CN111839921A - Offset planet wheel module - Google Patents
Offset planet wheel module Download PDFInfo
- Publication number
- CN111839921A CN111839921A CN202010772899.4A CN202010772899A CN111839921A CN 111839921 A CN111839921 A CN 111839921A CN 202010772899 A CN202010772899 A CN 202010772899A CN 111839921 A CN111839921 A CN 111839921A
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- Prior art keywords
- gear
- planet
- driven
- wheelset
- wheel
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
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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
- A61G5/06—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
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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
- A61G5/06—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
- A61G5/063—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 eccentrically mounted wheels
- A61G5/065—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 eccentrically mounted wheels with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
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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
- A61G5/10—Parts, details or accessories
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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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)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structure Of Transmissions (AREA)
Abstract
The invention relates to a biased planet wheel module, which relates to a planet wheel, and aims to solve the problems that the existing wheelchair has poor terrain adaptability and can not pass through the common door frame, small steps and other obstacles in a room smoothly. The invention has strong terrain adaptability and excellent trafficability, so that people can easily deal with small obstacles such as steps, doorsills and the like on more complex terrains when sitting on the auxiliary chair.
Description
Technical Field
The invention relates to a planet wheel, in particular to an offset planet wheel module, and belongs to the technical field of planet gears.
Background
The current population aging trend is serious, along with the increase of age, the obstacle of action function can appear inevitably, at present, similar design helps old device all to have ground adaptation problem on the market, it is higher to the ring advance requirement of working ground, to the more common door frame in the room, little step can't pass through smoothly, topography adaptability is relatively poor, the electronic wheelchair that can climb the building of current adopts disconnect-type planet wheel structure more, directly block the stair through the planet wheel promptly, and rotate the tie rod and realize the crossing of stair, but this kind of design exists and leads to motor load big, strike big, climb defects such as height. Known from the climbing principle, the maximum height of climbing of disconnect-type planet wheel can not exceed the line length of 2 son wheels, and this just means if want to realize climbing of higher step, just must increase the planet wheel size or reduce planet wheel son number, but reduce son wheel number and make whole mechanism unstable, obviously increase the impact when dashing and turning over, and it is not good to use the body feeling, and holistic structure is loose, and space utilization is inefficient.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the offset planet wheel module in order to solve the problems that the terrain adaptability of the existing wheelchair is poor, and the existing wheelchair cannot smoothly pass through the common door frame, small step and other obstacles in a room.
The technical scheme adopted by the invention for solving the problems is as follows:
the planet wheel for the gravity center adaptive auxiliary chair comprises an outer wheel ring, an installation frame and an installation shaft, wherein one end of the installation shaft is fixedly connected with the inner side of the installation frame, the planet wheel for the gravity center adaptive auxiliary chair further comprises a planet wheel set and a driving wheel set, the planet wheel set and the driving wheel set are both arranged in the outer wheel ring and are both installed on the installation frame, the planet wheel set is connected with the inner wall of the outer wheel ring, the driving wheel set is connected with the planet wheel set, and the driving wheel set drives the outer wheel ring to rotate through the planet wheel set.
Further, the planetary wheel set comprises an inner gear ring, two driven non-bearing planet wheels and a bearing driven planet wheel, the inner gear ring is arranged on the inner side wall of the outer gear ring, the two driven non-bearing planet wheels and the bearing driven planet wheel are arranged in a triangular mode and are connected through an installation frame, and the two driven non-bearing planet wheels and the bearing driven planet wheel are matched with the outer gear ring through external rubber coating.
Furthermore, the driving wheel set comprises two primary driving gears, a primary driven gear, a secondary driving gear and a secondary driven gear, and the two primary driving gears are meshed with the primary driven gear; the first-stage driven gear and the second-stage driving gear are sleeved and fixed on the same shaft, the second-stage driving gear is meshed with the second-stage driven gear, and the second-stage driven gear is meshed with the inner gear ring.
