CN111759606B

CN111759606B - Barrier-free mobile balance car

Info

Publication number: CN111759606B
Application number: CN202010656851.7A
Authority: CN
Inventors: 仲兆宏
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-09
Filing date: 2020-07-09
Publication date: 2021-11-30
Anticipated expiration: 2040-07-09
Also published as: WO2022007285A1; CN111759606A

Abstract

The invention provides an obstacle-free mobile balance car, which comprises a bearing platform, a frame part and a wheel set part, wherein the bearing platform is supported above the frame part, the wheel set part is connected with the frame part, the frame part comprises a first quadrangle positioned above and a second quadrangle positioned below, the sizes of the first quadrangle and the second quadrangle are equal, the first quadrangle and the second quadrangle both comprise 2 connecting rods and shaft rods respectively connected between the two ends of the 2 connecting rods, the shaft rods and the connecting rods are in rotatable connection, a pair of bases are respectively arranged at the two ends of the first quadrangle and the second quadrangle, the bases at least extend between the first quadrangle and the second quadrangle, each base is fixedly connected with the shaft rods of the first quadrangle and the second quadrangle at the ends, the connecting rods of the first quadrangle and the connecting rods of the second quadrangle positioned at the same side of the frame part, And a pair of bases form a parallelogram. The balance car can safely and stably pass on a flat road, a rugged road surface, a narrow space and stairs, and is simple and convenient to operate and high in walking efficiency.

Description

Barrier-free mobile balance car

Technical Field

The present invention relates to an obstacle-free mobile balance car suitable for unobstructed passage over various terrains such as flat ground, rough road, stairs, etc.

Background

The barrier-free mobile balance car is suitable for carrying objects and carrying people, the barrier-free mobile balance car for carrying objects is generally used in the field of logistics carrying, and the barrier-free mobile balance car for carrying people is generally used for helping disabled people and old people to pass through in various places without barriers, and particularly helping the disabled people and the old people to go up and down stairs.

The existing barrier-free mobile balance vehicle is roughly divided into two types: one is a wheel type, and the other is a combination of a track and a wheel. The wheel type balance car has large shake in the walking process, and has weak ground gripping capability in the stair climbing and descending processes, so that the wheel type balance car has a risk of toppling; when the combined balance car with the crawler and the wheels runs on the flat ground, the wheels are in contact with the ground, the combined balance car runs by utilizing the wheels, when the combined balance car passes through stairs, the crawler lands on the ground, and the combined balance car runs up and down the stairs by utilizing the crawler. Compared with a wheel type balance car, the combined balance car has stronger ground grabbing capacity when going upstairs and downstairs and is more stable to walk.

However, the existing combined balance car has the following defects:

firstly, the crawler belts on the left side and the right side of the balance car are integrated, when the balance car crosses a joint part of a stair and a platform, because the rear part of the car body is lack of support, the car body can not reach the platform only by depending on the crawler belts, an auxiliary support device is needed to be configured, for example, retractable auxiliary wheels are installed, therefore, when the balance car reaches the joint part of the stair and the platform, the auxiliary wheels are put down to support the rear part of the car body and help the crawler belts to reach the platform, and when the balance car reaches the platform, the auxiliary wheels are retracted, so that the design has the problems of complex operation and low stair climbing efficiency;

secondly, the balance car can swing in the process of climbing stairs, as shown in fig. 1a and fig. 1b, when the crawler belt contacts with a stair step to climb the stairs, the included angle between the crawler belt and the ground is a, in the process that the crawler belt climbs the stair step, the front end of the crawler belt is gradually lifted upwards, the included angle between the front end of the crawler belt and the ground is gradually increased, when the crawler belt is about to reach the plane of the stair step, the included angle between the crawler belt and the ground is increased to b, when the included angle is too large, the crawler belt is easy to slip, and simultaneously, the balance car can continuously swing in the whole process of climbing stairs, and similarly, in the process of going downstairs, the balance car also has the condition of swinging, so that the bearing platform can not be kept horizontal, and the rider can feel jolt and unstable;

thirdly, the existing combined balance car can only climb stairs in one direction, and for double-running stairs and multi-running stairs, the directions of two adjacent stairs are opposite, so that when the balance car reaches a middle platform, the balance car needs to turn around, and the track of the balance car needs to be landed and switched to a wheel for landing, and after the balance car finishes turning around, the wheel is landed and switched to the track for landing, so that the operation during climbing stairs is more complicated, and the climbing efficiency is lower;

in addition, the space of middle platform is narrow usually, and balance car diversion direction is comparatively difficult, to disabled person and old person, has the potential safety hazard.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides the barrier-free mobile balance car which can walk on a flat road, a rugged road and stairs stably and safely, is simple and convenient to operate, and particularly does not need to be additionally provided with an auxiliary supporting device when going upstairs and downstairs.

In order to achieve the purpose, the invention provides the following technical scheme:

the barrier-free mobile balance car comprises a bearing platform, a frame part and a wheel set part, wherein the bearing platform is supported above the frame part, the wheel set part is connected with the frame part, the frame part comprises a first quadrangle positioned above and a second quadrangle positioned below, the first quadrangle and the second quadrangle are equal in size, and both the first quadrangle and the second quadrangle comprise 2 connecting rods, and the shaft levers are respectively connected between two ends of the 2 connecting rods, the shaft levers are rotatably connected with the connecting rods, the pair of bases are respectively arranged at two ends of the first quadrangle and the second quadrangle, the bases at least extend between the first quadrangle and the second quadrangle, each base is fixedly connected with the shaft levers of the first quadrangle and the second quadrangle at the ends where the bases are located, and the connecting rods of the first quadrangle, the connecting rods of the second quadrangle and the pair of bases which are positioned at the same side of the frame part form a parallelogram.

