CN110525117A - A kind of shrinkable modularization stairs-mover wheel - Google Patents
A kind of shrinkable modularization stairs-mover wheel Download PDFInfo
- Publication number
- CN110525117A CN110525117A CN201910903422.2A CN201910903422A CN110525117A CN 110525117 A CN110525117 A CN 110525117A CN 201910903422 A CN201910903422 A CN 201910903422A CN 110525117 A CN110525117 A CN 110525117A
- Authority
- CN
- China
- Prior art keywords
- wheel
- spoke
- module
- spring
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002687 intercalation Effects 0.000 claims abstract description 4
- 238000009830 intercalation Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims abstract description 3
- 230000002093 peripheral effect Effects 0.000 claims abstract description 3
- 230000009194 climbing Effects 0.000 claims description 19
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B1/00—Spoked wheels; Spokes thereof
- B60B1/02—Wheels with wire or other tension spokes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The present invention, which relates to, discloses a kind of shrinkable modularization stairs-mover wheel, including spoke, spoke bar, spring, module wheel and position limiting clamp, on the outer peripheral surface that the spoke bar has multiple circumferential directions along spoke to be evenly arranged on spoke, and every spoke bar is in the radial direction of spoke, and it is respectively installed with spring, one end of the spring is fixed on spoke, its other end is connected with module wheel, the module wheel is by its blind hole intercalation on spoke bar, the module wheel is using the center of spoke as the center of circle, around the rounded array arrangement of spoke, and gap is reserved between adjacent module wheel two-by-two, the module wheel is respectively formed with symmetrical arc groove on the two sides of the end of spring, the two-arm ends curved inwards of the position limiting clamp, it is formed with symmetrical detent, the arc that vehicle wheel rotation is in several module wheels of low level always in the process can be snapped onto In slot.The present invention has many advantages, such as that compact-sized, balance is good, stability is high, at low cost.
Description
Technical field
The present invention relates to the technical fields of stair Transport Machinery, refer in particular to a kind of shrinkable modularization stairs-mover wheel.
Background technique
One of stair are the most common obstacles in artificial environment, and be most difficult to the obstacle crossed over.In the prior art about climbing
The earliest patent of stair device is the stair climbing wheelchair of the invention of U.S. Bray in 1892.Hereafter, countries in the world put into this one after another
Research, wherein the U.S., Germany, the Technical comparing of Japan and Britain are mature.Can be realized stair climbing function at present has crawler type
Stair-climbing device and star arrangement.The ruling grade of the crawler-type wheel chair climbing stairs of Britain's exploitation is 35 °, and France utilizes similar
The principle of tank track produces stair climbing wheelchair.Although crawler type vehicle wheel more can smoothly realize stair climbing function,
It is that it generates immense pressure to stair, is easily damaged stair and wheel itself, and also need bigger power to be just able to achieve and climb building
The function of ladder, and the offer of big power is necessarily required to big and bulky engine, so that crawler type vehicle wheel flexibility is very low.And star
Shape dress set level land when driving, each steamboat is around respective axis rotation, and when stair climbing, each steamboat revolves around central axis together, in nothing
There is slightly good action performance under obstacle environment.But star arrangement, in stair activity, which stablizes
Property it is lower, so that occupant is not felt good, and operation has some setbacks, be easy to be stuck in stair along upper, if spiral stairs, be then unable to control
Direction, while star arrangement is also required to very big power to realize the function of stair climbing, to make the flexible in application of star arrangement
Property is very low, and these problems limit its extensive utilization in daily life.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of shrinkable modularization stairs-mover wheels, have
It compact-sized, the advantages that balance is good, stability is high, at low cost, is widely used, stair and wheel itself can not damaged
Under the premise of realize climb building function.
