CN108024895A - Wheel and crawler belt mixed type moving mechanism - Google Patents
Wheel and crawler belt mixed type moving mechanism Download PDFInfo
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- CN108024895A CN108024895A CN201780002519.5A CN201780002519A CN108024895A CN 108024895 A CN108024895 A CN 108024895A CN 201780002519 A CN201780002519 A CN 201780002519A CN 108024895 A CN108024895 A CN 108024895A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 115
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000002195 synergetic effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 19
- 230000009194 climbing Effects 0.000 description 15
- 230000005484 gravity Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 9
- 230000005520 electrodynamics Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 5
- 241000282326 Felis catus Species 0.000 description 3
- 241000219098 Parthenocissus Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
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- 210000000056 organ Anatomy 0.000 description 2
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- 238000012827 research and development Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 208000012271 tenesmus Diseases 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/043—Mid wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
A movement mechanism comprising a first wheel unit, preferably for acting on a flat type work surface, and a second track unit, preferably for cooperating with said first wheel unit on a changing type work surface comprising stairs with different slopes, rough road surfaces and all terrain ground, operatively connected and moving synchronously.
Description
Technical field
The present invention relates to a kind of moving mechanism, specifically, is related to a kind of wheel and the hybrid moving mechanism of crawler belt, it has
There is balance system, in manipulating direction of travel with two wheels and with the balance of passenger on level road, enable walking mechanism
Easily in being slided on level road, and compact and flexibly very；When running into rugged road, barrier or stair, walking mechanism
Wheel and crawler belt can be used in mixed way, so as to easily walk in rugged hill road, the barrier across prevailing roadway
And the stair that safely continuous climbing multistage and angle differ.
Background technology
Most mechanical combination walking mechanism, is mainly all supplied with mankind's use, and is also no lack of for disabled person in the middle
Scholar, so the comfort level of walking mechanism is primary concern item.And next, since individuals with disabilities have on body
Defect, makes them more be desirable to be no different with ordinary person.For example, when they are walked on street, they are not intended to take ratio
The more spaces of ordinary person, then current wheelchair designers, are mostly inclined to the volume-diminished of wheelchair, improve them in life
Inconvenience.Unfortunately, when wheelchair is smaller, its function is also fewer, especially when running into rugged road, barrier and stair, body
The tiny wheelchair of product all can not be by, order is original wish to be no different with ordinary person they, often want ordinary person to assist them on the contrary.
Thus, it is possible to the wheelchair of speeling stairway and leaping over obstacles just comes into being.However, will safely leaping over obstacles and speeling stairway,
Its volume also must be more huge.Moreover, individuals with disabilities also have a hope, being exactly can be such as ordinary person, while walking one
Side can do other thing using both hands.To accomplish the requirement of the above at the same time, including：Comfort level is high, volume is tiny, energy is safe
Ground leaping over obstacles and speeling stairway, and passenger is not necessarily intended to hand come the walking mechanism manipulated, it is definitely not have in the world now
Have.Slightly close invention or product is as follows：
1. Chinese invention patent number 201510555652.6 discloses a kind of crawler type walking mechanism (see Fig. 1 a), it is invented
" design of water droplet formula crawler belt " combined using big small wheels, can climb stair, smooth road of neatly walking that angle differs
Face, also can safely walk crankcase ventilaton and across obstacle.But just because of its function is too many, seat needs often lifting or preceding
Swing afterwards, before forearm often will be stretched again or after contracting, complicated structure causes passenger to need to manipulate with both hands, and volume is larger
It is difficult with manipulation.And it has to be noticed that although front-wheel is landed design using universal wheel during level road, trailing wheel is still shoe in fact
Band lands, and changes the shape design of crawler belt anyway, its comfort level all the time can not be compared with tire.Conclusion is that it relaxes
Appropriateness is not good enough, volume is not tiny enough, also has to passenger with hand come steer direction.
2. Hong Kong patent application number 16109224.1 discloses a kind of crawler-type mobile mechanism (such as Fig. 1 b), it invents profit
With " lightening crawler belt design ", stair, smooth road surface of neatly walking that angle differs can be climbed, also because of its uniqueness
Lightning shape, makes forearm tightly to step on step surface when climbing ladder, greatly increases security.It is but preceding when walking on level road
Trailing wheel is still crawler belt and lands, its comfort level, which is still, is unable to reach ideal.Conclusion is, its comfort level is not good enough, volume is inadequate
It is tiny, also have to passenger with hand come steer direction.
3. there is a wheelchair on the market, it is using four-wheel walking (such as Fig. 1 c) in level road, wheel can be received when climbing ladder
Rise, change and (such as Fig. 1 d) is climbed with full crawler belt.It is relatively flexibly comfortable when benefit is level land, it can also accomplish the function of speeling stairway.But
Because putting into practice wheel and crawler belt action alternate with each other, two groups of different drive motors must be used, that is, amount to four
Motor, also adds the cost and complexity of product.Ladder is climbed using a pair of straight and flat crawler belt plus it, makes crawler belt can only
The terraced angle of step is acted on, makes wheelchair very unstable and dangerous.Conclusion is, it is bulky, fail safely obstacle detouring and climb
Ladder, also have to passenger with hand come steer direction.