The invention also provides the following technical scheme:

accessible removes balance car, it includes:

the frame part comprises a pair of upper connecting rods, a pair of lower connecting rods and a pair of bases, wherein the two ends of the pair of upper connecting rods and the two ends of the pair of lower connecting rods are connected through shaft rods, the shaft rods are rotatably connected with the upper connecting rods and the lower connecting rods, the pair of bases are respectively arranged at the two ends of the upper connecting rods and the two ends of the lower connecting rods and are connected with the shaft rods, and the upper connecting rods, the lower connecting rods and the pair of bases form a parallelogram together;

the wheel set part comprises 4 independent wheel sets, and the 4 wheel sets are pairwise connected through a transverse shaft;

a suspension mechanism connected between the wheel set portion and the frame portion;

the swing control mechanism is used for controlling the inclination angle of the wheel set and is connected with a transverse shaft of the wheel set part;

and the balance control mechanism is arranged on the frame part and acts on the parallelogram, and the parallelogram is adjusted by sensing the inclination of the bearing platform or the frame part, so that the bearing platform supported by the frame part is always in a horizontal position.

The invention has the following beneficial effects:

(1) by adopting a special frame design, the frame part is provided with a left deformable parallelogram and a right deformable parallelogram, so that when the balance car meets an obstacle and a connecting rod of the frame part is inclined, an included angle between a central vertical rod of the frame part and the connecting rod is changed, the central vertical rod is always kept in a vertical position, and the bearing platform is always in a horizontal position; according to parallelogram's characteristic, the base remains throughout parallel with central montant, and is vertical in ground to guarantee that the contained angle of wheelset and ground is fixed unchangeable (under the prerequisite that does not start swing control mechanism), such design makes the balance car no matter walk in pothole highway section or walk up and down stairs, can both steadily go, and load-bearing platform is the level all the time, greatly reduced track slip's risk.

(2) The design mode of symmetry around the frame part adopts for the balance car both can advance upstairs, also can retreat upstairs, realizes two-way building of climbing, and the benefit of design like this lies in: when the stair runs through double or multiple stairs, the balance car can be directly and transversely moved on the middle platform of the stairs through the Mecanum wheels of the wheel sets without turning around and steering on the middle platform, and the walking efficiency is greatly improved.

(3) The 4 independent wheelsets are connected to the frame part through the suspension mechanism, and the suspension mechanism enables the balance car to contact with the ground when encountering an obstacle, so that the ground grabbing capacity of the balance car during running is improved, and the suspension mechanism has a damping function, so that the running stability and the comfort are further improved.

(4)4 independent wheel sets provide a sectional type crawler belt for the balance car, when the balance car goes up and down stairs, the walking mode of the sectional type crawler belt does not need to be additionally provided with an auxiliary supporting device, and the switching step of the auxiliary supporting device is also omitted in the walking process; in addition, the improved design of the crawler belt enables the crawler belt to be in contact with a stair step or a middle platform of a stair in a plane section when the balance car runs or climbs the stair with the wheel set inclined at a certain angle, on one hand, in the stair climbing process, the plane section is contacted with the plane of the step, so that the slipping problem is effectively avoided, on the other hand, at least two crawler teeth are distributed on the outer side of the plane section, thus, when the wheel set is inclined at a certain angle to climb or walk on the middle platform of the stairs, at least two crawler teeth are contacted with the ground, the stability of the vehicle body is ensured, in the prior art, the arc section of the crawler belt is contacted with the ground, the tooth profile distribution at the outer side of the arc section can cause one of the left and right wheel sets to land on the ground by the concave between two adjacent teeth of the crawler belt, and the other wheel set lands on the ground by teeth, so that the left and right of the vehicle body have height difference to cause vehicle body shake.

(5) The swing control mechanism is linked with the power transmission switching mechanism of the wheel set, so that an operator can select a wheel set walking tool while adjusting the swing angle of the wheel set, the operation is convenient, and the structure is ingenious.

Drawings

The present invention will be further described and illustrated with reference to the following drawings.

Fig. 1a is a schematic diagram of a balance car in the process of climbing stairs in the prior art.

Fig. 1b is another schematic view of the balance car in fig. 1a during the process of climbing stairs.

Fig. 2 is a schematic view of the obstacle-free mobile balance car according to the preferred embodiment of the present invention.

Fig. 3 is a schematic view of a frame portion of the obstacle-free mobile balance car of fig. 2.

Fig. 4a is another schematic view of the frame part of fig. 3.

Fig. 4b is a schematic view of the frame part of fig. 4a deformed when encountering an obstacle.

Fig. 5 is a schematic view of the base of the frame portion of fig. 3.

Fig. 6 is a schematic view of a balance control mechanism of the obstacle-free mobile balance car of fig. 2.

Fig. 7 is a schematic view of the suspension mechanism of the obstacle-free mobile balance car of fig. 2 with one wheel set removed for clarity of construction.

Fig. 8 is a schematic view of a swing control mechanism of the obstacle-free mobile balance car of fig. 2.

Fig. 9 is a schematic view of the internal structure of one side of the wheel set of the obstacle-free mobile balancing vehicle in fig. 2.

Fig. 10 is a schematic view of the inner structure of the other side of the wheel set of the obstacle-free mobile balancing vehicle in fig. 2.

Fig. 11 is a schematic view of the wheel set of the obstacle-free mobile balancing vehicle of fig. 2 when climbing stairs.

Fig. 12 is a cross-sectional view of the power transmission switching mechanism of the wheel set portion of the unobstructed moving balancing vehicle.

FIG. 13 is a schematic view of the obstacle-free mobile balancing cart in a rough road walking mode.

Fig. 14 is a schematic view of the obstacle-free mobile balancing vehicle in a stair-walking mode.