Further, the offset planetary wheel module further comprises a photoelectric incremental encoder, the photoelectric incremental encoder is installed in the mounting frame, and a pinion of the photoelectric incremental encoder is meshed with the primary driven gear.
Further, the mounting bracket includes first mounting bracket and second mounting bracket, and first mounting bracket links together from left to right with the second mounting bracket, and second grade driving gear and second grade driven gear are all installed in the second mounting bracket, and one-level driving gear, one-level driven gear and photoelectric type incremental encoder gear are all installed in first mounting bracket.
Furthermore, a plurality of anti-skidding grooves are formed in the outer wall of the outer wheel ring at equal intervals in the circumferential direction.
The invention has the beneficial effects that:
the invention is mainly used for the electric wheelchair, designs a nested structure center offset planet wheel with built-in power aiming at the walking obstacle crossing, can greatly improve the obstacle crossing capability of the electric wheelchair, and can also be used for climbing stairs;
the offset planet wheel in the design realizes automatic stability by relying on gravity in a mode of connecting point offset, the obstacle is overturned by utilizing the weight of a user, the motion curve is smooth after overturning, no obvious impact exists, the use body feels soft, and the automatic stability is more in line with the actual use condition. Because the obstacle-crossing utilizes the weight of the user, the motor load is small, the energy utilization efficiency can be improved, and the endurance time can be prolonged. The integral nested structure layout is compact, the space utilization rate is high, and the obstacle crossing capability is greatly stronger than that of a separated planetary gear under the same structure volume.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is an isometric view of FIG. 1;
FIG. 4 is a schematic illustration of the connection of the drive wheel sets;
fig. 5 is a schematic diagram of the present invention in the up step.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 2, and includes outer rim, mounting bracket, installation axle, and the one end of installation axle and the inboard fixed connection of mounting bracket, a center of gravity adaptation is assisted for the chair and is still included planetary gear set and drive wheel set, planetary gear set with drive wheel set all sets up in outer rim 1, just planetary gear set with drive wheel set all installs on mounting bracket 2, planetary gear set and the inner wall connection of outer rim 1, drive wheel set with planetary gear set connects, drive wheel set passes through planetary gear set drive outer rim 1 rotates.
The second embodiment is as follows: the embodiment is described with reference to fig. 1, the planetary gear set of the embodiment includes an inner gear ring 4, two driven non-bearing planetary gears 5 and a bearing driven planetary gear 6, the inner gear ring 4 is installed on the inner side wall of an outer rim 1, the two driven non-bearing planetary gears 5 and the bearing driven planetary gear 6 are arranged in a triangle and connected through a mounting frame 2, and both the two driven non-bearing planetary gears 5 and the bearing driven planetary gear 6 are matched with the outer rim 1 through an external encapsulation.
Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: referring to fig. 3 to 4, the driving wheel set of the present embodiment includes two primary driving gears 7, a primary driven gear 8, a secondary driving gear 9, and a secondary driven gear 10,
the two primary driving gears 7 are meshed with a primary driven gear 8;
the primary driven gear 8 and the secondary driving gear 9 are sleeved on the same shaft and fixed, the secondary driving gear 9 is meshed with the secondary driven gear 10, and the secondary driven gear 10 is meshed with the inner gear ring 4.
Each auxiliary chair is provided with two planet wheels, the driving part of each planet wheel comprises two brushless non-inductive electricity adjusters and two motors (the motor model is 5065H), the electricity adjusters are used for driving the motors, each motor is connected with a small first-stage driving gear 7, and the first-stage driving gear 7 drives a first-stage driven gear 8;
the secondary driving gear 9 and the primary driven gear 8 are fixed on the same shaft, have the same angular velocity, and transmit the motion to the secondary driven gear 10;
and finally, the motion transmission from the motor shaft to the whole hub is realized through the engagement of the secondary driven gear and the inner gear ring.
Other components are connected in the same manner as in the second embodiment.