4. university of Switzerland discloses an electric wheelchair product prototype (Fig. 1 e and 1f), when level road is walked, it uses two
Wheel contacts to earth, and with the direction of body-sensing balance system manipulation wheelchair.But the product prototype can be connect in speeling stairway using full crawler belt
Touch step (such as Fig. 1 h), so its crawler belt combination must possess certain length, even if its in level road pattern, can be by crawler belt group
Conjunction is packed up, but also takes sizable space (such as Fig. 1 f).The product prototype is the same with general ladder work's tool of climbing, and is all using two
Each one of side is both long and straight crawler belt climbs ladder, and crawler belt is equally all merely able to " acting on terraced angle " (as shown in Fig. 1 h circles), its
Degree of safety is definitely insufficient.And it must be noted that its larger wheels is completely liftoff at the moment, but wheel is because be using same with crawler belt
One group of driving motor, so while wheel, which does not have assistance, climbs ladder, and is to maintain operating and wastes energy.In addition, the production
Product prototype is when reaching ladder top, it is necessary to support wheel (as shown in Fig. 1 j circles) is put down in due course, if putting too early,
Support wheel can stick step, put it is too late wheelchair can be made to drop suddenly, equally passenger can all be formed dangerous.In order to make support
Wheel can be put in position in due course, it is necessary to and make sensor make perfect cooperation with control system,
And ensure never to malfunction.Unfortunately, existing sensor is highly susceptible to external interference and malfunctions, if to accomplish that zero goes out
If mistake, that is, allow to accomplish also to need to launch great resource and money, the research and development time and cost for making product increase.
The content of the invention
The shortcomings that in order to solve the problems, such as the prior art and, the present invention provides a kind of " wheel and the hybrid moving machine of crawler belt
Structure ".When walking on level road, it can use two wheel balanced modes, and walking mechanism is manipulated using the center of gravity of passenger's body
Direction, the both hands of passenger can be soared to do other thing；When rugged road or stair are walked, it can utilize stretchable shoe
Band, forms the mixed structure of wheel and crawler belt, and substantially " ︿ " shape is formed on the wherein bottom of walking mechanism, ideally safely to climb
Climb stair, the cross-country and obstacle detouring that angle differs.This mechanical structure mainly includes or is composed of 3 parts, including：Wheel is put down
Weigh walking mechanism, stretchable pedrail mechanism and prop balanced controls.
A kind of moving mechanism according to the present invention, including be operationally connected with each other preferred with synchronously movement/driving
The first runner unit as active cell for being fixed for being acted on flat type working face and position and it is preferred for
On change type working face including the stair with different gradients, rough ground and full landform ground with the first runner unit
Position-variable the second crawler belt as driven unit relative to the first runner unit for cooperating and being movably connected
Unit, wherein：
The moving mechanism is configured to the runner drive pattern moved on suitable for flat work surface and suitable for changing work
Switch between the runner and crawler belt combination drive pattern that are moved on face；
In the runner drive pattern, the moving mechanism be configured to preferably by motion sensing control system operating and
Second track unit be configured to the first runner unit in length or direction of travel it is parallel or substantially in parallel
Set；And
In the runner and crawler belt combination drive pattern, the moving mechanism is configured to preferably manually control system
To operate and second track unit is configured to the first runner unit to intersect and be preferably formed as to have substantially " ︿ "
The contact being in contact with the working face/effect bottom surface portions or bottom profile of the shape entered, to adapt to and be close to different changes
Type working face can arbitrarily move on change type working face.
In some embodiments of moving mechanism according to the present invention, second track unit is switchably and/or can
Rotationally changed between spare space and operating position, at the operating position, second track unit is described in
The direction extension of working face and preferably downward pivoting until its front end and the working face offset and with described first turn
Wheel unit is collectively forming the contact/effect bottom surface portions or bottom profile of the shape with " ︿ ", and thereby makes the moving machine
Structure switches to runner and crawler belt combination formula driving structure by rotary-type driving structure；And at the spare space, described second
Track unit is directed away from the direction retraction of the working face and preferably rotates up to upwards about axis to separate with the working face
With generally in position parallel to the first runner unit and above, and thereby make the moving mechanism by runner and
Crawler belt combination formula driving structure switches to rotary-type driving structure.
In certain embodiments, the first runner unit and second track unit are configured to by making both speed changes
Ratio becomes identical and/or makes the consistent gear shift component of both running speeds to be operationally connected with each other and synchronously transport
Dynamic, the gear shift component includes being arranged at the gear wheel of the first runner unit and is arranged at second track unit
Pinion gear and be preferably disposed in both is synchronously moved between the two preferably for chain connection or driving member；
Wherein described gear wheel is carried out with the radius of turn ratio or outside diameter ratio of the first runner unit and the pinion gear with described second
The radius of turn ratio or outside diameter ratio of tape cell are mutually equivalent.
In further embodiments, further include carriage for accommodating moving mechanism's operating unit and/or operating personnel or
Bearing unit and be operably connected therewith be used for the balance of moving mechanism described in observing and controlling and walking states and be preferably point
Vertical the first balance for being respectively used to the runner drive pattern being used alternatingly is with driving unit and for the runner and shoe
The second balance and driving unit with combination drive pattern；In the runner drive pattern, first balance and driving are single
Member starts maintains the balance of carriage or bearing unit and definite direction of travel with the equilibrium state corresponding to the moving mechanism
And remain turned-off second balance and driving unit；And in the runner and crawler belt combination drive pattern, it is described
Second balance and driving unit start maintains the carriage or bearing unit with the equilibrium state corresponding to the moving mechanism
Balance and make its bearing-surface be always generally parallel to horizontal plane and definite direction of travel and make it is described first balance and driving
Unit remains turned-off.
In certain embodiments, the length of second track unit and the carriage or the length of bearing unit substantially phase
With substantially can be integrally accommodated under the carriage or bearing unit in the runner drive pattern.The length ratio
The prior art can be short by more than 20%, so as to advantageously save space.