Fig. 15 is a schematic view of the obstacle-free mobile balance car in a narrow space walking mode.

Detailed Description

The technical solution of the present invention will be more clearly and completely explained by the description of the preferred embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 2, the obstacle-free mobile balance car according to the preferred embodiment of the present invention includes a loading platform 1, a frame portion 2, a balance control mechanism 3, a suspension mechanism 4, a swing control mechanism 5, and a wheel set portion 6.

The construction and operation of the various parts of the obstacle-free mobile balancing vehicle are described in detail below.

Bearing platform

As shown in fig. 2, a load-bearing platform 1 is supported above a frame part 2, which is intended to carry an object or a person. When used to carry an object, the load-bearing platform 1 may be a container or device that holds the object; when used for carrying a person, the carrying platform 1 may be a wheelchair. The shape and the construction of the load-bearing platform 1 can be designed according to the actual needs.

Frame part

As shown in fig. 3, the frame portion 2 mainly includes a pair of upper links 21, a pair of lower links 22, a pair of center vertical bars 24, a pair of bases 25, and a shaft 23 connected between both ends of the pair of upper links 21 and the pair of lower links 22.

As shown in fig. 3 and 4a, the upper link 21 and the lower link 22 have the same length and are opposite to each other. The two shaft rods 23 are respectively and rotatably connected between the two ends of the two upper connecting rods 21 to form a first quadrangle A1; the other two shaft rods 23 are rotatably connected between both ends of the two lower links 22, respectively, to form a second quadrangle a 2. The first quadrangle a1 is located above the second quadrangle a 2.

A pair of central vertical rods 24 are rotatably connected to the upper and

lower links

21 and 22, respectively, which are located on the same side. Further, the central vertical rod 24 is rotatably connected with the middle point M of the upper link 21 and the middle point N of the lower link 22. Further, the lower end of the central vertical rod 24 is rotatably connected to the midpoint N of the lower link 22. The first middle connecting rod 210 is connected between the middle points M of the two upper connecting rods 21, the second middle connecting rod 220 is connected between the middle points N of the two lower connecting rods 22, and the first middle connecting rod 210 is positioned above the second middle connecting rod 220. The two ends of the first intermediate connecting rod 210 are rotatably connected with the upper connecting rod 21 and the central vertical rod 24, respectively, and the two ends of the second intermediate connecting rod 220 are rotatably connected with the lower connecting rod 22 and the central vertical rod 24, respectively.

As shown in fig. 3 to 5, a pair of bases 25 are provided at both front and rear ends of the frame portion 2, respectively. Specifically, base 25 includes an upper portion 251, a lower portion 252, and a middle portion 253. The middle portion 253 extends from the second quadrilateral a2 to the first quadrilateral a 1. The upper portion 251 and the lower portion 252 are connected to the upper and lower ends of the middle portion 253, respectively, and the upper portion 251 and the lower portion 252 of the base at the front end of the frame portion 2 extend forward of the vehicle body, and the upper portion 251 and the lower portion 252 of the base at the rear end of the frame portion 2 extend rearward of the vehicle body, and are configured such that the base 25 is substantially C-shaped. In this embodiment, the upper portion 251 is a single plate and the lower portion 252 is two rods. In other embodiments, the upper portion 251 and the lower portion 252 may have other shapes, and the shape of the base is not limited to the embodiment, and the overall shape of the base is not limited to the C shape.

In the assembled state, the openings of the bases 25 at both front and rear ends of the frame portion 2 face the front and rear of the balance car, respectively. The base 25 is fixedly or rotatably connected with the shaft 23, specifically, the upper part 251 of the base is positioned above the upper connecting rod 21, and the lower surface thereof is fixedly or rotatably connected with the shaft 23 of the first quadrangle A1; the free ends of the two rods of the lower base portion 252 are fixedly or rotatably connected to the shaft 23 of the second quadrilateral a 2.

The above-described construction is such that an upper link 21, a lower link 22 and a pair of bases 25 on the same side of the frame portion constitute a parallelogram B1, the entire frame portion 2 has left and right parallelograms B1, B2, and the pair of bases 25 serve as both sides of the parallelograms B1, B2.

In the above preferred embodiment, the shaft 23 is 4 independent connecting shafts rotatably connected between both ends of the pair of upper links 21 and both ends of the pair of lower links 22, respectively, and is also fixedly or rotatably connected to the base 25. In other embodiments, the shaft 23 may be an integral component with the base 25, or a portion of the base 25; the shaft 23 may be an upper link 21 and a lower link 22 extending from the upper link 21 and the lower link 22 on one side of the frame portion to the other side of the frame portion, or may be a shorter shaft connected to both sides of the upper portion 251 and the lower portion 252 of the base, and the shorter shafts on both sides are rotatably connected to the pair of upper links 21 and the pair of lower links, respectively, so that the frame portion having the upper and lower quadrangles a1 and a2 and the left and right parallelograms B1 and B2 can be configured.

The working principle of the frame part 2 is:

as shown in fig. 4B, when the balance car encounters an obstacle, the lower link 22 tilts, and the angle between the central vertical bar 24 and the lower link 22 is adjusted, so that the parallelograms B1 and B2 deform (the deformation refers to the change of the inner angle), thereby keeping the central vertical bar 24 in the vertical position. According to the characteristics of a parallelogram, the base 25 is always kept parallel to the central upright 24, and therefore the base 25 is also kept upright. Because the bearing platform 1 is connected to the top of the central vertical rod 24, the central vertical rod 24 is kept vertical, and then the bearing platform 1 is kept in a horizontal position, so that the stability of objects or human bodies on the bearing platform 1 is ensured, and the inclination of the objects or the human bodies caused by the bumpiness and the potholes of the road surface is avoided.