The fourth concrete implementation mode: the offset planetary gear module further includes a photoelectric incremental encoder 11 (E6 a2-CW3E) mounted in the mounting frame 2, and a pinion 11-1 of the photoelectric incremental encoder is meshed with the primary driven gear 8.
By the arrangement, the calibration of the angular displacement of the rotary motion and the speed loop feedback of the gear train can be realized.
Other components and connection relationships are the same as those in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 3, the mounting frame 2 of the present embodiment includes a first mounting frame 2-1 and a second mounting frame 2-2, the first mounting frame 2-1 and the second mounting frame 2-2 are connected together from left to right, a secondary driving gear 9 and a secondary driven gear 10 are both installed in the second mounting frame 2-2, and a primary driving gear 7, a primary driven gear 8 and a photoelectric incremental encoder gear 11-1 are all installed in the first mounting frame 2-1.
Other components and connections are the same as those of the first, second, third or fourth embodiments.
The sixth specific implementation mode: referring to fig. 3, the present embodiment will be described, in which a plurality of anti-slip grooves 1-1 are provided at equal intervals in the circumferential direction on the outer wall of the outer rim 1.
Other components and connection relationships are the same as those in the first, second, third, fourth or fifth embodiment.
Working principle (see the attached figure 5 of the specification):
in the diagram, B is an outer wheel ring 1, an inner gear ring 4 is embedded on the inner side of the outer wheel ring and can be driven by an internal motor, A is a driving wheel set and can be regarded as a mechanism gravity center point, and the driving motor and the driving wheel set A are arranged on the same frame; 0 is the center of the rim, and A can only do circular motion along the point 0 due to the track constraint in the rim.
After the motor is started, power is transmitted to the outer wheel ring 1 through the driving wheel set to drive the outer wheel ring to rotate, and the driving mechanism moves forward. When encountering obstacles such as steps, the outer wheel ring 1 is blocked by the steps to have a deeper anti-skid groove 1-1 on the outer surface of the wheel ring, and cannot rotate continuously. However, since the driving motor and the driving wheel set a are mounted on the same frame, and the frame can rotate around the center 0 in the rim, the driving motor drives the inner frame to rotate, i.e., a rotates to a' position. Since the driving wheel set A is the force action point of the whole mechanism, the process of moving from A to A 'also raises the gravity center of the whole mechanism until the A' position is higher than the step. At the moment, the clamping state of the outer wheel ring 1 is automatically released due to the change of the gravity center position, the gravity center action point A and the step contact point form gravity moment, and the whole mechanism is driven to climb over the step, so that the function of climbing the step is realized.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides an offset planet wheel module, it includes outer rim (1), mounting bracket (2), installation axle (3), the inboard fixed connection of the one end of installation axle (3) and mounting bracket (2), its characterized in that: the utility model provides a center of gravity adapts to supplementary chair and still includes planet wheelset and drive wheelset, the planet wheelset with the drive wheelset all sets up in outer wheel rim (1), just the planet wheelset with the drive wheelset is all installed on mounting bracket (2), the inner wall connection of planet wheelset and outer wheel rim (1), the drive wheelset with the planet wheelset is connected, the drive wheelset passes through planet wheelset drive outer wheel rim (1) rotates.
2. The offset planetary gear module of claim 1, wherein: the planetary wheel set comprises an inner gear ring (4), two driven non-bearing planet wheels (5) and a bearing driven planet wheel (6),
the inner gear ring (4) is arranged on the inner side wall of the outer wheel ring (1),
the two driven non-bearing planet wheels (5) and the bearing driven planet wheel (6) are arranged in a triangle shape and are connected through the mounting frame (2),
the two driven non-bearing planet wheels (5) and the bearing driven planet wheel (6) are matched with the outer wheel ring (1) through external encapsulation.