In certain embodiments, the first runner unit includes wheel hub motor, is placed coaxially on the wheel hub motor
Main shaft on and the runner and gear wheel that pass through the main shaft drives；And second track unit includes the shoe of substantially elongated
Band, the crawler belt include the first driven wheel and the second driven wheel and same with first driven wheel for being arranged on its opposite end
The pinion gear set axis；The gear wheel and the pinion gear directly engagement or by being connected or driving member is come the company of transmission
Connect, to move and drive in a synchronous manner the moving mechanism in the runner and crawler belt combination drive pattern；And
The crawler belt includes the extension type push rod being movably connected with it, and the scaling operation of the push rod can make the crawler belt corresponding
Ground relative to the first runner unit along planned orbit to and fro displacement so that second track unit switchably standby
Predetermined operation is carried out with switching between position and operating position；And/or the moving mechanism is set to drive mould in the runner
Switch and formed the shape with substantially " ︿ " of the moving mechanism between formula and the runner and crawler belt combination drive pattern
Bottom profile carry out predetermined operation.
In further embodiments, the bottom profile forms the space of general triangular, the height of the triangle space
The 80%-120% and preferably 90% of the height of the second track unit described in substantially the second track unit is spent, to adapt to and just
In the projection portion across the working face met with during movement, the possibility that moving mechanism suddenly falls is reduced.
In further embodiments, the configuration of second track unit and/or the first runner unit has been configured to
At least a portion helped in one of them unit is in or is supported on inclination/injustice/point of the change type working face
End part or during corner, make their another unit at least a portion can be at or be supported on the change type working face its
In a general planar part plane on or it is near the flat of the change type working face or adjacent another
On the plane of general planar part.
In further embodiments, when being moved on stair, second track unit and the first runner unit are matched somebody with somebody
At least a portion/fulcrum therein always the offer with a step for the bottom surface portions for making shape of the composition with " ︿ " is provided
The step plane of larger supporting force offsets, so that another part/fulcrum wherein is in and is supported on carrying for another step
During on the step angle compared with ramuscule load, the step plane effect for the moving mechanism main supporting surface to prevent from turning over
.
In further embodiments, second track unit is configured to make with the first runner unit in length or row
Walk on direction intersect angle can be relative to the stair in predetermined using area the gradient scope estimated or surveyed, rough ground
Estimate or legal rugged degree correspondingly configures.
The winning part of the present invention is, using wheel and crawler belt Mixed Design come speeling stairway (such as Fig. 1 g), because climbing
Terraced principle and mechanism are not complete to rely on crawler belt combination/unit, thus the length of crawler belt combination can also thus shorten, and can be saturating
Cross appropriate mechanical structure and be hidden between seat bottom and larger wheels (such as Fig. 1 g), make overall volume further reduce.
Secondly, the present invention is because employ wheel and the hybrid design of crawler belt, will not both have been wasted as the prior art energy it
It is remaining, and the bottom of the shape with " ︿ " is formed, walking mechanism is thus made in speeling stairway, always " can be acted on or is supported on
At least in a step plane " (as shown in Fig. 1 i star lines), so being operationally perfectly safe.
Brief description of the drawings
Hereinafter reference will be made to the drawings describes the present invention by example, in the accompanying drawings:
Fig. 1 a are a kind of side view of crawler type walking mechanism disclosed in Chinese invention patent number 201510555652.6.
Fig. 1 b are a kind of side view of crawler type walking mechanism disclosed in Hong Kong patent application number 16109224.1.
Fig. 1 c are current a wheelchair product on the market, with the schematic diagram of four-wheel walking on level road.
Fig. 1 d are current a wheelchair product on the market, grasp the schematic diagram of terraced angle climbing with crawler belt when climbing ladder.
Fig. 1 e-1k are the schematic diagram of the contrast of the technical solution of the prior art and the embodiment of the present invention.
When Fig. 2 a are used in combination for display larger wheels with crawler belt combination, the schematic diagram of the difference of both diameters.
Fig. 2 b is show in gear and chain assembled, the schematic diagram of the difference of size gear diameter.
Fig. 3 a are the side block diagram of the present invention, and show to form three principal organ of the present invention.
Fig. 3 b are the overlooking structure figure of the present invention, and show to form three principal organ of the present invention.
Fig. 4 a are the side block diagram of " wheel quantum balancing walking mechanism " of the invention, and show to form the component of this mechanism.
Fig. 4 b are the structure chart of the prior art of the present invention " wheel hub motor (hub motor) ".
Fig. 4 c are the overlooking structure figure of " wheel quantum balancing walking mechanism " of the invention, and show to form the component of this mechanism.
Fig. 5 a are the side block diagram of " stretchable pedrail mechanism " of the invention, and show to form the component of this mechanism.
Fig. 5 b are the side block diagram feature of " gear and chain assembled ".
Fig. 5 c are the overlooking structure figure of " stretchable pedrail mechanism " of the invention, and show to form the component of this mechanism.
Fig. 6 a are the side block diagram of " prop balanced controls " of the invention, and show to form the component of this mechanism.
Fig. 6 b are the overlooking structure figure of " prop balanced controls " of the invention, and show to form the component of this mechanism.
Fig. 7 a are the schematic diagram of situation of the present invention when walking on level road.
Fig. 7 b are the schematic diagram of the invention that when the center of gravity of passenger retreats, wheel can rotate backward.
Fig. 7 c are the schematic diagram of the invention that when the center of gravity of passenger turns forward, wheel can rotate forward.
Fig. 8 a stretch to the schematic diagram for the situation for touching ground for " formula that stretches crawler belt combination " of the invention.
Fig. 8 b are after " seat balance system " of the invention starts, the schematic diagram of situation when seat rises to highest.
Fig. 9 a for the present invention in the way of climbing when, trailing wheel " acting on terraced angle " (shown in circle), stretchable crawler belt " support
The schematic diagram of the situation of tread " (shown in star line).
Fig. 9 b for the present invention in the way of climbing when, there is " stepping on and support tread " (star line in trailing wheel and stretchable crawler belt
It is shown) situation schematic diagram.
Fig. 9 c be the trailing wheel of the present invention when just arriving to ladder top or the first order stair under firm prepare, stretchable crawler belt can go out
The schematic diagram of the situation of existing " acting on terraced angle " (shown in circle).
Fig. 9 d be the stretchable crawler belt of the present invention when just arriving to ladder top or failing level-one stair in firm preparation, stretchable shoe
The schematic diagram of the situation of " acting on terraced angle " (shown in circle) occurs in band.
Embodiment
Present pre-ferred embodiments are provided below in conjunction with the accompanying drawings, with the technical solution that the present invention will be described in detail.
Herein, " stair " refer to the identical or different stair of the angle of step, described " rough ground and complete
Landform ground " refers to that road surface is smooth or road surface is with fluctuating, rugged and rough or with the various gradients landform.
Moving mechanism according to the present invention has following characteristics or advantage：
1. wheel and the hybrid design of crawler belt-existing climbing machine instrument, are mostly to use track structure, and or
It is an attempt to using multiple larger wheels come speeling stairway by force.Both principles all cut both ways, such as the cat ladder ability of crawler belt is excellent
Victory, but the comfort level in level road is insufficient；Wheel comfort level in level road is high, but cat ladder ability is insufficient.It is of the invention novel
Ground mixes both, respectively takes the chief, and when level road is slided using wheel, comfortable and flexibly；Will when stair climbing or rugged road
Both are used in mixed way, and bottom is formed the configuration of the substantially shape of ︿, make walking mechanism easily to climb what angle differed
Stair, also can smoothly reach ladder top (Fig. 9 a-9d).
2. Self-Balancing vehicle is propagated its belief on a large scale with creeper truck convolution design-current electrodynamic balance car, in street all over the world
All be seen everywhere on lane, its winning part except it is light and handy flexibly in addition to, can exactly allow passenger to soar both hands to do other thing
Feelings.But it the drawback is that when running into barrier or stair, can only just hang back, can not cross over；It is capable of the crawler type of stair climbing
Walking mechanism, technology is in recent years also gradually ripe, climbs power and degree of safety is unquestionable.But flexibility, freedom on level road
Degree and comfort level, all the time can not be compared with balance car.Both are combined into by novel ground of the invention, both benefits are closed two is
One, it must can benefit personage in need in the world.
3. gear and chain assembled formula variable speed design-all the time, never there is a kind of mechanical running mechanism to use wheel
The principle of walking is mixed with crawler belt, main cause is that both speeds of service differ, as shown in Figure 2 a, D1 ＞ D2, both
It is D1 that the gap of diameter, which forms speed change ratio,：D2.I other words the velocity of rotation of larger wheels can be operated to than crawler belt combination soon, because
This larger wheels can push and pull crawler belt combination always, and making walking mechanism, pole is not smoothly when walking.The present invention is in larger wheels and crawler belt
One group " gear and the combination of chain assembled formula speed change ", as shown in Figure 2 b, d1 ＞ d2, as long as and D1 have preferably been added between combination：
D1=D2：D2, makes both speed change ratios become identical, makes larger wheels consistent with the running speed of crawler belt combination, makes vehicle with walking machine
Structure can smoothly walk.
4. body-sensing is balanced is used alternatingly system-in level road with prop autobalance, passenger wants to soar double
Hand does other thing, so can be balanced using itself body-sensing to manipulate the direction of walking mechanism.But working as needs speeling stairway
When, passenger has to be absorbed in, and both hands must not be allowed to do other thing and divert one's attention.Therefore in speeling stairway, must not lean on again certainly
The body-sensing of body is balanced to manipulate the direction of walking mechanism.One body-sensing balance of the invention, which replaces with seat autobalance, to be made
With system, when crawler belt combination stretches to when touching ground, body-sensing balance system will close in real time, and seat automatic-balancing system
It can open at the same time.As shown in Fig. 9 a-9d, seat can be adjusted voluntarily in response to the angle of step automatically, allow seat forever and ground
Balance is kept, degree of safety when ladder is climbed in order increases.
5. level road and cat ladder ability it is winning-due to the present invention dexterously wheel and crawler belt are used in mixed way, when level road general
Long crawler belt combination is packed up, and is only slided using two wheels, is made the volume of walking mechanism be reduced to minimum, take the space on road surface
Also minimum and very dexterous, practicality is very.When running into stair, crawler belt combination can stretch to front end, make when climbing ladder
Supporting point zooms out.Plus substantially ︿ shapes are formed between larger wheels and crawler belt combination, walking mechanism is set " can all to make in speeling stairway
With or be supported in each corresponding step plane " (Fig. 9 a, 9b star line shown in), walking mechanism is safely climbed very much
Climb the stair that angle differs.
It mostly it is individuals with disabilities or year 6. passenger can soar the personage of both hands-need using technical solution of the present invention
Record it is aged wait both legs bad in capable personage, they possess such as ordinary person absolute entitled profit, while while walking on street,
Both hands can be soared come using smart phone or the right taken pictures etc..The present invention is set what electrodynamic balance car was combined with creeper truck
Meter, realizes their hopes for many years, the practicality is the hat of this area similar inventions certainly.
Fig. 3 a and 3b show the perspective view of the embodiment of the present invention " wheel and the hybrid moving mechanism of crawler belt ",
For clarity, a part of component is only schematically shown in figure.The mechanism of the present invention includes：1 wheel quantum balancing walking mechanism, 2
Stretchable pedrail mechanism, 3 prop balanced controls.
Wheel quantum balancing walking mechanism 1 (Fig. 4 a to 4c) includes each one of left and right " wheel hub motor (hub motor) " 110 (110
It is existing product, so not described in detail herein.And 110 can also be other motor mechanisms, as decelerating motor, fuel oil are sent out
It is dynamic to wait other launch devices).
The periphery of wheel hub motor 110 can be fixedly connected with that (111 can be inflatable rubber tyre, solid core rubber with tire 111
The ambient of tire or unclassified stores), 111 effect is directly to be contacted with ground, need to possess with ground friction, promptly ground,
Promptly terraced angle and shock-absorbing function.
The power of wheel hub motor 110 can directly be exported from wheel hub motor connecting shaft 112, and 112 can be with vehicle body main support 101
It is flexibly connected.
The drive energy for taking turns quantum balancing walking mechanism 1 is the existing energy, can be battery, gasoline or solar energy etc.,
Its volume different sizes, so the position of installation is all had nothing in common with each other, so being not described in detail here.
Wheel quantum balancing walking mechanism 1 may include personal control, it is the controller of the prior art, there are a variety of brands
And model, so can be not provided with and not be described further herein.
Wheel quantum balancing walking mechanism 1 includes motion sensing control system, since the technology of current electrodynamic balance car has become ripe, body
Sense control system also five spends hundred, so being not described in detail here.
When passenger uses motion sensing control, as long as centre of body weight tendency front (such as Fig. 7 c), gyroscope 311, which can sense, to be multiplied
The deviation of objective center of gravity, then wheel hub motor 110 is conveyed to through motion sensing control system, the speed (such as Fig. 7 c) of its forward is controlled, if
Before center of gravity is inclined always, the speed of its forward can be higher.On the contrary, when the center of gravity of passenger is toward (such as Fig. 7 b) during hypsokinesis, motion sensing control system
System can control the speed that wheel hub motor 110 turns backward, reach the effect of acceleration or pause.Multiply if gyroscope 311 senses
During the center of gravity deviation right of visitor, wheel hub motor 110 can be conveyed to through motion sensing control system, make the speed of revolver increase, together
When slow down the speed of right wheel or make its reverse.If on the contrary, motion sensing control system detectio to the center of gravity of passenger it is to the left when, system meeting
Drive right wheel to accelerate, while slow down or reversing left wheel.
Stretchable pedrail mechanism 2 (Fig. 5 a to 5c), its driving force that stretches are to come from stretchable crawler type electric push rod 200 (200
This motor mechanism, can be other motor mechanisms, such as decelerating motor or oil tappet).
First, stretchable crawler type electric push rod 200 can be flexibly connected with connector 241, and 241 can be with vehicle body main support
101 are fixedly connected, and therefore, strength caused by stretchable crawler type electric push rod 200, can be offseted by vehicle body main support 101.
And the rotatory force of stretchable crawler belt 232, it is to come from wheel hub motor 110.When 110 rotate, wheel hub motor connecting shaft
112 can by power transmission to 112 gear wheels 201 being fixedly connected, and 201 rotatory force, can be driven to small tooth by chain 231
Wheel 202.And 202 rotatory force, can via be secured to connection be conveyed to moving axis 221 be secured to connection driven wheel
203.And 203 rotatory force, it can be driven by crawler belt 232 to the driven wheel 204 of front end.Such as Fig. 2 a and 2b so showing, due to wheel
The diameter of tire 111 and the natural scale of gear wheel 201 are D1：D1, and the diameter of driven wheel 203 and 204 (together with crawler belt 232) with
The natural scale of pinion gear 202 is D2：D2, because D1：D1=D2：D2, so while tire 111 and driven wheel 203 and 204
Diameter is different, but because gear combination makes up the gap of rotating speed ratio, tire 111 and the speed of crawler belt 232 can become
It is synchronous.
In certain embodiments, gear wheel can be engaged directly with pinion gear or they can be by other middlewares or connector
To interconnect.
When walking mechanism of the present invention needs obstacle detouring or speeling stairway, stretchable crawler type electric push rod 200 can extend forward,
Front can be pushed to the connecting shaft 223 that 200 are flexibly connected.It is flexibly connected due to 223 with connector 214, and 214 and connector
Also tight system is connected between 213, therefore when stretchable crawler type electric push rod 200 extends forward, a pair of stretchable crawler belt combination meeting
Stretch forwards at the same time.
Due to a pair of stretchable crawler belt combination, can pass through with moving axis 221 and the activity of the connector of gear combination 211 and 212
Connection, and also tight system is connected between 211 and 212, and be flexibly connected with wheel hub motor connecting shaft 112.Because this tight system is connected
Structure, order to a pair of stretchable crawler belt combination, without departing from required track, makes crawler belt while before stretching or after contracting
Combination can rest on required position.
Prop balanced controls 3 (Fig. 6 a to 6b) include prop balance electric push rod 300 (300 this motor mechanism,
Can be other motor mechanisms, such as decelerating motor or oil tappet), gyroscope 311 (311 can be two dimension, can be three
Dimension) and support mechanism 310 (310 can be seat or the mechanism of other bearing goods).
First, prop balance electric push rod 300 can be flexibly connected with connector 331, and 331 can be with vehicle body main support
101 are fixedly connected, and therefore, strength caused by prop balance electric push rod 300, can be offseted by vehicle body main support 101.And
Prop balance push rod 300 is flexibly connected with connecting shaft 301, and 301 one end can be flexibly connected with sliding slot 321, and 321 meetings
It is fixedly connected with vehicle body main support 101.Therefore, sliding slot 321 can limit the scope of activities of connecting shaft 301.
In addition, the connecting shaft 301 being flexibly connected with prop balance push rod 300, its other end can live with connector 322
Dynamic connection, and 322 can be flexibly connected with connector 333, and 333 can be fixedly connected with prop 310, and 310 can be with being connected
Part 332 is flexibly connected, and 332 can be fixedly connected with vehicle body main support 101.This series of engagement, secures support mechanism
Folding scope of activities.
When stretchable crawler type electric push rod 200 to project forwardly to it is longest at the same time, also i other words, walking mechanism by " two wheel
Physically sensitive mode " switchs to " obstacle detouring and climb terraced pattern ".In such a mode, body-sensing balance system can close at once, and start " hold at once
Hold in the palm stent balance system ".I other words passenger cannot manipulate the direction of walking mechanism with the center of gravity of itself again, to be changed to manually
Control.
When obstacle detouring or ladder is climbed when causing walking mechanism to tilt, and gyroscope 311 can send message and give prop balance system
System, system can control prop balance push rod 300 to elongate or shorten in response to the inclined angle of institute, and 300 can pass through connecting shaft
301, which pull on power, is transferred to connector 322, then through whole holder combination, support mechanism 310 is kept flat with ground
Weighing apparatus.
Through the structure of the above, function of the invention is following, and (to make mechanism more specific, prop 310 is set as one
Open seat)：
1. level road function (Fig. 7a-7c)：In order to make walking mechanism lighter compact, stretchable 200 meeting of crawler type electric push rod
It is contracted to most short, a pair of stretchable crawler belt combination of order is completely liftoff, and is reduced to most to enter (such as Fig. 7 a).Then, passenger can pass through
Body-sensing balance system, the direction (such as Fig. 7 b and 7c) of walking mechanism, therefore, passenger are manipulated by the inclination of left and right after body forward
Both hands can be soared such as ordinary person to do other thing.Tiny plus its volume, the axle center of wheel is also just in passenger's body
Center of gravity under, it is possible to the flexible function of original place rotation is put into practice in perfection.
2. rugged road and obstacle crossing function (Fig. 8 a)：Run into rugged hill road or need to surmount obstacles, be able to can stretch
Prolong crawler type electric push rod 200 to stretch to most long, the front end contact ground of a pair of stretchable crawler belt combination of order, makes walking mechanism
Substantially " ︿ " shape (such as Fig. 8 a) is formed on bottom.It can start prop balance system plus this pattern, make the body of passenger can be with
Vertical balance is kept with ground, while making walking mechanism arbitrarily to walk in rugged hill road, can also be crossed over easily
The barrier that can be run into general road.
3. climb terraced function (Fig. 9 a-9d)：The largest benefit of the present invention is exactly easy to operate, it is only necessary to using rugged with walking
The identical pattern in road, makes the bottom of walking mechanism form substantially " ︿ " shape.As illustrated in figures 9 a and 9b, substantially " ︿ " shape is formed on bottom
Benefit be to make walking mechanism in speeling stairway, the front end of stretchable crawler belt can all contact when climbing is per level-one stair
To " tread " of step, so as to play powerful supporting role (as shown in the star line of Fig. 9 a and 9b).Even if larger wheels such as Fig. 9 a
It is shown, " terraced angle " (as shown in Fig. 9 a circles) is only grasp, is seemed when being absolutely unsafe, stretchable crawler belt, which remains to play it, " supports ladder
The effect in face ".Larger wheels also have a benefit, because the contact surface of wheel is big, in the case of Fig. 9 b, larger wheels can also be sent out
Wave the effect (as shown in the star line of Fig. 9 b) of " stepping on tread ".In addition, when walking mechanism reach ladder top or fail level-one stair when,
Substantially " ︿ " shape that bottom is formed can also play its effect.As is shown in fig. 9 c, even if larger wheels are own to reach ladder top, stretchable shoe
Band still " can act on/engagement/and hook terraced angle "；Again or as shown in figure 9d, even if under just during first order stair, stretchable shoe
Band remains to " act on/engagement/and hook terraced angle ", walking mechanism is not climbed as other crawler types and tenesmus suddenly occurs as ladder work's tool
Danger.In this way, in larger wheels and stretchable crawler belt, both are completely different, but the cooperation of each beneficial lead agency
Under, the present invention, which just produces, perfectly climbs terraced function.
In conclusion wherein the one of the present invention is characterized as that wheel is used in mixed way with crawler belt.When walking mechanism is in level road uplink
When walking, be using wheel as the traveling mechanism contacted with ground the most comfortable, most flexibly and most make us acceptable.And rugged
When rugged road, obstacle detouring and speeling stairway, the efficiency of crawler belt is highest, most grab and safest only choosing.But always do not have one
Both can be used in mixed way by kind invention or design, become a kind of multi-functional walking mechanism with respectively taking the chief.In addition, the present invention
Gear shift combination is further characterized as, wherein to realize that wheel is used in mixed way with crawler belt, it is necessary to solve both speeds of service
The problem of differing.Since the running speed of larger wheels can be high than the small wheels in crawler belt combination, walking mechanism is on the way
Occur during operation because both speed differ and dirty situation.To solve the problems, such as this, the present invention devises one group of gear shift
Combination, both speed is adjusted to unanimously.Meanwhile more produce positioning of the stretchable crawler belt combination when shrinking with extending and make
With.
In addition, a further feature of the present disclosure uses body-sensing balance that system is used alternatingly with prop autobalance for it,
Wherein body-sensing balance system can make passenger to soar both hands to do other thing, but because of security reason and required during speeling stairway
It is changed to prop automatic-balancing system.Both are used alternatingly the present invention, use appropriate system when appropriate instead, and order is overall
More comfortable safety.
Thus, a further feature of the present disclosure a kind of follow-on possesses the electrodynamic balance car for climbing terraced function for that can provide.Though
Right existing electrodynamic balance car is popularized very much, but its market development gives wound strong people always to perfect based on personage even if having
The electrodynamic balance wheelchair that scholar uses occurs, and is also only limited to use on level road, the help to them is limited.Both are closed two by the present invention
For one, climb among terraced principle incorporates compact and flexible electrodynamic balance car, can preferably benefit vast in need by safe and reliable
Wound be good for personage.
Although advantages of the present invention and preferred embodiment are described herein, those skilled in the art should
Understand, narration here is only merely provided as example, is not intended to limit protection scope of the present invention.Guarantor of the present invention is not being departed from
In the case of protecting scope, described implementation detail can be replaced with any other equivalent, or modified or modification.
【Primary clustering symbol description】
Take turns quantum balancing walking mechanism 1
101 vehicle body main supports
110 wheel hub motor hub motor (being connected with 111)
111 tires (are connected) with 110
112 wheel hub motor connecting shafts/main shaft (being connected with 110)
Stretchable pedrail mechanism 2
(one end is flexibly connected 200 stretchable crawler type electric push rod/extension type push rods with 241, one end and 223
It is flexibly connected)
201 gear wheels (are fixedly connected) with 112
202 pinion gears (are fixedly connected) with 221
203 driven wheels (are fixedly connected) with 221
204 driven wheels (are fixedly connected) with 222
211 connectors (are flexibly connected) with 112,221
212 connectors (are flexibly connected) with 112,221
213 connectors (are flexibly connected) with 221,222
214 connectors (are flexibly connected) with 221,222
221 band moving axis (being fixedly connected with 202,203, be flexibly connected with 211,212,213,214)
222 band moving axis (being fixedly connected with 204, be flexibly connected with 213,214)
223 connecting shafts (are flexibly connected) with 200,214
231 chains (drive 201,202)
232 crawler belts (drive 203,204)
241 connectors (are fixedly connected with, are flexibly connected with 200) prop balanced controls with 101
3
300 props balance push rod (being flexibly connected with 301,331)
301 connecting shafts (are flexibly connected) with 321,322
310 props (are fixedly connected, 332,333 are flexibly connected) with 311
311 gyroscopes (are fixedly connected) with 310
321 sliding slots (are fixedly connected, be flexibly connected with 301) with 101
322 connectors (are flexibly connected) with 301,333
331 connectors (are fixedly connected with 101, are flexibly connected with 300)
332 connectors (are fixedly connected with 101, are flexibly connected with 310)
333 connectors (are fixedly connected with 310, are flexibly connected with 332)
Claims (10)
1. a kind of moving mechanism, including operationally it is connected with each other and synchronously movement/driving is preferred in flat type work
The the first runner unit as active cell and be preferred for including with Bu Tong oblique that make to act on face and position is fixed
On the stair of degree, rough ground and the change type working face on full landform ground with the first runner unit synergistic effect and can
Position-variable the second track unit as driven unit relative to the first runner unit being movably connected with, its
In：
The moving mechanism is configured to the runner drive pattern moved on suitable for flat work surface and suitable on change working face
Switch between mobile runner and crawler belt combination drive pattern；
In the runner drive pattern, the moving mechanism is configured to preferably operate and described by motion sensing control system
Second track unit be configured to the first runner unit in length or direction of travel it is parallel or set substantially in parallel；
And
In the runner and crawler belt combination drive pattern, the moving mechanism is configured to preferably that manually control system is grasped
Make and second track unit is configured to intersect and be preferably formed as what is with substantially " ︿ " entered with the first runner unit
The contact being in contact with the working face/effect bottom surface portions or bottom profile of shape, to adapt to and be close to different change type works
Make face or can arbitrarily be moved on change type working face.
2. moving mechanism as claimed in claim 1, it is characterised in that:Second track unit switchably and/or can turn
Dynamic ground is changed between spare space and operating position, and at the operating position, second track unit is towards the work
Make face direction extension and preferably downward pivoting until its front end and the working face offset and with first runner
Unit is collectively forming the contact/effect bottom surface portions or bottom profile of the shape with " ︿ ", and thereby makes the moving mechanism
Runner and crawler belt combination formula driving structure are switched to by rotary-type driving structure；And at the spare space, described second carries out
Tape cell be directed away from the working face direction retraction and preferably rotated up to upwards about axis separated with the working face and
Generally in position parallel to the first runner unit and above, and thereby make the moving mechanism by runner and shoe
Band combined drive structure switches to rotary-type driving structure.
3. moving mechanism as claimed in claim 1, it is characterised in that:The first runner unit and second track unit
It is configured to by making both speed change ratios become identical and/or making the consistent gear shift component of both running speeds come operable
Ground is connected with each other and synchronously moves, and the gear shift component includes being arranged at the gear wheel of the first runner unit and sets
Be placed in the pinion gear of second track unit and be preferably disposed in both is synchronously moved between the two be preferably
The connection of chain or driving member；Radius of turn ratio or outside diameter ratio and institute of the wherein described gear wheel with the first runner unit
The radius of turn ratio or outside diameter ratio for stating pinion gear and second track unit are mutually equal.
4. moving mechanism as claimed in claim 1, it is characterised in that:Further include for accommodate moving mechanism's operating unit and/
Or carriage or bearing unit and the balance and row for moving mechanism described in observing and controlling that are operably connected therewith of operating personnel
Walk state and preferably discrete the first balance and driving unit that are respectively used to the runner drive pattern that are used alternatingly
With the second balance and driving unit for the runner and crawler belt combination drive pattern；In the runner drive pattern, institute
State the first balance and driving unit and start and carriage or bearing unit are maintained with the equilibrium state corresponding to the moving mechanism
Balance and definite direction of travel and make it is described second balance and driving unit remain turned-off；And in the runner and crawler belt group
When closing drive pattern, second balance and driving unit start with the equilibrium state corresponding to the moving mechanism to maintain
State the balance of carriage or bearing unit and its bearing-surface is always generally parallel to horizontal plane and definite direction of travel and make institute
State the first balance and driving unit remains turned-off.
5. moving mechanism as claimed in claim 4, it is characterised in that:The length of second track unit and the carriage or
The same length of bearing unit is substantially can be integrally accommodated in the carriage or branch in the runner drive pattern
Under bearing unit.
6. moving mechanism as claimed in claim 1, it is characterised in that:The first runner unit includes wheel hub motor (110),
It is placed coaxially on the runner (111) and gear wheel on the main shaft (112) of the wheel hub motor and passing through the main shaft drives
(201)；And second track unit includes the crawler belt (232) of substantially elongated, the crawler belt includes being arranged on it with respect to two
First driven wheel (203) and the second driven wheel (204) at end and the pinion gear being coaxially disposed with first driven wheel
(202)；The gear wheel and the pinion gear directly engagement or by being connected or driving member is sequentially connected, so as to described
The moving mechanism is moved and drives in a synchronous manner when runner and crawler belt combination drive pattern；And the crawler belt include with
Its extension type push rod (200) being movably connected, the scaling operation of the push rod can make the crawler belt correspondingly relative to
The first runner unit along planned orbit to and fro displacement so that second track unit switchably in spare space and
Switch between operating position to carry out predetermined operation；And/or make the moving mechanism can be in the runner drive pattern and described
Switch and formed the bottom wheel with the substantially shape of " ︿ " of the moving mechanism between runner and crawler belt combination drive pattern
Exterior feature carries out predetermined operation.
7. moving mechanism as claimed in claim 1, it is characterised in that:The bottom profile forms the space of general triangular,
The 80%-120% of the height of second track unit described in the height of the triangle space substantially the second track unit and excellent
90% is elected as, with the projection portion for the working face for adapting to and being met with easy to leap during movement.
8. moving mechanism as claimed in claim 1, it is characterised in that:Second track unit and/or first runner
The configuration of unit is configured to make or contributes at least a portion in one of them unit to be in or be supported on the change
When inclination/injustice/tip portion of change type working face or corner, at least a portion of their another unit is set to can be at or prop up
Hold in the change type working face wherein on the plane of a general planar part or described in the change type working face
Flat is nearby or on the plane of adjacent another general planar part.
9. moving mechanism as claimed in claim 1, it is characterised in that:When being moved on stair, second track unit and
The first runner unit be configured to make composition have the substantially bottom surface portions of the shape of " ︿ " or bottom profile it is therein extremely
Step plane of a few part/fulcrum always with the larger supporting force of offer of a step offsets, so as to another portion wherein
Point/fulcrum is when being in and be supported on the offer of another step compared with the step angle of ramuscule load, the step plane effect
It is the main supporting surface of the moving mechanism to prevent from overturning.
10. moving mechanism as claimed in claim 1, it is characterised in that:Second track unit is configured to and described first
Runner unit is intersecting at an angle in length or direction of travel, and the angle can be relative to the stair in predetermined using area
The gradient scope estimating or survey, rough ground estimate or legal rugged degree scope correspondingly configures.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK16109224 | 2016-08-02 | ||
| HK16109224.1 | 2016-08-02 | ||
| HK17103074 | 2017-03-24 | ||
| HK17103074.4 | 2017-03-24 | ||
| PCT/IB2017/054689 WO2018025172A1 (en) | 2016-08-02 | 2017-08-01 | Hybrid wheeled and tracked moving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108024895A true CN108024895A (en) | 2018-05-11 |
| CN108024895B CN108024895B (en) | 2020-03-27 |
Family
ID=61073345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780002519.5A Active CN108024895B (en) | 2016-08-02 | 2017-08-01 | Wheel and crawler belt mixed type moving mechanism |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN108024895B (en) |
| HK (1) | HK1254103A1 (en) |
| WO (1) | WO2018025172A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193341A (en) * | 2020-09-27 | 2021-01-08 | 安徽铜冠智能科技有限责任公司 | Mining crawler-type intelligent inspection robot system |
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| CN109703654B (en) * | 2019-02-27 | 2024-08-27 | 合肥工业大学 | Mobile robot with self-balancing capability |
| CN110329372B (en) * | 2019-08-09 | 2024-01-30 | 桂林电子科技大学 | Stair climbing robot |
| CN112741738A (en) * | 2019-10-31 | 2021-05-04 | 张效琪 | Electric stair-climbing wheelchair with crawler-type elastic deformation integrated wheel and rear auxiliary wheel and provided with front guide wheel |
| CN113397849B (en) * | 2021-07-21 | 2022-09-23 | 李磊 | Medical surgery is with wheelchair equipment of rehabilitating that can climb a slope |
| CN113397850B (en) * | 2021-07-28 | 2023-06-16 | 谷晓强 | Wheelchair capable of climbing stairs |
| CN113805589A (en) * | 2021-08-31 | 2021-12-17 | 中煤科工集团重庆研究院有限公司 | Mobile platform control system and method based on multi-source sensor data |
| CN113548119B (en) * | 2021-09-02 | 2022-10-18 | 厦门理工学院 | Variable multipurpose miniature mobile platform |
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| CN112193341A (en) * | 2020-09-27 | 2021-01-08 | 安徽铜冠智能科技有限责任公司 | Mining crawler-type intelligent inspection robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1254103A1 (en) | 2019-07-12 |
| CN108024895B (en) | 2020-03-27 |
| WO2018025172A1 (en) | 2018-02-08 |
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