Balance control mechanism

As shown in fig. 6, the balance control mechanism 3 is mounted on the frame part 2 for sensing the inclination of the carrying platform 1 and adjusting the angle between the central vertical rod 24 and the lower connecting rod 22, so that the central vertical rod 24 is always kept in the vertical position and the whole balance car is kept in a balanced state.

The balance control mechanism 3 includes a balance motor 31, a transmission pair 32, a balance transmission shaft 33, a pair of balance gears 34, a pair of arc gears 35, and a balance module (not shown). The balancing shaft 33 is rotatably connected between the two central vertical bars 24 and is parallel to the first intermediate connecting rod 210 and the second intermediate connecting rod 220. A balancing motor 31 and a transmission pair 32 are arranged in the frame part 2, in particular the balancing motor 31 is arranged between a pair of central vertical bars 24 and below a balancing transmission shaft 33. In this embodiment, it is preferable that the transmission pair 32 is a first worm gear and worm transmission pair, the worm 322 is fixedly connected with the output shaft of the balance motor 31, and the worm wheel 321 is fixedly mounted on the balance transmission shaft 33. A pair of balance gears 34 are respectively installed at both ends of the balance transmission shaft 33 and respectively located at the outer sides of the two central vertical rods 24. The pair of arc gears 35 are fixedly connected to the two lower links 22, respectively, or are integrated with the lower links 22. The arc gear 35 is connected to the middle portion of the lower link 22, and has a tooth surface located above the lower link 22 as a center of the circle with respect to the center N of the lower link 22, and is engaged with the balance gear 34.

The balancing module is used for sensing the inclination of the carrying platform, which may employ an inclination sensor commonly used in the art, such as a gyro sensor. The balancing module can be arranged on the carrying platform 1 or on the central vertical bar 24.

The working principle of the balance control mechanism 3 is as follows:

when the balance car encounters an obstacle in the advancing process, the front end of the frame part 2 is lifted, the lower connecting rod 22 of the frame part is inclined backwards, the central vertical rod 24 and the bearing platform 1 are slightly inclined backwards, the inclined angle is very small and is about 1-2 degrees, and the phenomenon that objects or human bodies on the bearing platform are greatly inclined and uncomfortable cannot be caused. At this moment, the inclination is sensed to the balancing module, and handle the slope data of sensing, then feed back to balancing motor 31, balancing motor 31 receives the signal and begins work, it rotates to drive worm 322, drive balancing drive shaft 33 through first worm gear transmission pair and rotate, then drive the balance gear 34 of installing on balancing drive shaft 33 and rotate, balance gear 34 meshes with curved gear 35, it rotates around the center N of lower connecting rod 22 to drive center montant 24, thereby change the contained angle between center montant 24 and the lower connecting rod 22, make center montant 24 keep at vertical position, load-bearing platform 1 keeps at horizontal position, whole balance car is in balanced state. Conversely, when the rear end of the frame part 2 is raised, the balance control mechanism 3 can also keep the whole balance car in a balanced state.

In other embodiments, the first worm gear and worm transmission pair can be replaced by other power transmission mechanisms, such as a gear transmission mechanism, but the worm gear and worm transmission pair has a self-locking function, and when the balancing motor stops working, the parallelograms B1 and B2 are kept in an adjusted state and do not change.

Suspension mechanism

As shown in fig. 2, 7 and 8, the suspension mechanism 4 is connected between the frame portion 2 and the wheel set portion 6 for connecting the wheel set portion 6 to the frame portion 2.

The wheel set part 6 comprises 4 independent wheel sets, two front wheel sets positioned at the front end of the balance car and two rear wheel sets positioned at the rear end of the balance car are connected through a transverse shaft 7 respectively, a transverse shaft shell 70 is arranged outside the transverse shaft 7, and the transverse shaft 7 can rotate relative to the transverse shaft shell 70. The front and rear wheel sets are connected to the frame part 2 by means of suspension means 4, respectively. Each suspension mechanism 4 comprises a pair of

shock absorbers

41, 4 suspension links 42. The shock absorber 41 and the suspension link 42 are respectively provided at the wheel sets, and are located at the inner sides of the wheel sets. The damper 41 and the suspension link 42 are connected at one end to the cross shaft housing 70 and at the other end to the base 25. Specifically, one end of the damper 41 is fixedly connected to the base upper portion 251, and the other end of the damper 41 is fixedly connected to the cross shaft housing 70; each suspension link 42 has a ball 420 mounted at both ends thereof, and 2 of the 4 suspension links 42 are connected at one end thereof to the middle 253 of the base via the ball 420 and at the other end thereof to the horizontal shaft housing 70 via the ball 420 to form a pair of upper suspension links, and the other 2 suspension links 42 are located below the upper suspension links and are lower suspension links, one end thereof being connected to the lower portion 252 of the base via the ball 420 and at the other end thereof being connected to the horizontal shaft housing 70 via the ball 420. The arrangement of the ball head 420 enables the suspension connecting rod 42 to rotate at multiple angles and rotate around the axis of the suspension connecting rod.

The working principle of the suspension mechanism 4 is as follows:

when the left side of the vehicle body encounters an obstacle and is lifted, the wheel set connected with the left side of the cross shaft 7 is lifted, the left side of the cross shaft shell 70 is lifted, the shock absorber 41 on the left side is compressed, and the 4 suspension connecting rods 42 rotate around the ball head 420, so that the 4 wheel sets are ensured to be in contact with the ground. On the contrary, when the right side of the vehicle body meets an obstacle and is lifted, the suspension mechanism 4 can also ensure that the 4 wheel sets are all contacted with the ground.

When the front end and the rear end of the vehicle body simultaneously encounter obstacles, the front wheel set and the rear wheel set connected with the cross shaft 7 are simultaneously lifted, the cross shaft shell 70 is lifted, the shock absorbers 41 at the front end and the rear end are simultaneously compressed, and the suspension connecting rod 42 rotates around the ball head 420, so that the contact of the 4 wheel sets with the ground is ensured.