To achieve the above object, technical solution provided by the present invention are as follows: a kind of shrinkable modularization stairs-mover wheel, including
Spoke, spoke bar, spring, module wheel and position limiting clamp, the periphery that the spoke bar has multiple circumferential directions along spoke to be evenly arranged on spoke
On face, and every spoke bar is in the radial direction of spoke, and is respectively installed with spring, and one end of the spring is fixed on spoke,
Its other end is connected with module wheel, the module wheel towards be formed on an end face of spring match with spoke bar size it is blind
Hole, the module wheel can be moved by its blind hole intercalation on spoke bar along spoke bar, and can be answered under the action of the spring
Position, the module wheel is using the center of spoke as the center of circle, around the rounded array arrangement of spoke, constitutes the tire master of wheel together
Body, and gap is reserved between module wheel adjacent two-by-two, it is ensured that module wheel will not be by card during moving along spoke bar
Firmly, the module wheel is respectively formed with symmetrical arc groove, multiple moulds of circular array on the two sides of the end of spring
The arc groove of block wheel constitutes circular orbit slot together, is matched with the detent of position limiting clamp, and the position limiting clamp is U-like shape structure, and solid
Surely it is connected on car body, the two-arm ends curved inwards of the position limiting clamp are formed with symmetrical detent, can snap onto vehicle wheel rotation mistake
It is in always in journey in the arc groove of several module wheels of low level, guarantees mould of the limitation in low level while vehicle wheel rotation
Block wheel is moved radially along spoke bar, and the thickness of spacing and wheel between the position limiting clamp two-arm matches, can just across
On wheel；When climbing building, several the high-order module wheels being in contact with high-order step are moved along respective spoke bar respectively, are made
Tire body deformation is inlayed with high-order step, and finally completes effort-saving stair climbing type under external force.
Further, the module wheel is sector structure, and the adjacent opposite end face of module wheel of any two is formed mutually
Matched wavy shaped configuration.
Further, the two sides of two end faces of the module wheel are respectively formed with clearance position, for preventing module wheel along wheel
Spoke bar blocks during moving radially with adjacent module wheel.
Compared with prior art, the present invention have the following advantages that with the utility model has the advantages that
1, structure of the invention is compact, flexibility is high, and the design separated by wheel shaft is kept using the module wheel in low level
It rotates but not is moved along the module wheel that spoke bar is moved, and contacted with high-order step along spoke bar, and inlayed with high-order step,
Rank on wheel is made by applied external force again, just as the foot of people steps on step stair climbing, and then completes stair climbing
Function.
2, the present invention realizes the function of stair climbing in such a way that module wheel shrinks insertion, has better balance, In
It can be used for the field relatively high to balance, stability requirement in practical application, as balance car, express delivery robot, cargo transport are small
Vehicle, reconnaissance robot etc..
3, stability of the present invention is high, at low cost and be widely used, and can not only use at stair, can also be at level land
Flexible Application.
Detailed description of the invention
Fig. 1 is main view of the invention.
Fig. 2 is side view of the invention.
Fig. 3 is the main view of module wheel of the invention.
Fig. 4 is the side view of module wheel of the invention.
Fig. 5 is the top view of module wheel of the invention.
Fig. 6 is the main view of position limiting clamp of the invention.
Fig. 7 is the side view of position limiting clamp of the invention.
Fig. 8 is the schematic diagram that module wheel of the invention is moved along spoke bar.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
As shown in Figures 1 to 8, shrinkable modularization stairs-mover wheel described in the present embodiment, including spoke 1, spoke bar 5,
Spring 2, module wheel 3 and position limiting clamp 4, the spoke bar 5 have multiple circumferential directions along spoke 1 to be evenly arranged on the outer peripheral surface of spoke 1, institute
It states spoke 1 to be connected with the wheel shaft of car body, every spoke bar 5 is in the radial direction of spoke 1, and is respectively installed with spring 2, the bullet
One end of spring 2 is fixed on spoke 1, and the other end is connected with module wheel 3, and the module wheel 3 is towards shape on an end face of spring 2
The blind hole that 5 size of Cheng Youyu spoke bar matches, the module wheel 3 pass through its blind hole intercalation on spoke bar 5, can be along spoke
Bar 5 is mobile, and can reset under the action of spring 2, and the module wheel 3 is sector structure using the center of spoke 1 as the center of circle, is enclosed
Around the rounded array arrangement of spoke 1, the tire body of wheel is constituted together, and the end face that adjacent two-by-two module wheel 3 is opposite
The wavy shaped configuration to match each other is formed, and is reserved with gap, the two sides of two end faces of each module wheel 3, which are respectively formed with, to be kept away
Vacancy 32, it is ensured that module wheel 3 along spoke bar 5 move radially during will not be blocked by adjacent module wheel 3, the module wheel 3
Symmetrical arc groove 31, the arc of multiple module wheels 3 of circular array are respectively formed on the two sides of the end of spring 2
Slot 31 constitutes circular orbit slot together, is matched with the detent 41 of position limiting clamp 4, the position limiting clamp 4 is U-like shape structure, and fixation connects
It is connected on car body, the two-arm ends curved inwards of the position limiting clamp 4 are formed with symmetrical detent 41, can snap onto vehicle wheel rotation mistake
It is in always in journey in the arc groove 31 of several module wheels 3 of low level, guarantees that limitation is in low level while vehicle wheel rotation
Module wheel 3 moved radially along spoke bar 5, the thickness of spacing and wheel between 4 two-arm of position limiting clamp matches, can be just
Across on wheel；When climbing building, several the high-order module wheels 3 being in contact with high-order step are respectively along respective spoke bar
5 is mobile, inlays tire body deformation with high-order step, and finally complete effort-saving stair climbing type under external force.
