CN208096908U - Crawler-type moving mechanism - Google Patents
Crawler-type moving mechanism Download PDFInfo
- Publication number
- CN208096908U CN208096908U CN201720481716.7U CN201720481716U CN208096908U CN 208096908 U CN208096908 U CN 208096908U CN 201720481716 U CN201720481716 U CN 201720481716U CN 208096908 U CN208096908 U CN 208096908U
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- crawler belt
- contact
- fulcrum
- working face
- mobile mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 95
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000000694 effects Effects 0.000 claims description 30
- 238000000034 method Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 238000007373 indentation Methods 0.000 claims description 2
- 230000009194 climbing Effects 0.000 description 12
- 230000006870 function Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 241000219098 Parthenocissus Species 0.000 description 2
- 206010057071 Rectal tenesmus Diseases 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000012271 tenesmus Diseases 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
A locomotion mechanism comprising fixedly arranged first and second tracks operatively connected to each other and moving synchronously for locomotion over a work surface, wherein the first and second tracks are configured to together form a zigzag and preferably lightning shaped contact/active base portion or bottom profile to adapt and follow different work surfaces or to be arbitrarily movable over stairs, rough roads and all terrain having different slopes.
Description
Technical field
The utility model relates to a kind of caterpillar machinery mobile mechanisms, specifically, being related to a kind of with stair climbing function
And can safety and steady fall on the ground the different stair of multilayer angle, on fall slope, across obstacle, travel on rugged hill road
Slippery traffic surface is flexibly travelled on simultaneously again, and volume is tiny, the caterpillar machinery moving machine that can be turned in narrow stair bent angle
Structure.
Background technique
It designs and invents there are many mechanical combination now, be intended to that mankind's traveling can be helped or cross over different and common
Road and obstacle.Such as indoor slippery traffic surface, outdoor You Bolu, the barrier on street, rugged hill road, even angle
Spend different stair etc..But this kind of mechanical combination all be there is a problem that in design in certain degree, enable its invention can not one
One pass through more than road and obstacle, such as：
The Chinese invention patent ZL201210110973.1 of the present inventor discloses a kind of crawler belt stair-climbing wheel chair, invention
Using patent " design of two-period form crawler belt ", the different stair of angle can be climbed, when reaching ladder top, two-period form design can will under
The strength of pendant is shed, and wheelchair is enable to arrive safe and sound ladder top.But the performance when using on road surface is had ignored in design, because
The invention is designed using Full Tracked, when driving, crawler belt can generate comparable frictional force with road surface, very on slippery traffic surface
It is damaged to meeting road pavement, it is quite not flexible.When travelling crankcase ventilaton, can also be set because of it just like the crawler belt as tank
Meter, when crossing protrusion, also has the danger to drop suddenly.(such as Fig. 1 a)
Another Chinese invention patent number 201510555652.6 of the present inventor discloses a kind of crawler-type mobile mechanism,
" design of water droplet formula crawler belt " that invention is combined using big small wheels can climb the different stair of angle, neatly travel smoothly
Road surface, also can safely travel crankcase ventilaton and across obstacle.But just because of its function is too many, seat needs often lifting
Or swing, forearm will often stretch again before or after contracting, complicated structure causes manipulation difficulty and volume larger, and radius of turn is also
Therefore (such as Fig. 1 b) is greatly increased.When encountering narrow stair and bent angle, mobile mechanism will can not be travelled.
The mobile mechanism for carrying out ladder with crawler belt of the prior art still has the shortcomings that one very big, is exactly that crawler belt can only grasp building
" terraced angle " (such as Fig. 1 c) of ladder.Although more existing invention, crawler belt extension is increased to grasp a little for crawler belt and terraced angle as far as possible, is carried out
Band can only grasp " angle " of step always, as long as someone is slightly pushed against energetically after, mobile mechanism is easy to overturn.
Utility model content
The shortcomings that in order to solve the problems, such as the prior art and, the present invention provides a kind of " lightening caterpillar belt structure " (Fig. 2 a), benefit
With two groups of caterpillar belt structures of different shapes, it is fixedly combined into lightning shape, realizes and perfectly climbs terraced, cross-country and level road cunning
Row, and volume and radius of turn are superfine small " caterpillar machinery mobile mechanism " (Fig. 2 b).This mechanical structure is mainly by 3
Part is composed, including：Crawler belt mobile mechanism, caster movement mechanism and support mechanism.
A kind of mobile mechanism according to the present invention including the operationally interconnection that is fixedly disposed and synchronously moves
With the first crawler belt and the second crawler belt moved on working face, wherein：
First crawler belt includes first connecing relative to the working face with configurable first angle obliquely extends
Touching/effect bottom surface portions；First contact/effect bottom surface portions and the contact of the working face substantially single-contact or face
Contact and first contact point between the two are configured to the first fulcrum of the mobile mechanism；
Second crawler belt includes being respectively relative to the working face with configurable second angle and configurable third
The second contact extended to angle tilt/effect bottom surface portions and third contact/acts on bottom surface portions, second contact/work
With bottom surface portions and third bottom surface portions intersection is contacted/acted on so that the contact/effect bottom surface substantially extended at V shape is collectively formed
Part；The contact/effect bottom surface portions and the contact of the working face substantially single-contact or face contact and the two it
Between the second contact point or contact surface be configured to the second fulcrum of the mobile mechanism；
First crawler belt is configured to that contact/work of indentation and preferably lightning shape is collectively formed with second crawler belt
With bottom surface portions or bottom profile, to adapt to and be close to different working faces or can be in the stair with different gradients, rugged road
It is arbitrarily moved on face and full landform ground.
In some embodiments of mobile mechanism according to the present invention, first crawler belt and the common shape of the second crawler belt
At bottom profile and first fulcrum and the second fulcrum form the space of general triangular, to adapt to and convenient for across moving
The convex portion of the working face met with during dynamic can reduce what mobile mechanism suddenly fell relative to the bottom profile of flat type
Possibility.
In some embodiments, substantially described first crawler belt of the height of the triangle space or second crawler belt
60 ° of %-180% of height and preferably 120 ° of %, to adapt to and convenient for crossing over the working face met with during movement
Convex portion can reduce a possibility that mobile mechanism suddenly falls relative to the bottom profile of flat type.
In some embodiments, first contact/effect bottom surface portions length is about second contact/effect
2 times of the length of bottom surface portions；And/or first contact/effect bottom surface portions length is about the third contact/effect
1.5 times of the length of bottom surface portions, the length or the length adapt to and tightly than contributing to form the bottom profile of requirement
Different working faces is pasted, relative to the bottom profile of flat type, mobile mechanism can be reduced and fallen across generation after protrusion is anxious
A possibility that.
In some embodiments, the configuration of the first crawler belt and/or second crawler belt, first angle, described
Second angle, and/or the third angle are configured to facilitate in first fulcrum and the second fulcrum at least one therein
When point is in or is supported on tip portion or the corner of the working face, another fulcrum is made to can be at or be supported on the working face
Flat or on another plane near the working face, thus make the stability and safety of the mobile mechanism
Greatly improve.
In some embodiments, when moving on stair, first crawler belt and second crawler belt are configured to make to constitute
First fulcrum of lightning shape bottom surface portions and the second fulcrum at least fulcrum therein always with the offer of a step compared with
The step plane of big bear power offsets, to be in and be supported on the offer of another step in another fulcrum compared with ramuscule load
When on step angle, the grade surface effect is the main supporting surface of the mobile mechanism to prevent from overturning, and thus makes the movement
The stability of the operation of mechanism and safety greatly improve.
In some embodiments, the first angle, the second angle and/or the third angle can be relative to predetermined
The gradient ranges estimated or surveyed of stair in using area, rough ground estimate or legal rugged degree is correspondingly matched
It sets；And/or the first angle is 25 ° -30 °, preferably 26 °；And/or the second angle is 35 ° -40 °, preferably 36 °；
The third angle is 125 ° -130 °, and preferably 126 °, the angle or the angular range contribute to form the bottom of requirement
Profile, relative to the bottom profile of flat type, can reduce mobile mechanism and exist to adapt to and be close to different working face and stair
Anxious a possibility that falling occurs after across protrusion and during ladder process.
In some embodiments, first crawler belt is the crawler belt of substantially elongated；And/or second crawler belt is substantially three
The crawler belt of angle-style；First crawler belt and second crawler belt are configured to coaxially drive, to improve transmission ratio and efficiency.
In some embodiments, further include an at least universal wheel, the universal wheel be configured to first crawler belt and/or
Second crawler belt is operably connected, and the universal wheel is configured to independently of first crawler belt and second crawler belt
Mode rotationally switches between spare space and operating position, and at the operating position, the universal wheel is towards institute
The direction for stating working face pivots until offseting with the working face and further promoting described the to be operably connected therewith
One crawler belt or second crawler belt separate first crawler belt or second crawler belt mutually with the working face, described universal
It takes turns and is configured to the mobile mechanism with the contact of the working face substantially line contact and third contact point between the two
Third fulcrum replaces first fulcrum or second fulcrum to take, and thereby changes the mobile mechanism by double caterpillar belt structures
At mono-track plus Universal wheel structure；And at the spare space, the universal wheel is directed away from the direction pivot of the working face
Turn until first crawler belt being operably connected therewith or second shoe are separated and further made with the working face
Until offseting with the working face, the third fulcrum is taken and is replaced by first fulcrum or second fulcrum for band decline, and from
And the mobile mechanism is made to add Universal wheel structure to change caterpillar belt structure in pairs by mono-track.
In some embodiments, at the operating position, the middle line of the universal wheel is tilted relative to the working face
Ground extend and it is substantially orthogonal with the length direction of first crawler belt or second crawler belt；And/or in the spare space
When, the middle line of the universal wheel obliquely extend relative to the working face and with first crawler belt or second crawler belt
Length direction it is substantially parallel, the configuration, the position and the switching mode of the universal wheel facilitate reduce mobile mechanism
Space requirement and adapt it to and be close to different working faces desired operation.
The advantage of mobile mechanism according to the present invention is：
1. one the invention of crawler belt mobile mechanism a kind of unique " lightening caterpillar belt structure ", two groups of not similar shapes are utilized
The caterpillar belt structure of shape is fixedly combined into lightning shape.The composite structure of this innovation enables mechanism be suitble to mobile different situations
Road surface, and multiple variable body is tired of because eliminating, simplify in structure, volume is substantially reduced (Fig. 2 b).In addition, of the invention
Create exclusive caterpillar belt structure, ladder principle differs widely with existing invention, as shown in (such as Fig. 2 c), when after crawler belt only
While grasp " terraced angle ", preceding crawler belt will appear the case where tightly stepping on " tread "；As shown in (such as Fig. 2 d), current crawler belt is only grabbed
" terraced angle " while, rear crawler belt will appear the case where tightly stepping on " tread ".Just because of " stepping on tread " can be than " grasp terraced angle "
It is safe securely very much, so mobile mechanism is all difficult to overturn from stair even if someone is pushed against energetically after.
2. a pair of flexible universal wheel of one the invention of caster movement mechanism is pushed a pair of with electric pushrod
Universal wheel is to front or rear swing, and when electric pushrod extends to longest, universal wheel can leave ground, and crawler belt is allowed to contact to earth, and makes moving machine
Structure can be carried out speeling stairway and obstacle detouring is used (Fig. 6 a)；When electric pushrod is reduced to most in short-term, universal wheel can contact ground, make to move
Mechanism can be in flexibly turning to (Fig. 7 a) on level road
3. one present invention of prop balance mechanism utilizes 1 electric pushrod, a gyroscope and simple structure, create
In level road, gyroscope can issue message, be reduced to electric pushrod for one effective prop balance mechanism (such as Fig. 6 b)
Most short (such as Fig. 6 a), when speeling stairway or obstacle detouring, electric pushrod can be according to the message that gyroscope is issued and electric pushrod
It elongates or shortens, makes people or object of the support on bracket, the state (such as Fig. 8 a, 8b) of vertical balance can be kept with ground forever
The present invention takes the move mode of lightening crawler belt as a result, with complete novel operation concept, without complicated structure
And variable body, the complex situations on different road surfaces are solved with simplest method.Especially building is climbed in a manner of " stepping on tread "
Ladder, the even more novel concept of crawler belt mobile mechanism.In addition, universal wheel variable body of the invention operates, do not need to enable other components,
Forearm extension is such as enabled to increase length of wagon to provide extra work space, so the present invention can keep vehicle body tiny,
Lithe.
Due to, with two groups of crawler belts, dexterously forming lightning shape before and after the present invention, go to solve to ask with simplest method
Topic, thus assembling and the complexity of maintenance is enabled to greatly reduce, greatly increase the practicability of invention commercialization, as can be actually used
In electric wheelchair, scooter, cargo handbarrow, measuring instrument and toy etc..