The suspension mechanism of the invention can independently adjust the relative positions of the front two wheel sets, the rear two wheel sets and the frame part, thereby ensuring that 4 wheel sets simultaneously contact the ground without the problem that one or more wheel sets are suspended, and the shock absorber of the suspension mechanism can effectively reduce the shock of each wheel set and improve the running stability of the balance car.

Swing control mechanism

As shown in fig. 2 and 8, the swing control mechanism 5 is connected to the wheel set portion 6 for controlling the swing angle of the wheel set.

The swing control mechanism 5 includes a pair of swing motors 51 and a pair of second worm gear pairs. A wobble motor 51 and a second worm gear form a wobble control subassembly. Two swing control sub-mechanisms of the swing control mechanism 5 are respectively arranged at the front wheel set and the rear wheel set and respectively control the swing angles of the front wheel set and the rear wheel set.

The two swing control sub-mechanisms have the same structure and operation principle, and the structure of one of the swing control sub-mechanisms will be described as an example. The second worm gear-worm transmission pair is arranged in the cross shaft shell 70, wherein a worm wheel 521 is fixedly arranged on the cross shaft 7, and a worm 522 meshed with the worm wheel 521 is fixedly connected with an output shaft of the swing motor 51. Preferably, the swing motor 51 is disposed above the horizontal shaft housing 70, and the worm gear box of the second worm gear pair 52 is integrated with the horizontal shaft housing 70.

The working principle of the swing control mechanism 5 is as follows:

when the swing motor 51 receives a signal for starting operation, it executes rotation to drive the worm 522 to rotate, and then drives the worm wheel 521 and the transverse shaft 7 to rotate together through the second worm and gear transmission pair, and since the transverse shaft 7 is fixedly connected with the wheel sets on both sides, the wheel sets on both sides rotate together with the transverse shaft 7, i.e. swing is realized.

The signal here may be a control signal sent to the swing motor 51 by an operator or a rider through a button on the vehicle body, a remote controller, a mobile phone APP, an automatic driving learning control, and the like.

The swing motor 51 can rotate forward and backward, the rotation directions are different, and the swing directions of the wheel sets are also different, namely the wheel sets can swing forward and backward to adapt to different stair inclination directions.

The second worm gear and worm transmission pair of the swing control mechanism has a self-locking function, and when the wheel set is rotated to a certain angle, the wheel set is locked at the angle position. At this moment, the angle between the wheel set and the cross shaft shell 70 is fixed, because the cross shaft shell 70 is connected with the base 25 in a hanging manner, the two can not rotate relatively, therefore, the angle between the wheel set and the base 25 is kept unchanged, no matter how the front and back inclination angles of the upper connecting rod, the lower connecting rod 21 and the 22 are changed, as long as the central vertical rod is kept vertical, according to the characteristics of a parallelogram, the base is always parallel to the central vertical rod, so the angle between the wheel set and the ground is also kept unchanged, so that the included angle between the wheel set and the stair step is kept unchanged when the balance car goes up and down stairs, the phenomenon of up and down swinging of the wheel set can not occur, and the walking up and down stairs are more stable.

The different swing angles of the wheel sets are suitable for different walking modes, which will be described below.

Wheel set part

As shown in fig. 9 and 10, the 4 independent wheel sets of the wheel set portion 6 are driven independently, and each wheel set includes a built-in traveling motor 60.

The 4 wheel sets have the same structure, and the internal structure of one wheel set is taken as an example.

The wheel set is of a two-layer structure, namely a track layer and a wheel layer, and the two layers are arranged side by side. In the assembled state the track layer is on the inside of the wheel set, close to the frame part 2, and the wheel layer is on the outside of the wheel set.

The crawler belt layer is provided with a crawler belt 61, a crawler belt driving wheel 611 and a plurality of crawler rollers 612 are arranged in the crawler belt 61, the crawler belt driving wheel 611 is located at one end of the crawler belt 61, the plurality of crawler rollers 612 are arranged along two sides of the crawler belt 61, specifically, the crawler rollers 612 are arranged in sequence from a position close to the crawler belt driving wheel 611 to a position far away from the crawler belt driving wheel 611, and the crawler rollers 612 located at two sides are in one-to-one correspondence. In the arrangement direction, the distance between the track rollers 612 on both sides is gradually increased, and the track 61 is designed to be narrow at one end and wide at the other end, and the end supported by the track driving wheel 611 is a narrow end and the other end opposite to the narrow end is a wide end, and the wide end has a flat section 613. And the distance between the last two track rollers 612 is reduced compared to the distance between the two track rollers adjacent thereto, thereby forming inclined planar segments 614 at both ends of planar segment 613. The inclined planar section 614 is connected at one end to the planar section 613 and at the other end to the side 615 of the track 61. Since the angle of inclination of a typical household staircase is about 30 °, it is preferred that the angle α between the inclined plane segment 614 and the central plane of the wheel set is between 25 ° and 40 °.

The outer surface of inclined planar segment 614 has at least two track teeth 616. Thus, when the wheel sets are inclined at a certain angle to climb a building or walk on a middle platform of a stair, at least two crawler teeth 616 of the inclined plane section 614 are contacted with the ground, so that the stability of the vehicle body is ensured, in the prior art, the circular arc section of the crawler is contacted with the ground, the tooth profiles at the outer side of the circular arc section are distributed, one wheel set of the left wheel set and the right wheel set is grounded through the concave part between two adjacent teeth of the crawler, the other wheel set is grounded through the teeth, so that the left wheel set and the right wheel set have height difference, and the vehicle body shakes.