In flat ground surface, module limit is carried out to the module wheel 3 in low level with position limiting clamp 4 at level land
Position, remains stationary with the module wheel 3 of the low level of ground face contact, enables wheel stable rolling as usual wheel on level land
It is dynamic；When climbing building, several module wheels 3 in low level will not move radially under the action of position limiting clamp 4 along spoke bar 5, but can
Rotation is kept, and several the high-order module wheels 3 being in contact with high-order step are moved along respective spoke bar 5 respectively, make to take turns
Tire bulk deformation is simultaneously inlayed with high-order step, and eventually by completing effort-saving stair climbing type under external force.
The examples of implementation of the above are only the preferred embodiments of the invention, and implementation model of the invention is not limited with this
It encloses, therefore all shapes according to the present invention, changes made by principle, should all be included within the scope of protection of the present invention.
Claims (3)
1. a kind of shrinkable modularization stairs-mover wheel, it is characterised in that: including spoke, spoke bar, spring, module wheel and limit
It presss from both sides, on the outer peripheral surface that the spoke bar has multiple circumferential directions along spoke to be evenly arranged on spoke, and every spoke bar is in the diameter of spoke
To, and it is respectively installed with spring, one end of the spring is fixed on spoke, and the other end is connected with module wheel, the module
Wheel is existed towards the blind hole to match with spoke bar size, the module wheel is formed on an end face of spring by its blind hole intercalation
It on spoke bar, can be moved along spoke bar, and can reset under the action of the spring, the module wheel is circle with the center of spoke
The heart constitutes the tire body of wheel around the rounded array arrangement of spoke together, and reserves between module wheel adjacent two-by-two
There is gap, it is ensured that module wheel will not be stuck during moving along spoke bar, and the module wheel is close to the end of spring
Symmetrical arc groove is respectively formed on two sides, the arc groove of multiple module wheels of circular array constitutes circular orbit together
Slot is matched with the detent of position limiting clamp, and the position limiting clamp is U-like shape structure, and is fixedly attached on car body, the two-arm of the position limiting clamp
Ends curved inwards are formed with symmetrical detent, can snap onto several modules that vehicle wheel rotation is in low level always in the process
In the arc groove of wheel, guarantee that limitation is moved radially in the module wheel of low level along spoke bar while vehicle wheel rotation, the limit
The thickness of spacing and wheel between the folder two-arm of position matches, can be just across on wheel；When climbing building, with high-order step phase
Several high-order module wheels of contact are moved along respective spoke bar respectively, inlay tire body deformation with high-order step,
And effort-saving stair climbing type is finally completed under external force.
2. a kind of shrinkable modularization stairs-mover wheel according to claim 1, it is characterised in that: the module wheel is sector
Structure, and the adjacent opposite end face of module wheel of any two forms the wavy shaped configuration to match each other.