3. The offset planetary gear module of claim 1, wherein: the driving wheel set comprises two primary driving gears (7), a primary driven gear (8), a secondary driving gear (9) and a secondary driven gear (10),
the two primary driving gears (7) are meshed with a primary driven gear (8);
the primary driven gear (8) and the secondary driving gear (9) are sleeved on the same shaft and fixed, the secondary driving gear (9) is meshed with the secondary driven gear (10), and the secondary driven gear (10) is meshed with the inner gear ring (4).
4. The offset planetary gear module of claim 1, wherein: the offset planetary wheel module further comprises a photoelectric incremental encoder (11), the photoelectric incremental encoder is installed in the mounting frame (2), and a pinion (11-1) of the photoelectric incremental encoder is meshed with the primary driven gear (8).
5. The offset planetary gear module of claim 1, wherein: the mounting rack (2) comprises a first mounting rack (2-1) and a second mounting rack (2-2), the first mounting rack (2-1) is connected with the second mounting rack (2-2) from left to right, a second-stage driving gear (9) and a second-stage driven gear (10) are installed in the second mounting rack (2-2), and a first-stage driving gear (7), a first-stage driven gear (8) and a photoelectric incremental encoder gear (11-1) are installed in the first mounting rack (2-1).
6. The offset planetary gear module of claim 1, wherein: the outer wall of the outer wheel ring (1) is provided with a plurality of anti-skidding grooves (1-1) at equal intervals along the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010772899.4A CN111839921B (en) | 2020-08-04 | 2020-08-04 | Offset planet wheel module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010772899.4A CN111839921B (en) | 2020-08-04 | 2020-08-04 | Offset planet wheel module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111839921A true CN111839921A (en) | 2020-10-30 |
| CN111839921B CN111839921B (en) | 2021-09-03 |
Family
ID=72953393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010772899.4A Active CN111839921B (en) | 2020-08-04 | 2020-08-04 | Offset planet wheel module |
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| Country | Link |
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| CN (1) | CN111839921B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602406A (en) * | 2021-09-02 | 2021-11-05 | 齐鲁工业大学 | Harmonic gear type balance transport vehicle for mountain terraced road |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100062907A1 (en) * | 2008-09-11 | 2010-03-11 | Ulrich Alber Gmbh | Stair climbing device |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| US20140083788A1 (en) * | 2011-02-07 | 2014-03-27 | University Of Technology, Sydney | Step-Climbing Attachment for a Wheeled Chair |
| CN207848324U (en) * | 2018-01-26 | 2018-09-11 | 多蒙（上海）控制技术有限公司 | Compound planetary wheel deceleration device |
| CN111409727A (en) * | 2020-05-06 | 2020-07-14 | 徐航 | Method for realizing stair climbing of robot |
-
2020
- 2020-08-04 CN CN202010772899.4A patent/CN111839921B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100062907A1 (en) * | 2008-09-11 | 2010-03-11 | Ulrich Alber Gmbh | Stair climbing device |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| US20140083788A1 (en) * | 2011-02-07 | 2014-03-27 | University Of Technology, Sydney | Step-Climbing Attachment for a Wheeled Chair |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN207848324U (en) * | 2018-01-26 | 2018-09-11 | 多蒙（上海）控制技术有限公司 | Compound planetary wheel deceleration device |
| CN111409727A (en) * | 2020-05-06 | 2020-07-14 | 徐航 | Method for realizing stair climbing of robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602406A (en) * | 2021-09-02 | 2021-11-05 | 齐鲁工业大学 | Harmonic gear type balance transport vehicle for mountain terraced road |
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| Publication number | Publication date |
|---|---|
| CN111839921B (en) | 2021-09-03 |
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| CB03 | Change of inventor or designer information |
Inventor after: Jin Zixu Inventor after: Liu Lu Inventor after: Pu Zihan Inventor after: Ma Yixuan Inventor after: Tang Bin Inventor after: Lin Sen Inventor before: Jin Zixu Inventor before: Pu Zihan Inventor before: Ma Yixuan Inventor before: Tang Bin Inventor before: Lin Sen |
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