As shown in fig. 11, based on the design of the track layer structure, when the balance car climbs stairs, the stair corners 81 of the steps contact with the side edges 615 of the track, so that the climbing capability is strong, and the plane 82 of the steps contacts with the inclined plane sections 614, so that the climbing is stable and safe. Compared with the crawler belt with the two ends being arc surfaces in the prior art, the inclined plane section 614 greatly improves the stability of the balance car when going upstairs and downstairs.

The wheel layer comprises a travelling wheel 62 and a mecanum wheel 63, which are respectively arranged at two ends of the wheel layer. Further, the road wheels 62 are near the narrow end of the track 61 and the mecnam wheels 63 are near the wide end of the track 61. The advantages of such a design are: when the balance car climbs a building, the Mecanum wheels are small in diameter and cannot contact the ground to influence crawling of the crawler. The outer diameters of the road wheels 62 and the mecanum wheels 63 respectively exceed the two ends of the crawler belt 61. Preferably, the two wheel set road wheels 62 in the front of the vehicle body are universal wheels, and the two wheel set road wheels 62 in the rear of the vehicle body are common road wheels, so that the vehicle body can turn conveniently.

The traveling motor 60 drives the track 61, the mecnam wheel 63, or the traveling wheels 62 to rotate through a power transmission device.

The power transmission device comprises a bevel gear transmission pair 680, a third worm gear transmission pair 660 and a chain wheel transmission mechanism 600. The sprocket transmission mechanism 600 includes a first sprocket 601, a second sprocket 602, a third sprocket 603, a fourth sprocket 604, a fifth sprocket 605, a first chain 606, and a second chain 607.

The first sprocket 601, the second sprocket 602, the third sprocket 603, and the first chain 606 constitute a first sprocket drive mechanism. The first sprocket 601, the second sprocket 602, and the third sprocket 603 are sequentially arranged along the longitudinal direction of the track layer, and are close to one side edge of the track 61. The first chain wheel 601 is sleeved on the crawler driving wheel 611, the first chain wheel and the second chain wheel are fixedly connected and are positioned at the narrow end of the crawler 61, the second chain wheel 602 and the third chain wheel 603 are positioned between the two rows of crawler rollers 612, and the third chain wheel 603 is positioned at the wide end of the crawler 61.

The first chain 606 surrounds the periphery of the first sprocket 601 and the third sprocket 603, and the middle section of one side of the first chain 606 surrounds the other side of the second sprocket 602, thereby realizing that the first chain 606 is meshed with the first sprocket 601, the second sprocket 602 and the third sprocket 603 simultaneously.

The fourth sprocket 604, the fifth sprocket 605 and the second chain 607 constitute a second sprocket drive mechanism which is located near the edge of the other side of the track 61, opposite the first sprocket drive mechanism.

The road wheels 62, the mecanum wheels 63, the road motor 60 and the second chain wheel transmission are located on the same side of the track 61, preferably the road wheels 62, the mecanum wheels 63 and the road motor 60 are located outside the wheel sets.

The road wheels 62 are mounted on a road wheel axle 620. The fourth sprocket 604 is coaxial with the second sprocket 602 and is connected by a drive shaft 608. Mecanum wheel 63 is coaxial with third sprocket 603 and is connected by a Mecanum axle 630. A gear pair 690 is arranged between the fifth chain wheel 605 and the travelling wheel axle 620, so that the fifth chain wheel 605 can drive the travelling wheel 62 to rotate through the gear pair 690.

As shown in fig. 12, the wheel train portion 6 is provided with a power transmission switching mechanism 64 for switching the power transmission path, thereby switching the running means of the balance car to the crawler 61, the running wheels 62, or the milham wheels 63.

The power transmission switching mechanism 64 includes a push rod 641, an ejector pin 642, a first slider 643, a second slider 644, a first spring 645, a second spring 646, and a switching assist member 647. The push rod 641, the thimble 642, the first slider 643, the second slider 644, the first spring 645, and the second spring 646 are provided on the drive shaft 608, and constitute a switching mechanism main body.

The push rod 641 is mounted within the drive shaft 608 and is slidable relative to the drive shaft 608. One end of the push rod 641 extends out of the drive shaft 608 and the extended end is mounted in a hole of the wheel set housing 65. A first slider 643 and a second slider 644 are mounted at both ends of the driving shaft 608, and they can slide on the driving shaft 608 but cannot rotate with respect to the driving shaft 608. In the present embodiment, the first slider 643 and the second slider 644 are coupled to the drive shaft 608 by a spline, so that the first slider is slidable but not rotatable. Meanwhile, the first sliding block 643 and the second sliding block 644 are fixedly connected to the push rod 641, specifically, one end of the first sliding block 643 is connected to one end of the driving shaft 608, and the other end of the first sliding block 643 is fixedly connected to the protruding portion of the push rod 641. The first spring 645 is disposed between the wheel set housing 65 and the first slider 643. The second slider 644 is fixedly connected to the push rod 641. The thimble 642 is slidably sleeved on the second sliding block 644, and the second spring 646 is disposed between the thimble 642 and the second sliding block 644. The second spring 642 has a greater elastic force than the first spring 645. The free end of the thimble 642 extends out of the wheelset housing 65 and contacts the switching aid 647.

The second sprocket 602 and the fourth sprocket 604 are mounted on the driving shaft 608 through bearings, and the worm wheel 661 of the worm gear-worm transmission pair is fixedly mounted on the driving shaft 608 and is located between the second sprocket 602 and the fourth sprocket 604. The second sprocket 602, the worm gear 661, and the fourth sprocket 604 are located between the first sliding block 643 and the second sliding block 644, and further, the fourth sprocket 604 is located near the first sliding block 643, and the second sprocket 602 is located near the second sliding block 644. The opposing faces of the fourth sprocket 604 and the first slider 643 are respectively provided with face teeth that can engage with each other, and the opposing faces of the second sprocket 602 and the second slider 644 are respectively provided with face teeth that can engage with each other.

A switching aid 647 is fixedly connected to cross-shaft housing 70, and switching aid 647 includes an end face 648 and a groove 649 on the side facing thimble 642. When the swing control mechanism 5 is operated, the thimble 642 rotates with the wheel set and contacts the end face 648 of the switching aid or falls into the recess 649.

When the thimble 642 rotates to contact with the end face 648 of the switching auxiliary member, the thimble 642 is pressed by the end face 648, the thimble 642 compresses the second spring 646, the second spring 646 pushes the second slider 644 to move towards the second sprocket 602, the end face teeth of the second slider 644 are meshed with the end face teeth of the second sprocket 602, the second slider 644 drives the push rod 641 to move outwards while moving, the push rod 641 drives the first slider 643 to slide outwards together and compress the first spring 645, and the end face teeth of the first slider 643 are disengaged from the teeth of the fourth sprocket end face 604. At this time, when the traveling motor 60 rotates, it drives the third worm gear 660 through the helical gear pair 680, the worm wheel 661 of the third worm gear pair drives the driving shaft 608 to rotate, the driving shaft 608 drives the second slider 644 and the second sprocket 602 engaged therewith to rotate together, the second sprocket 602 is engaged with the first chain 606, the first chain 606 is simultaneously engaged with the first sprocket 601 and the third sprocket 603, and drives the first sprocket 601 and the third sprocket 603 to rotate together, because the first sprocket 601 is fixedly connected with the crawler belt driver 611, and the third sprocket 603 is fixedly connected with the mecanum wheel 630, the first sprocket 601 and the third sprocket 603 respectively drive the crawler belt 61 and the mecanum wheel 63 to rotate, which is the first state of the power transmission switching mechanism 64, and in this first state, the crawler belt 61 and the mecanum wheel 63 are traveling tools.

When the thimble 642 rotates to fall into the groove 649, the pressure of the end face 648 disappears, the thimble 642 is released, the second spring 646 is released, the second slider 644 moves towards the thimble 642, so as to be disengaged from the second sprocket 602, at the same time, the second slider 644 drives the push rod 641 to slide towards the inner side of the wheel set, the push rod 641 drives the first slider 643 to slide, so that the end face teeth of the first slider 643 are engaged with the end face teeth of the fourth sprocket 604, at this time, when the traveling motor 60 rotates, the fourth sprocket 604 is engaged with the second chain 607, the second chain 607 drives the fifth sprocket 605 to rotate, the fifth sprocket 605 is connected with the traveling wheel axle 620 through the gear transmission pair, and finally drives the traveling wheel 62 to rotate, which is the second state of the power transmission switching mechanism 64, and in this second state, the traveling wheel 62 is a traveling tool.

The power transmission switching mechanism 64 is linked with the swing control mechanism 5, so that an operator can realize the power transmission switching of the wheel set while adjusting the swing angle of the wheel set, the structural design is ingenious, the operation is simple and convenient, and a power driving device does not need to be additionally configured for the power transmission switching mechanism.

As shown in fig. 2 and 13 to 15, the obstacle-free moving vehicle of the present invention has a road traveling mode, a rough road traveling mode, a stair traveling mode, and a narrow space traveling mode in balance.

In road-going mode, the swing control mechanism 5 controls the wheel set portion 6 to rotate so that the road wheels 62 of the wheel sets land, as shown in fig. 2. The walking motor 60 of 4 wheelsets independently drives the walking wheel 62 rotatory, provides power for every walking wheel 62 to make the balance car have faster speed of traveling when on the highway, and stronger power, control performance and climbing ability stronger. In addition, because the power transmission device of the wheel set adopts the third worm gear 660, when the walking motor 60 does not provide power, the walking wheel 62 is locked immediately, self-locking is realized, and the phenomenon of ramp vehicle sliding cannot occur.

In the rough road running mode, the swing control mechanism 5 controls the wheel set portion 6 to rotate so that the crawler belts 61 of the wheel sets land, as shown in fig. 13. In the mode, an operator can randomly adjust the swing angle of the wheel set, so that the balance car has strong traffic capacity. In addition, the front wheel set and the rear wheel set are connected with the frame part 2 through the suspension mechanism 4, so that the four crawler belts 61 can be effectively ensured to be in contact with the ground, and the safety and the reliability are realized.

As shown in fig. 14, in the stair traveling mode, the swing control mechanism 5 controls the wheel set portion 6 to rotate so that the wheel set is inclined at a certain angle to go up and down stairs using the crawler belt 61.

As described above, before the stair climbing is ready, the swing control mechanism 5 drives the wheel set to incline by a certain angle, the inclined plane section 614 of the wheel set crawler contacts with the ground, and at least two crawler teeth on the outer side of the inclined plane section 614 enable the left side and the right side of the balance car to have no height difference, so that the phenomenon of shaking of the car body is avoided, and the running stability of the car body is improved. In the process of climbing stairs, the side edges 615 of the crawler belts of the two wheel sets at the front end are in contact with the stair corners 81 of the steps, and the crawler belt inclined plane sections 614 of the two wheel sets at the rear end are in contact with the plane of the steps, so that the stair climbing device has strong climbing capability and ground gripping capability, and the driving stability and safety are guaranteed. In addition, in the process of climbing stairs, the angle between the wheel set and the base is unchanged, namely the angle between the wheel set and the ground is unchanged, so that the problem that the vehicle body is unstable due to the fact that the wheel set swings up and down in the process of climbing stairs is solved.

In addition, the balance car of the invention adopts 4 independent wheel sets, thus having sectional type pedrails, when the balance car passes through the joint part of the stairs and the platform, the pedrails of the front and rear wheel sets are all landed, and the improved design of the pedrails ensures that the contact part of the pedrails of the rear two wheel sets and the step plane is a plane in the stair climbing process, thereby realizing stable transition, needing no additional auxiliary supporting device, also saving the operation steps of opening and closing the auxiliary supporting device, and the like, therefore, simplifying the operation method, saving the walking time, and being capable of safely and rapidly climbing stairs.

When the balance car climbs the first stair section S1 and reaches the middle platform S0, the swing control mechanism 5 controls the wheel set to swing, so that the Mecanum wheel 63 lands to realize translation on the narrow middle platform S0, when the car body moves to the second stair section S2, the swing control mechanism 5 adjusts the wheel set to incline backwards by a certain angle, the second stair section S2 begins to climb, and turning around is not needed between the two stair sections, so that the adjustment time is saved, and the stair climbing efficiency is accelerated.

The frame design of the invention realizes bidirectional stair climbing, and the stair platform does not need to turn around, thereby being simpler and safer. Of course, if the operator wishes to turn around, he simply operates the swing control mechanism so that the mecanum wheels land and use the mecanum wheels to steer the balance car.

As shown in fig. 15, in the narrow space traveling mode, the swing control mechanism 5 controls the wheel set portion 6 to rotate so that the mecanum wheel 63 lands on the ground, and since the mecanum wheel has the functions of advancing, retreating, lateral translation, and pivot rotation, the operator can easily travel in a narrow space such as a kitchen, a toilet, and the like, a landing, and the like.

The above detailed description merely describes preferred embodiments of the present invention and does not limit the scope of the invention. Without departing from the spirit and scope of the present invention, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. The scope of the invention is defined by the claims.

Claims

1. Accessible removes balance car, its characterized in that includes:

the bearing platform is used for bearing an object or a human body;

the frame part comprises a pair of upper connecting rods, a pair of lower connecting rods and a pair of bases, wherein the two ends of the pair of upper connecting rods and the two ends of the pair of lower connecting rods are connected through shaft rods, the shaft rods are rotatably connected with the upper connecting rods and the lower connecting rods, the shaft rods between the two ends of the pair of upper connecting rods and the shaft rods between the two ends of the pair of upper connecting rods form a first quadrangle positioned above, the shaft rods between the two ends of the pair of lower connecting rods and the shaft rods between the two ends of the pair of lower connecting rods form a second quadrangle positioned below, the pair of bases are respectively arranged at the two ends of the upper connecting rods and the lower connecting rods and connected with the shaft rods, and the upper connecting rods, the lower connecting rods and the pair of bases form a parallelogram together;

the swing control mechanism is used for controlling the inclination angle of the wheel set and is connected with the transverse shaft of the wheel set part;

2. The obstacle-free mobile balance car of claim 1, wherein the base includes an upper portion connected to the axle of the first quadrilateral, a lower portion connected to the axle of the second quadrilateral, and an intermediate portion connected between the upper and lower portions.

3. An obstacle-free mobile balance car as claimed in claim 2, wherein said frame portion includes a pair of central vertical bars, each of said central vertical bars being rotatably connected to the middle of the links of said first and second quadrilaterals on the same side of the frame portion, said central vertical bars being parallel to the middle of said base, said load-bearing platform being mounted on top of said central vertical bars.

4. An obstacle-free mobile balance car as set forth in claim 3, wherein a balance control mechanism is mounted on said frame portion, said balance control mechanism comprising a balance motor, a first worm gear and worm gear pair, a balance drive shaft, a pair of balance gears, a pair of arc gears and a balance module.

5. The obstacle-free mobile balance car of claim 4, wherein the balance motor is connected with the balance transmission shaft through the first worm gear and worm transmission pair, the balance transmission shaft is rotatably connected between the pair of central vertical rods, the pair of balance gears are respectively installed at two ends of the balance transmission shaft, the arc-shaped gear is meshed with the balance gear and is fixedly connected with the connecting rod of the second quadrangle, and the arc-shaped tooth surface of the arc-shaped gear is centered on the middle point of the connecting rod of the second quadrangle.

6. The barrier-free mobile balance car of claim 1, wherein, of the 4 independent wheel sets, two front wheel sets at the front part of the balance car and two rear wheel sets at the rear part of the balance car are respectively connected with each other through a transverse shaft, and a transverse shaft shell is arranged outside the transverse shaft.

7. An obstacle-free mobile balance car as set forth in claim 6 wherein said front and rear wheel sets are respectively connected to said frame portion by a suspension mechanism having one end connected to said base and the other end connected to said cross axle housing.

8. An obstacle-free mobile balance car according to claim 7, wherein each of said suspension mechanisms includes a pair of shock absorbers and 4 suspension links, said pair of shock absorbers being located outside said 4 suspension links.

9. The obstacle-free mobile balance car of claim 8, wherein two ends of the shock absorber are fixedly connected with the base and the cross axle housing respectively, and two ends of the suspension link are respectively provided with a ball head and are connected with the base and the cross axle housing respectively through the ball heads.

10. The barrier-free mobile balance car as claimed in claim 9, wherein the front wheel set and the rear wheel set are respectively provided with swing control mechanisms, each swing control mechanism comprises a swing motor and a second worm gear pair, a worm of the worm gear pair is fixedly connected with an output shaft of the swing motor, and a worm wheel of the worm gear pair is fixedly connected with the cross shaft.

11. The obstacle-free mobile balance car of claim 1, wherein the balance car comprises a highway walking mode, a rough road walking mode, a stair walking mode, a narrow space walking mode.

12. The obstacle-free mobile balance car of claim 11, wherein the angle between the set of wheels and the base remains constant and the angle between the set of wheels and the ground remains constant in either walking mode of the balance car.