3. a kind of shrinkable modularization stairs-mover wheel according to claim 1 or 2, it is characterised in that: the module wheel
The two sides of two end faces are respectively formed with clearance position, for prevent module wheel along spoke bar move radially during with adjacent mould
Block wheel blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910903422.2A CN110525117A (en) | 2019-09-24 | 2019-09-24 | A kind of shrinkable modularization stairs-mover wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910903422.2A CN110525117A (en) | 2019-09-24 | 2019-09-24 | A kind of shrinkable modularization stairs-mover wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110525117A true CN110525117A (en) | 2019-12-03 |
Family
ID=68669825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910903422.2A Pending CN110525117A (en) | 2019-09-24 | 2019-09-24 | A kind of shrinkable modularization stairs-mover wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110525117A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274823A (en) * | 2020-10-26 | 2021-01-29 | 广州睿达信息科技有限公司 | Stair climbing fire truck for farm |
| CN112525159A (en) * | 2020-11-20 | 2021-03-19 | 滨州职业学院 | BIM model data acquisition device for urban sewer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN108309599A (en) * | 2018-02-01 | 2018-07-24 | 安徽工程大学 | Stair-climbing wheel chair |
| CN108995474A (en) * | 2018-06-26 | 2018-12-14 | 坎德拉（深圳）软件科技有限公司 | Stump-jump wheel and mobile robot |
| CN208343820U (en) * | 2018-02-05 | 2019-01-08 | 山东协和学院 | A kind of independent deformation wheel |
| CN109624604A (en) * | 2018-11-20 | 2019-04-16 | 定远县中林机械技术有限公司 | A kind of building climbing wheel of the double rim structures of alternating expression |
| CN109677206A (en) * | 2019-01-16 | 2019-04-26 | 杭州电子科技大学 | Not only can top bar but also can level land traveling multipurpose tyre and its application method |
| CN110037867A (en) * | 2019-04-29 | 2019-07-23 | 上海尊颐智能科技有限公司 | It is a kind of novel obstacle detouring and the wheel and its operation method in building to be climbed |
| CN210526181U (en) * | 2019-09-24 | 2020-05-15 | 华南农业大学 | Collapsible modularization stair-climbing wheel |
-
2019
- 2019-09-24 CN CN201910903422.2A patent/CN110525117A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN108309599A (en) * | 2018-02-01 | 2018-07-24 | 安徽工程大学 | Stair-climbing wheel chair |
| CN208343820U (en) * | 2018-02-05 | 2019-01-08 | 山东协和学院 | A kind of independent deformation wheel |
| CN108995474A (en) * | 2018-06-26 | 2018-12-14 | 坎德拉（深圳）软件科技有限公司 | Stump-jump wheel and mobile robot |
| CN109624604A (en) * | 2018-11-20 | 2019-04-16 | 定远县中林机械技术有限公司 | A kind of building climbing wheel of the double rim structures of alternating expression |
| CN109677206A (en) * | 2019-01-16 | 2019-04-26 | 杭州电子科技大学 | Not only can top bar but also can level land traveling multipurpose tyre and its application method |
| CN110037867A (en) * | 2019-04-29 | 2019-07-23 | 上海尊颐智能科技有限公司 | It is a kind of novel obstacle detouring and the wheel and its operation method in building to be climbed |
| CN210526181U (en) * | 2019-09-24 | 2020-05-15 | 华南农业大学 | Collapsible modularization stair-climbing wheel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274823A (en) * | 2020-10-26 | 2021-01-29 | 广州睿达信息科技有限公司 | Stair climbing fire truck for farm |
| CN112525159A (en) * | 2020-11-20 | 2021-03-19 | 滨州职业学院 | BIM model data acquisition device for urban sewer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110525117A (en) | A kind of shrinkable modularization stairs-mover wheel | |
| US7249640B2 (en) | Highly mobile robots that run and jump | |
| CN107415574B (en) | Deformed tire | |
| CN103448831B (en) | A kind of obstacle detouring carrying robot | |
| CN101844483A (en) | Variable-diameter wheel leg combined wheel structure | |
| CN202491861U (en) | Compound crawler star-shaped three-blade wheel for stairs and ground | |
| CN102991596B (en) | Stretchable track and travelling wheel positioning mechanism for movable robot with wheel-track conversion structure | |
| CN210526181U (en) | Collapsible modularization stair-climbing wheel | |
| CN104382706A (en) | Deformable wheel of stair climbing wheelchair | |
| CN108327459A (en) | It is a kind of can self-locking deformation wheel mechanism | |
| CN202295051U (en) | Full-skin turning moving soft-bodied robot | |
| CN203005587U (en) | Triangular crawler wheel | |
| CN103568698A (en) | Multi-category geographical environment traveling pedal wheel | |
| CN102310711B (en) | Impeller imitated semi-walking wheel | |
| WO1994020313A1 (en) | Locomotive assembly for a transport device and transport device provided therewith | |
| CN111361355A (en) | Bionic walking wheel for climbing ladder device | |
| CN208376423U (en) | A kind of deformation wheel mechanism that can be self-locking | |
| CN207088844U (en) | A kind of full landform compliant wheel | |
| CN111994179B (en) | Contraction and expansion type wheel-track walking device | |
| CN111645460B (en) | Deformable obstacle crossing wheel based on lantern mechanism | |
| CN205054638U (en) | Cat ladder wheelchair of preventing jolting | |
| CN113602406A (en) | Harmonic gear type balance transport vehicle for mountain terraced road | |
| CN207683649U (en) | Soft terrain climbing robot | |
| CN206171065U (en) | But amphibious wheel variable diameter moving platform | |
| CN206374886U (en) | The fine spry and light folding balance car of carbon |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |