CN201400046Y - Road wheel with auxiliary claw - Google Patents
Road wheel with auxiliary claw Download PDFInfo
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- CN201400046Y CN201400046Y CN2008201815777U CN200820181577U CN201400046Y CN 201400046 Y CN201400046 Y CN 201400046Y CN 2008201815777 U CN2008201815777 U CN 2008201815777U CN 200820181577 U CN200820181577 U CN 200820181577U CN 201400046 Y CN201400046 Y CN 201400046Y
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Abstract
The utility model relates to a road wheel with an auxiliary claw, and relates to a walking device of a movable tool, which is particularly applicable to a wheelchair or other indoor trolley which is required to climb on the stages. On the basis of the rolling walking way of ordinary wheels, a transmission mechanism is utilized to control a group of auxiliary claws which is arranged at the side surface of the wheel to make circumferential translation along the axis of the wheels, so that the adjacent auxiliary claws can extend out of the wheels to be sequentially contacted with the road surface, thus adding a stride walking way like the walking action of the animals. The stride walking way can be synchronic with the rolling of the wheels and also can be independent from the rolling of the wheels. By adjusting a contact angle between the auxiliary claws on different wheels and the stage, the obliquity of the movable tool car body can be reduced as far as possible. Compared with the walking device which is applied to the walking on the stages, the road wheel with auxiliary claws has the advantages of good adaptability, no sliding and the like; moreover, the appearance is not differentfrom that of the ordinary wheels, and the structure is light and convenient.
Description
Technical field
The utility model relates to a kind of running gear that is used for portable utensil.Be particularly useful for home-use wheelchair or other indoor chassis etc., solve the difficulty that these utensils often need up/down steps or stair occasion.
Background technology
At present, the land packaged type machinery overwhelming majority adopts the rolling walking manner, as wheeled or crawler type.This mode performance on general road is fine, but then difficult adaptation when the occasion that needs up/down steps is used.The walking manner of taking a step of imitation animal is many to be used in robot, but this normally realizes based on the computer controlled of complexity.In order to solve occasion demands such as up/down steps, stair, commonly used at present have crawler type, starlike wheeled etc., however these modes all solve well and both be fit to general road, also be fit to the up/down steps occasion, simultaneously lighter again problem on the structure.Might occur slippage such as cterpillar drive on the bigger step of the gradient time, and this mode is generally heavy.Starlike wheeled construction is simpler, and problem is to be difficult to adapt to well when shoulder height changes greatly, and this mode is general simultaneously only should be used as follower.At the problems referred to above of existing running gear, the utility model is with common wheel and utilize the step type walking manner of transmission device realization to combine, and realizes a kind of running gear of combined type.Utilize this running gear, can change neatly, and can accomplish that structure is lighter according to the occasion needs.
Summary of the invention
Technological thought of the present utility model is the space that utilizes between wheel nave and the wheel rim, relying on the rotating rolling walking manner of the wheel basis, utilize one group of auxiliary jaw of transmission mechanism control to do circular translational in the side of wheel around wheel axis, and an end of control auxiliary jaw stretches out outside the wheel diameter in certain scope and contacts with the road surface, and adjacent auxiliary jaw contacts with the road surface successively can form the walking manner of taking a step that similar animal takes a step to move.Realize auxiliary jaw take a step action part can be with wheel fully independently, and by the engagement relationship of arrangement of clutch conversion with wheel; Also can be to utilize the member of the wheel abdomen (or spoke) of wheel, and then go into composite structure as transmission device.If when adopting the absolute construction form, walk on general road with wheel, and that auxiliary jaw can keep is motionless, to reduce the consumption of power that unnecessary transmission is caused.When up/down steps, arrangement of clutch is joined together the power input link of wheel and transmission device, by rotating-wheel, can drive auxiliary jaw and realize the action of taking a step.And when adopting composite structure, the revolution of wheel and auxiliary jaw be then interlock always when walking.In above two kinds of constituted modes, the contact angle by regulation and control different wheel auxiliary jaw and step can adapt to the variation of shoulder height.
The road wheel of band auxiliary jaw is to be formed by wheel, auxiliary jaw, transmission device, arrangement of clutch and center regulation and control unit construction, and it is characterized in that: the center of center regulation and control parts is porose, and this hole is in order to install axletree; Regulation and control parts in center are connected on the vehicle frame by axle, and around the corner scalable of himself axis; There is the structure that can constitute the corresponding sports pair with transmission device the outside of center regulation and control parts; Transmission device is made up of basal disc body, top member, terminal link and some other necessary transmission component, on the basal disc body porose and/or the axle in order to connect whole transmission device; The top member has corresponding structure, can regulate and control the external structure formation kinematic pair and the drive connection of parts with the center, and terminal link and auxiliary jaw are fixed together by axle; Transmission device is in the wheel diameter institute restricted portion, and center regulation and control parts are positioned at the center of transmission device, and its pivot center overlaps with wheel axis; Auxiliary jaw is arranged in the side of wheel and the terminal link by axle and transmission device links; The characteristics of motion of transmission mechanism control auxiliary jaw, make the auxiliary jaw can be with the rotational of translation mode around wheel, also can be simultaneously make planet motion around auxiliary jaw and terminal link coupling spindle axis and wheel axis, auxiliary jaw is when moving to some position, and it contacts to earth beyond the end circle that extended wheel diameter limited; Arrangement of clutch between wheel and basal disc body, the combination that is used to control wheel and basal disc body with separate.
For further specifying, that the concrete formation division of each component part is as follows:
1. center regulation and control parts outside is a gear structure, and the top member of transmission device is a gear, and terminal link also is a gear;
2. center regulation and control parts outside is a chain sprocket structure, and the top member of transmission device is a messenger chain, and terminal link is a sprocket wheel;
3. center regulation and control parts outside is the synchronous cog belt wheel construction, and the top member of transmission device is a synchronous cog belt, and terminal link is synchronizing jugged belt wheel;
4. center regulation and control parts outside is a gear structure, and the top member of transmission device is a gear, and terminal link is synchronizing jugged belt wheel or sprocket wheel;
5. center regulation and control parts outside is an eccentric wheel structure, member center, transmission device top is porose, constitute turning pair with center regulation and control parts eccentric wheel, and be distributed with a plurality of holes than big circumference simultaneously, crank structure is arranged on the terminal link, the distribution hole of top member constitutes turning pair with the terminal link crank shaft successively, makes each terminal link and center regulation and control parts eccentric wheel, top member, basal disc body constitute parallelogram sturcutre;
6. center regulation and control parts outside is a crank structure, the member center, top of transmission device is porose, constitute turning pair with the crank shaft of center regulation and control parts, and be distributed with a plurality of holes than big circumference simultaneously, crank structure is arranged on the terminal link, distribution hole on the top member constitutes turning pair with the crank of terminal link successively, makes each terminal link and center regulation and control parts crank, top member, basal disc body formation parallelogram sturcutre.
7. the road wheel of above-mentioned 1～6 described band auxiliary jaw, arrangement of clutch is realized by the shape that changes wheel web and transmission device basal disc body; As on the wheel web end face adjacent with the basal disc body, with the wheel axis is on the circumference in the center of circle, one has several holes, and another part is established the projection of respective numbers, and the relative axial position by control wheel and basal disc body makes lug boss peg graft with the hole or separate and realize clutch.
The transmission device of realizing above-mentioned auxiliary jaw mode of motion can have multiple structure, will further be illustrated in the description of the specific embodiment.
The utility model combines the wheeled walking manner of routine and the walking manner of taking a step, and forms a kind of promptly can mutually combine and can independently compound separately walking manner.Sliding phenomenon can not occur on step, the step discrepancy in elevation is changed adaptive capacity preferably; Both can be used as follower and also can be used as the active drive wheel; Little with conventional wheel difference in appearance, not very big increase on the weight, thereby can be lighter.
Description of drawings
The title of following first each accompanying drawing of overall introduction and the title of each member wherein, detailed explanation in addition again in the specific embodiment.
Fig. 1 is the described band auxiliary jaw of a utility model road wheel overall structure relation,
Fig. 2 is the lateral plan of Fig. 1, and the semi-sictional view of doing by the section of central axis.
Fig. 3 is a basic scheme of realizing transmission device by gear transmission.
Fig. 4 is the lateral plan of Fig. 3, and makes semi-sictional view by the section of central axis.
Fig. 5 is the scheme that realizes transmission device by gear transmission, is a kind of derivative form of Fig. 3 scheme.
Fig. 6 is the scheme that realizes transmission device by gear transmission, also is a kind of derivative form of Fig. 3 scheme.
Fig. 7 is the scheme that realizes transmission device by gear transmission, also is a kind of derivative form of Fig. 3 scheme.
Fig. 8 is a basic scheme of realizing transmission device by chain-driving or Synchronous Belt Drives.
Fig. 9 is the scheme that realizes transmission device by chain-driving or Synchronous Belt Drives, is a kind of derivative form of Fig. 8 scheme.
Figure 10 is a basic scheme of realizing transmission device by gear transmission, chain-driving or Synchronous Belt Drives combination.
Figure 11 is a scheme that realizes transmission device by gear transmission, chain-driving or Synchronous Belt Drives combination, is a kind of derivative form of Figure 10 scheme.
Figure 12 is a scheme that realizes transmission device by gear transmission, chain-driving or Synchronous Belt Drives combination, is a kind of derivative form of Figure 10 scheme.
Figure 13 is a scheme that realizes transmission device by gear transmission, chain-driving or Synchronous Belt Drives combination, is a kind of derivative form of Figure 10 scheme.
Figure 14 is the scheme that realizes transmission device by parallel-crank mechanism.
Figure 15 is a constructional drawing when being positioned at lateral wheel by auxiliary jaw.
In Fig. 1～Figure 15,1. wheel, 2. auxiliary jaw, 3. transmission device, 30. basal disc bodies, 31. top members, 39. terminal links, 4. center regulation and control parts, 5. arrangement of clutch, 6. wheel.
The specific embodiment
" road wheel of band auxiliary jaw " is made of five essential parts, sees Fig. 1 and Fig. 2: wheel (1), one group of auxiliary jaw (2), one group of transmission device (3), center regulation and control parts (4) and a cover arrangement of clutch (5) that is positioned at the transmission device center.For application process of the present utility model is described, also draws in each accompanying drawing and represent to use the part-structure of this car body of taking turns (6) with long and two-short dash line.Wheel in this patent combines as a whole with axle, and is unified with label (1) expression.So-called auxiliary jaw promptly is to be used to realize imitating the member that has draw bail that animal limb takes a step to move, and auxiliary jaw is unified with label (2) expression; Auxiliary jaw (2) can have 3～18, is positioned at the side of wheel (1), as the inboard or the outside, and rectangular distribution near the circumference close wheel (1) wheel rim; Auxiliary jaw (2) links with transmission device (3), and its motion is subjected to transmission device (3) control; The part that auxiliary jaw (2) contacts with ground is called the auxiliary jaw end that contacts to earth, in order to improve itself and ground contact performance, also can increase some annexes at its end that contacts to earth, as the end that contacts to earth at it coated with rubber coating, but or increase by a centering block so that there is suitable area of contact on itself and ground.The auxiliary jaw end that contacts to earth can be regulated and control under the control of parts (4) at the center extending radially out beyond the wheel greatest circle from wheel (1).Center regulation and control parts (4) mark, its center is porose, and the wheel shaft of wheel (1) passes from this centre hole, and can freely rotate in centre hole; Center regulation and control parts (4) link with vehicle frame (6), and around the corner scalable of self axis.
Transmission device (3) is distributed in the radial outer periphery of center regulation and control parts (4), and the maximum distribution scope of transmission device (3) does not exceed circle that wheel diameter limits.The effect of transmission device (3) is that control auxiliary jaw (2) is moved with a specific rule.This rule is exactly: regulate and control parts (4) when the center and maintain static, and transmission device (3) is whole when wheel axis turns round, all auxiliary jaw (2) are always done the translation circular movement around wheel (1) axis in parallel to each other.And when the position angle of the center being regulated and control the relative car body (1) of parts (4) was regulated, corresponding variation can take place from the radially-protruding position of wheel (1) greatest circle in the end that contacts to earth of auxiliary jaw (2); The purpose of this adjusting is to guarantee that " road wheel of band auxiliary jaw " adapts to different operatings needs.As when using this car of taking turns to top bar, as auxiliary jaw (2) can being stretched out or stretched out to the front lower place by the dead ahead level of front-wheel, during as trailing wheel then can under or the back lower place stretch out; And during downstairs, then front-wheel can under or the front lower place stretch out, trailing wheel then can stretch out to the horizontal rear or the back lower place.Can keep vehicle body to be in horizontality as far as possible like this.
Fig. 3～Figure 15 introduces the embodiment of this patent that is made of different transmission devices (3) respectively.The constructional feature of transmission device (3) is that it is to be made of with the circle distribution form a basal disc body (30) that is used to install each driving parts and one or several basic gear units are regulated and control parts (4) around the center axis; Have at least a member and an auxiliary jaw (2) to be fixedly connected in the elementary cell of transmission device (3), easy in order to describe, unified be called " terminal link of transmission device elementary cell " is called for short " terminal link ", with (39) mark.Terminal link (39) can rotate in basal disc body (30) hole, and the sum of terminal link (39) is identical with the quantity of auxiliary jaw (2).Simultaneously, in the elementary cell of transmission device, have at least a member to connect, unitedly call this member to be " the top member of transmission device elementary cell ", be called for short " top member ", with (31) mark with the form of center regulation and control parts (4) with kinematic pair.The sum of top member (31) is not more than the quantity of auxiliary jaw (2).
Because many or few constructional features to transmission of the multiplicity of elementary cell can not cause essential difference in the transmission device (3),, generally only introduce the structure of elementary cell so in the description of following embodiment, do not influencing under the prerequisite that transmission device is understood.
Fig. 3, Fig. 4 adopt gear transmission to realize an embodiment of transmission device (3), and wherein Fig. 3 is the view of wheel face, and Fig. 4 has also carried out semi-sictional view by wheel (1) axis for Fig. 3 lateral plan.Center regulation and control parts (4) are a gear, and a top member (31) and a terminal link (39) are arranged in the elementary cell of transmission device (3), and they are gear.What represent among Fig. 3 is the formation situation that is made of total transmission device (4) six elementary cells.Top member (31) constitutes gear pair by the gear teeth and center regulation and control parts (4) and connects, and top member (31) and terminal link (39) constitute epicyclic gear transmission; As long as the number of teeth of assurance center regulation and control parts (4) gear equates that with the number of teeth of terminal link (43) promptly may command auxiliary jaw (43) realizes the aforementioned specific characteristics of motion.Following examples all can realize this specific rule, and this conclusion no longer repeats.
It is to be noted that the gyroscopic movement of transmission device (3) from basal disc body (30) input, can be the gyroscopic movement of independent input, also can realize and the clutch of wheel, utilize the running of wheel to drive by arrangement of clutch.
Fig. 5 is a kind of development form of Fig. 3 embodiment, and wherein main the variation is to have increased even number gears in mesh successively between top member (31) and the terminal link in Fig. 3.Its effect is the distance that reduces the diameter of each gear or increase terminal link and wheel (1) axis.Other aspects and Fig. 3 do not have difference, no longer repeat here.
Fig. 6 also is the another kind development form of Fig. 3 embodiment, its variation pattern is the top member (31) in two adjacent among Fig. 3 basic gear units to be merged use, promptly a top member (31) meshes with two terminal links (39) respectively, form compound elementary cell, basic gear unit is three among Fig. 6.This kind development is particularly useful for the less occasion of wheel diameter, compact conformation.
Though Fig. 7 also belongs to a kind of derivative form of Fig. 3 embodiment, combine the constructional feature of Fig. 5 and Fig. 6 respectively, this structure is applicable to that wheel diameter is bigger, and the more again occasion of auxiliary jaw (31) quantity.
Fig. 8 is an embodiment with the basic gear unit of chain-driving realization.Center regulation and control parts (4) external structure is a multiple chainwheel, and top member (31) be a messenger chain, and terminal link (39) is one and regulates and control the simple chainwheel of parts with the number of teeth with the center.It shown in Fig. 8 the structure situation of having only three basic gear units.This figure also is fit to describe the situation that constitutes basic gear unit with Synchronous Belt Drives, only needs to change sprocket wheel into synchronizing jugged belt wheel, gets final product and change driving chain into synchronous cog belt.
Fig. 9 is a kind of development form of Fig. 8 embodiment, when auxiliary jaw (2) quantity more for a long time, row's number for minimizing center regulation and control parts (4) upper sprocket wheel, reduce taking of axial space, can make as every chain of top member (31) to connect with two even more a plurality of sprocket wheel simultaneously as terminal link (39).Can reduce row's number of the outside sprocket wheel of central module like this.Fig. 9 still belongs to three basic gear units.The method of replacing chain and sprocket wheel with synchronous band and synchronous pulley respectively also can realize identical drive connection, repeats no more.
Figure 10 is an embodiment who constitutes basic gear unit with gear transmission and chain-driving array mode.Center regulation and control parts (4) are gear, and the top member (31) in the transmission device also is a gear, fixes a sprocket wheel coaxially with gear, and is installed in simultaneously on the basal disc body (30), and terminal link (39) is a sprocket wheel.Two sprocket wheels connect by driving chain.Although whole transmission device is the circumference uniform distribution structure,, is used as here and has only a basic gear unit owing to all link up with a chain.
Figure 10 is applicable to that too promptly sprocket wheel is replaced with synchronous pulley with the situation of the synchronous cog belt with double cog, and chain is replaced with the synchronous band that double cog is arranged.
Figure 11 is the derivative form of Figure 10 embodiment, and the change of being made is two the top members (31) among Figure 10 are removed and only to keep sprocket wheel, and structure is simple relatively.Has only a basic gear unit this moment.
Figure 12 is the result of the further derivation of Figure 11 embodiment, and the change of being made is that two sprocket wheels that will keep among Figure 11 also remove, and structure is simpler, but the cornerite of sprocket wheel also reduces much simultaneously, and this is its disadvantage.Has only a basic gear unit this moment.
Figure 13 is the form of another derivation of Figure 10 embodiment.
Figure 14 is the embodiment that realizes transmission device (3) with parallel-crank mechanism.Center regulation and control parts (4) are an eccentric wheel, top member (31) center is porose, and this hole constitutes turning pair with the eccentric wheel of regulating and control parts (4) as the center, in addition, one bigger and with the concentric circumference of centre hole on distributing and the identical hole of auxiliary jaw (3) quantity, in order to and terminal link (39) connect; Terminal link (39) can be a bent axle, also can be an eccentric wheel; Each terminal link (39) constitutes a parallel-crank mechanism with center regulation and control parts (4), top member (31) and basal disc body (31).
Version when Figure 15 places lateral wheel with auxiliary jaw, this moment is with the wheel abdomen of wheel or the spoke basal disc body (30) as transmission device, a part and also remove arrangement of clutch (5) among aforementioned each embodiment.Other versions are identical with the aforementioned approaches case.
Claims (7)
1. the road wheel of band auxiliary jaw is to be formed by wheel, auxiliary jaw, transmission device, arrangement of clutch and center regulation and control unit construction, and it is characterized in that: the center of described center regulation and control parts is porose, and this hole is in order to install axletree; Regulation and control parts in center are connected on the vehicle frame by axle, and around the corner scalable of himself axis; There is the structure that can constitute the corresponding sports pair with transmission device the outside of center regulation and control parts; Described transmission device is made up of transmission components such as basal disc body, top member, terminal links, on the described basal disc body porose and/or the axle in order to connect whole transmission device; Described top member has corresponding structure, can regulate and control the external structure formation kinematic pair and the drive connection of parts with the center, and described terminal link and described auxiliary jaw are fixed together by axle; Transmission device is in the wheel diameter institute restricted portion, and center regulation and control parts are positioned at the center of transmission device, and its pivot center overlaps with wheel axis; Described auxiliary jaw is arranged in the side of wheel and the terminal link by axle and transmission device links; Described arrangement of clutch between wheel and basal disc body, the combination that is used to control wheel and basal disc body with separate.
2. the road wheel of band auxiliary jaw according to claim 1 is characterized in that the outside of center regulation and control parts is a gear structure, and the top member of transmission device is a gear, and terminal link also is a gear.
3. the road wheel of band auxiliary jaw according to claim 1 is characterized in that the outside of center regulation and control parts is a chain sprocket structure, and the top member of transmission device is a messenger chain, and terminal link is a sprocket wheel.
4. the road wheel of band auxiliary jaw according to claim 1 is characterized in that the outside of center regulation and control parts is the synchronous cog belt wheel construction, and the top member of transmission device is a synchronous cog belt, and terminal link is synchronizing jugged belt wheel.
5. band according to claim 1 is characterized in that with the road wheel of auxiliary jaw the outside of center regulation and control parts is a gear structure, and the top member of transmission device is a gear, and terminal link is synchronizing jugged belt wheel or sprocket wheel.
6. the road wheel of band auxiliary jaw according to claim 1, the outside that it is characterized in that center regulation and control parts is an eccentric wheel structure, the member center, top of transmission device is porose, constitute turning pair with the eccentric wheel of center regulation and control parts, and be distributed with a plurality of holes than big circumference simultaneously, crank structure is arranged on the terminal link, the distribution hole of top member constitutes turning pair with the crank shaft of terminal link successively, makes each terminal link and center regulation and control parts eccentric wheel, top member, basal disc body formation parallelogram sturcutre.
7. the road wheel of band auxiliary jaw according to claim 1, the outside that it is characterized in that center regulation and control parts is a crank structure, the member center, top of transmission device is porose, constitute turning pair with the crank shaft of center regulation and control parts, and be distributed with a plurality of holes than big circumference simultaneously, crank structure is arranged on the terminal link, distribution hole on the top member constitutes turning pair with the crank of terminal link successively, makes each terminal link and center regulation and control parts crank, top member, basal disc body formation parallelogram sturcutre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008201815777U CN201400046Y (en) | 2008-12-28 | 2008-12-28 | Road wheel with auxiliary claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008201815777U CN201400046Y (en) | 2008-12-28 | 2008-12-28 | Road wheel with auxiliary claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201400046Y true CN201400046Y (en) | 2010-02-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008201815777U Expired - Fee Related CN201400046Y (en) | 2008-12-28 | 2008-12-28 | Road wheel with auxiliary claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201400046Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528562A (en) * | 2018-06-07 | 2018-09-14 | 张家港江苏科技大学产业技术研究院 | A kind of robot climbing base apparatus |
| CN108612818A (en) * | 2016-12-13 | 2018-10-02 | 崔侃 | Parallel to the axis the synchronous drive mechanism of rotation |
| CN113978180A (en) * | 2021-09-28 | 2022-01-28 | 中科创源(天津)科技有限公司 | Deformation wheel and walking machine adopting same |
-
2008
- 2008-12-28 CN CN2008201815777U patent/CN201400046Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108612818A (en) * | 2016-12-13 | 2018-10-02 | 崔侃 | Parallel to the axis the synchronous drive mechanism of rotation |
| CN108528562A (en) * | 2018-06-07 | 2018-09-14 | 张家港江苏科技大学产业技术研究院 | A kind of robot climbing base apparatus |
| CN108528562B (en) * | 2018-06-07 | 2020-12-01 | 张家港江苏科技大学产业技术研究院 | Robot climbing chassis device |
| CN113978180A (en) * | 2021-09-28 | 2022-01-28 | 中科创源(天津)科技有限公司 | Deformation wheel and walking machine adopting same |
| CN113978180B (en) * | 2021-09-28 | 2024-04-16 | 中科创源(天津)科技有限公司 | Deformation wheel and walking machine adopting same |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100210 Termination date: 20101228 |