 | 넥센타이어 주식회사 | Rolling apparatus for vehicle racing |
| KR102236120B1 (en) | 2019-09-25 | 2021-04-05 | 넥센타이어 주식회사 | Rolling apparatus for vehicle racing |
| CN112606625A (en) * | 2020-11-09 | 2021-04-06 | 北京交通大学 | Deformation wheel based on four-bar mechanism |
| CN112606625B (en) * | 2020-11-09 | 2022-03-01 | 北京交通大学 | Deformation wheel based on four-bar mechanism |
| CN112319658A (en) * | 2020-11-20 | 2021-02-05 | 哈尔滨蜜国郎物业有限公司 | Transport robot |
| CN112977581A (en) * | 2021-03-01 | 2021-06-18 | 李伦伟 | Cart for building construction |
| CN112977581B (en) * | 2021-03-01 | 2022-12-06 | 中建三局绿色产业投资有限公司 | Shallow for construction |
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| CN103395340B (en) | 2015-05-06 |
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