And caster movement mechanism of the invention then can take corresponding environmental factor into account when the present invention wants commercialization,
Especially populous and street canyon urban district, the tiny wheelchair of a volume can just suit the actual needs of users.
In addition, present invention employs better simply balance system, support is enabled more to balance in thing above, is safer.Cause
This, can actually multiply loading object, passenger or hurt strong personage on prop.
Detailed description of the invention
Hereinafter reference will be made to the drawings describes the present invention by example, in the accompanying drawings：
Fig. 1 a is the dangerous situation that shows creeper truck and will appear when clearing the jumps.
Fig. 1 b be show similar inventions radius of turn it is very large.
Fig. 1 c is to show creeper truck in speeling stairway, and crawler belt can only grasp the situation at " terraced angle ".
Fig. 2 a is formed unique lightning shape by display mobile mechanism.
Fig. 2 b is that show radius of turn of the invention very small.
The case where Fig. 2 c is to show the present invention when climbing ladder, and preceding crawler belt steps on " tread ".
The case where Fig. 2 d is to show the present invention when climbing ladder, and rear crawler belt steps on " tread ".
Fig. 3 a is side block diagram of the invention, and shows and form three principal organ of the invention.
Fig. 3 b is overlooking structure figure of the invention, and shows and form three principal organ of the invention.
Fig. 4 a is the side block diagram of crawler belt mobile mechanism of the present invention, and shows the component for forming this mechanism.Fig. 4 b is this
The overlooking structure figure of invention crawler belt mobile mechanism, and the component for forming this mechanism is shown.Fig. 5 a is that universal wheel of the invention is mobile
The side block diagram of mechanism and prop balance mechanism, and the component for forming this mechanism is shown.
Fig. 5 b is the overlooking structure figure of caster movement mechanism of the invention and prop balance mechanism, and shows composition
The component of this mechanism.
Fig. 6 a is the case where universal wheel telescopic electric push rod extends to longest, and universal wheel is packed up, and front and back crawler belt contacts to earth simultaneously.
Fig. 6 b is that seat balance electric push rod extends to longest, the situation that prop height height is propped up.
Fig. 7 a is situation of the present invention when moving on level road.
Fig. 7 b is situation of the present invention when moving on rugged road.
Fig. 8 a is the situation that the present invention climbs on the different stair of angle.
Fig. 8 b is situation of the present invention when reaching ladder top or descending stair.
Fig. 9 a-9d is the crawler belt mobile mechanism of the invention figure compared with the design of other track structures.
Specific embodiment
Fig. 3 a and 3b show the perspective view of an embodiment of " caterpillar machinery mobile mechanism " of the invention, are clear
For the sake of, a part of component is only schematically shown in figure.Mechanism of the invention includes：1 crawler belt mobile mechanism, 2 universal wheels are mobile
Mechanism, 3 prop balance mechanisms.
Mobile mechanism 1 includes that (110 this motor mechanism, can be other engines to left and right driving deceleration motor 110
Structure, such as fuel oil start other launch devices).
Driving decelerating motor 110 is fixed on driving decelerating motor bracket 102, and 102 can be fixed on the main branch of vehicle body simultaneously
On frame 101 and front internal fixation plate 143, driving decelerating motor and major body bracket are fixed.
When (energy can be battery, gasoline or solar energy etc. to controller instruction driven by energy decelerating motor 110, and control
Device processed is also the prior art, and there are many brands to select, so being not described in detail here), 110 will drive driving decelerating motor transmission shaft
111 rotations, interior synchronizing wheel 121 is also secured on roller 111 with outer synchronizing wheel 122, therefore 121 can rotate simultaneously with 122.
The power of interior synchronizing wheel 121 can drive preamble wheel 125 through preamble crawler belt 132.Outside front internal fixation plate 143 and front
Interior synchronizing wheel 121 and preamble wheel 125 can be secured in place by fixed plate 144, two fixed plates roller and plank it
Between be equipped with bearing, roller can be rotated between plank.Front internal fixation plate 143 and front outer stationary plates 144 will form centainly
Angle and it is fixed immediately, angle depends on depending on actual needs.
When driving decelerating motor 110 drives the driving rotation of decelerating motor transmission shaft 111, while outer 122 turns of synchronizing wheel of drive
Dynamic, power synchronizes crawler belt 131 and drives lower synchronizing wheel 123 and rear synchronizing wheel 124 after penetrating.Rear internal fixation plate 141 is with after
Synchronizing wheel 122,123 and 124 can be secured in place by square outer stationary plates 142, form a triangle, two fixed plates exist
It is equipped with bearing between roller and plank, roller can be rotated between plank.And rear internal fixation plate 141 can be with vehicle body main support
101 are fixedly connected, and synchronous crawler belt 131 is run after enabling driving force that can steadily drive.
Caster movement mechanism 2 includes that (220 this motor mechanism, can be other and start universal wheel telescopic electric push rod 220
Mechanism, such as decelerating motor or oil tappet).
Firstly, universal wheel telescopic electric push rod 220 can be flexibly connected with push rod connecting bracket 204, and 204 meetings and vehicle body
Main support 101 is fixedly connected, and therefore, strength caused by universal wheel telescopic electric push rod 220 can be supported by vehicle body main support 101
Pin.
When driven by energy universal wheel telescopic electric push rod 220 elongates or shortens, power can be conveyed to push rod connector
203, enable it forward or after rotate.Push rod connector 203 can be with universal wheel rotary shaft 201 immediately, and 201 can penetrate bearing, with
Two pieces of left and right front internal fixation plate 143 is flexibly connected.Meanwhile 2 universal wheels 210 can be fixed with 2 universal wheel connectors 202
Connection, and 2 universal wheel connectors 202 can be with universal wheel rotary shaft 201 immediately.I other words when universal wheel telescopic electric push rod
Power transmission to push rod connector 203 when, power can enable universal wheel rotary shaft 201 to front or rear swing simultaneously.And universal wheel
210 can be through 202 and 201 immediately, therefore, while universal wheel telescopic electric push rod 220 elongates or shortens, 2 universal wheels
210 also can be to land or liftoff simultaneously to front or rear swing.
Prop balance mechanism 3 includes that (310 this motor mechanism, can be other to prop balance electric push rod 310
Motor mechanism, such as decelerating motor or oil tappet), gyroscope 320 (320 can be two dimension, can be three-dimensional) and support machine
Structure 330 (330 can be seat or the mechanism of other bearing goods).
Firstly, prop balance electric push rod 310 can be flexibly connected with push rod connecting bracket 301, and 301 meetings and vehicle
Body main support 101 is fixedly connected, and therefore, strength caused by prop balance electric push rod 310 can be by vehicle body main support
101 payments.
When gyroscope 320 receives forward or after the message of rear-inclined, prop balance electric will be issued instructions to
Push rod 310 elongates or shortens.Be flexibly connected with support mechanism 330 due to 310, and 330 with 101 activity of vehicle body main support even
It connects, so support mechanism 330 will be high by support when 310 elongation.On the contrary, support mechanism 330 will be downward when 310 shorten
Drop.Under this simple structure, entire support mechanism just can keep balancing with ground.
Structure through more than, function of the invention is following, and (to enable mechanism more specific, function view can be in prop
On balance mechanism 330 plus set a seat)：
1. level road function (Fig. 7 a):In order to enable car flexibly to travel on indoor or level road, universal wheel telescopic electric is pushed away
Bar 220 can be contracted to most short, enable a pair of of decline of universal wheel 210 contact to earth, enable preamble band 132 liftoff (such as Fig. 4 a).Then, vehicle
The Move Mode of son becomes to be landed driving, since two universal wheels 210 in front can be with optional turning, institute by rear synchronous belt completely
It can very flexibly, and can be turned in narrow road with car.
2. rugged road function (Fig. 7 b):In order in rugged hill road driving or surmount obstacles, as long as universal wheel is stretched
Contracting electric pushrod 220 extends to longest, and a pair of of universal wheel 210 is enabled to increase liftoff (Fig. 5 a), and prop balance mechanism can be simultaneously
Starting.This mode while car can arbitrarily be displaced into common hill crankcase ventilaton, can also cross over general road easily
On the barrier that can encounter.
3. climbing terraced function (Fig. 8 a):Largest benefit of the invention is exactly easy to operate, it is only necessary to be used and the rugged road of movement
Universal wheel telescopic electric push rod 220 is extended to longest by identical mode, and a pair of of universal wheel 210 is enabled to increase liftoff (Fig. 5 a), and
Prop balance mechanism can start simultaneously.In this manner, crawler belt 131 is synchronized after passenger only needs to control two while touching ladder
Grade climbing.Because, can be easily placed along every level-one stair present invention employs unique " lightening caterpillar belt structure "
It wriggles and climbs, even if reaching ladder top, also not will cause the danger (Fig. 8 b) that car drops suddenly.And " lightening caterpillar belt structure "
Another benefit is exactly that it climbs principle and general difference, and can't depend merely on crawler belt grasps " terraced angle " (Fig. 1 c), but
Ladder (Fig. 2 c and 2d) in a manner of " stepping on tread ", so car is not even if there is the case where someone is pushed against energetically after
It is easy to overturn from stair.
When ladder, prop balance mechanism 3 can play a role all the way up or downwards, enable passenger vertical with ground holding
Balance, ensures the safety of passenger.
The case where when descending stair substantially with upper ladder when it is identical, with the same mode, also because of " lightening caterpillar belt structure ", institute
When following first order stair, the danger (Fig. 8 b) to drop suddenly will not also occur.
In conclusion lightening caterpillar belt structure of the invention utilizes two groups of caterpillar belt structures of different shapes, fixedly combine
At lightning shape, simplest method has been used, mobile rugged hill road has been solved, leaping over obstacles, climbs the different stair of angle
Deng these are frequently encountered and extremely complex problem.
Caster movement mechanism of the invention then utilizes an electric pushrod and simple mechanical structure, has used least change
Body amplitude and do not need in the case where changing length of wagon, by full crawler belt variable body of contacting to earth be by mobile mechanism contacted to earth by rear crawler belt and
The flexible state that preceding universal wheel contacts to earth, reduces mobile mechanism's overall volume like never before, enables the present invention in commercialization in future
Practicability greatly improve.
Of the invention to step on tread and the principle of row is different from existing stair-climbing mechanism, all of which uses " grasp terraced angle "
Principle carry out speeling stairway, benefit is to seem steady, but can only really climb the consistent stair of angle, and because grasp
Power is insufficient and abnormally dangerous.And " lightening caterpillar belt structure " of the present invention, enable mobile mechanism in speeling stairway, always
Keep the situation of " stepping on tread ".For mechanics, " stepping on tread " can several times bigger than the support force of " grasp terraced angle " with
On, thus safety increases.
Referring to Fig. 9 a-9d, show the design of crawler belt mobile mechanism and other track structures of the invention climb ladder and
Reach step top or fail level-one stair when comparison figure.As shown, the design of stair is to make the sole of people can when climbing ladder
Having peace of mind is walked step by step in step surface, to meet security doctrine.But all crawler types design (such as Fig. 9 b institute of the prior art
The design shown), crawler belt is all merely able to " grab
" " angle " (as shown in the circle) of step, this is in the principle for fundamentally violating step itself and designing.But the present invention
Exclusive " lightening crawler belt " design, then after the climbing that can be wriggled according to the angle of step (as illustrated in fig. 9), crawler belt
" stepping on " can also often be kept or be supported on " surface "/tread (as shown in linea angulata) of step, this complies fully with step itself
Design.Therefore, the safety of walking mechanism of the invention in speeling stairway is unquestionable, is greatly better than the prior art.
When reaching step top or failing level-one stair, all crawler types design of the prior art is (such as shown in Fig. 9 d
Design), when climbing to afterbody stair or fail level-one stair when, can all be in the presence of suddenly drop or crawler belt " hanging "
(as shown in circle), this is that existing ladder work's tool of climbing unexpected main cause often occurs.Exclusive " lightening crawler belt " design of the present invention,
No matter climb to afterbody stair or fail level-one stair when (as is shown in fig. 9 c), crawler belt front end can all occur " stepping on " or
It is supported on the situation (as shown in linea angulata) of " surface "/tread of step, therefore is avoided that similar unexpected generation.
Specifically, all crawler types of the prior art design (such as designing shown in Fig. 9 b) when climbing ladder, crawler belt is all
It is configured to have the function of that one section of parallel to the ground or part that is in contact, the length of the effect part are all configured to be greater than each
The height of the vertical tread of the length and/or step of the horizontal tread of step, i.e., each step are all difficult to accommodate or support entire
Effect part so that the effect part can only be locally (usually shown in figure with certain a part of step
Terraced angle) contact, it this incomplete contact or engages/grabs credit union and cause above-mentioned various problems, including crawler belt " hanging ", shifting
Motivation structure is whole or part tenesmus suddenly, it is sliding after or overturn etc..
On the contrary, crawler type of the invention designs (i.e. lightening design shown in Fig. 9 a/9c) when climbing ladder, described first is carried out
The the first contact/effect bottom surface portions obliquely extended relative to the working face with configurable first angle that band includes
Shape and size are configured to accommodate or be supported on completely on the horizontal tread of each step.In other words, first crawler belt
Effect bottom surface portions scale/length of direct effect part for touching of one had section and ground be configured to be less than it is each
The height of the vertical tread of the length and/or step of the horizontal tread of step, i.e., each step all can accommodate or support entire institute
State effect part.
Similarly, what second crawler belt included is respectively relative to the working face with configurable second angle and can match
The second contact that the third angle set obliquely extends/effect bottom surface portions and third contact/acts on bottom surface portions and is collectively formed
Substantially forming V-shape extend contact/effect bottom surface portions shape and size be also configured to accommodate or be supported on completely it is each
On the horizontal tread of step.As a result, during entirely climbing terraced process, what both first crawler belt and second crawler belt were formed
On at least its horizontal tread for accommodating or being supported on for a moment each step of fulcrum, thus simulate the sole of people and can having peace of mind in ladder
Grade surface travels step by step, with the design for meeting security doctrine He complying fully with step itself.Due to first crawler belt and/or
The effect part of both second crawler belts can keep that conjunction is come into full contact with or sprayed with the tread part of step during operation, this
More completely conjunction is closed/grabbed in contact or spray just can avoid above-mentioned various problems caused by the prior art, including crawler belt " hanging ", shifting
Motivation structure is whole or part tenesmus suddenly, it is sliding after or overturn etc..
Although advantages of the present invention and preferred embodiment are described herein, those skilled in the art should
Understand, narration here is only merely provided as example, is not intended to limit protection scope of the present invention.Guarantor of the present invention is not being departed from
In the case where protecting range, described implementation detail can be replaced with any other equivalent, or modify or modification.
Claims (10)
1. a kind of mobile mechanism, including the operationally interconnection that is fixedly disposed and synchronously move to be moved up in working face
Dynamic the first crawler belt and the second crawler belt, wherein：
First crawler belt includes the first contact/work obliquely extended relative to the working face with configurable first angle
Use bottom surface portions；First contact/effect bottom surface portions and the contact of the working face be single-contact or face contact and
First contact point between the two is configured to the first fulcrum of the mobile mechanism；
Second crawler belt includes being respectively relative to the working face with configurable second angle and configurable third angle
The second contact obliquely extended/effect bottom surface portions and third contact/acts on bottom surface portions, second contact/effect bottom
Face part and third contact/act on bottom surface portions intersection so that contact/effect bottom surface portions of forming V-shape extension are collectively formed；It is described
Second contact point of the contact/effect bottom surface portions with the contact of the working face for single-contact or face contact and between the two
Or contact surface is configured to the second fulcrum of the mobile mechanism；
First crawler belt and second crawler belt are configured to that indentation is collectively formed, with adapt to and be close to different working face or
It can arbitrarily be moved on stair, rough ground and the full landform ground with different gradients.
2. mobile mechanism as described in claim 1, it is characterised in that：First crawler belt and second crawler belt are collectively formed
Bottom profile and first fulcrum and the second fulcrum form the space of triangle, to adapt to and be convenient for leap during movement
The convex portion of the working face met with.
3. mobile mechanism as described in claim 1, it is characterised in that：First crawler belt and second crawler belt are collectively formed
Bottom profile and first fulcrum and the second fulcrum form the space of triangle, the height of the triangle space is described
60 ° of %-180% of the height of the first crawler belt or second crawler belt, to adapt to and convenient for crossing over the institute met with during movement
State the convex portion of working face.
4. mobile mechanism as described in claim 1, it is characterised in that：First contact/effect bottom surface portions length is
2 times of second contact/effect bottom surface portions length；And/or first contact/effect bottom surface portions length is institute
State 1.5 times that third contacts/act on the length of bottom surface portions.
5. mobile mechanism as described in claim 1, it is characterised in that：The structure of first crawler belt and/or second crawler belt
Type, the first angle, the second angle, and/or the third angle are configured to facilitate in first fulcrum and
It when a two fulcrums at least fulcrum therein is in or is supported on tip portion or the corner of the working face, locate another fulcrum can
In or be supported on the flat of the working face or on another plane near the working face.
6. mobile mechanism as described in claim 1, it is characterised in that：When being moved on stair, first crawler belt and described
Second crawler belt is configured to first fulcrum for making to constitute lightning shape bottom surface portions and the second fulcrum at least fulcrum therein is total
It is to offset with the step plane of the larger supporting force of offer of a step, to be in and be supported on another ladder in another fulcrum
When the offer of grade is compared on the step angle of ramuscule load, the grade surface effect is the main supporting surface of the mobile mechanism to prevent
It overturns.
7. mobile mechanism as described in claim 1, it is characterised in that：The first angle, the second angle and/or described
Third angle can relative to the gradient ranges estimated or surveyed of the stair in predetermined using area, rough ground estimate or method
Fixed rugged degree correspondingly configures；And/or the first angle is 25 ° -30 ° and/or the second angle is 35 ° -40 °,
The third angle is 125 ° -130 °.
8. mobile mechanism as described in claim 1, it is characterised in that：First crawler belt is the crawler belt of elongated；And/or it is described
Second crawler belt is the crawler belt of triangular form；First crawler belt and second crawler belt are configured to coaxially drive.
9. mobile mechanism as described in claim 1, it is characterised in that:It further include an at least universal wheel, the universal wheel configuration
It is operably connected at first crawler belt and/or second crawler belt, the universal wheel is configured to independently of described
The mode of one crawler belt and second crawler belt rotationally switches between spare space and operating position, in the working position
When setting, the universal wheel is pivoted towards the direction of the working face until offseting and further being promoted therewith with the working face
First crawler belt or second crawler belt being operably connected make first crawler belt or second crawler belt and the work
Make face mutually to separate, the universal wheel is contacted with the contact of the working face for line and third contact point between the two is configured to
The third fulcrum of the mobile mechanism with take replace first fulcrum or second fulcrum, and thereby make the mobile mechanism by
Double caterpillar belt structures are transformed into mono-track and add Universal wheel structure；And at the spare space, the universal wheel is directed away from described
The direction of working face pivots until separating with the working face and further making be operably connected therewith described first to carry out
Band or second crawler belt decline with the working face until offset, and the third fulcrum is by first fulcrum or described second
Fulcrum, which takes, to be replaced, and thereby the mobile mechanism is made to add Universal wheel structure to change caterpillar belt structure in pairs by mono-track.
10. mobile mechanism as claimed in claim 9, it is characterised in that：At the operating position, the middle line of the universal wheel
Obliquely extend relative to the working face and orthogonal with the length direction of first crawler belt or second crawler belt；With/
Or at the spare space, the middle line of the universal wheel obliquely extends relative to the working face and carries out with described first
The length direction of band or second crawler belt is parallel.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK16109224 | 2016-08-02 | ||
| HK16109224.1 | 2016-08-02 | ||
| HK17103073.5 | 2017-03-24 | ||
| HK17103073 | 2017-03-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208096908U true CN208096908U (en) | 2018-11-16 |
Family
ID=60766240
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720481716.7U Active CN208096908U (en) | 2016-08-02 | 2017-05-03 | Crawler-type moving mechanism |
| CN201710305536.8A Active CN107529434B (en) | 2016-08-02 | 2017-05-03 | Crawler-type moving mechanism |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710305536.8A Active CN107529434B (en) | 2016-08-02 | 2017-05-03 | Crawler-type moving mechanism |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6503402B2 (en) |
| CN (2) | CN208096908U (en) |
| WO (1) | WO2018025190A1 (en) |
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| CN109524918A (en) * | 2018-11-28 | 2019-03-26 | 广州思泰信息技术有限公司 | A kind of full landform domain distribution line screen of trees laser removing System and method for |
| CN110292490A (en) * | 2019-07-11 | 2019-10-01 | 华东交通大学 | It is a kind of that building machine is stepped on based on the convenient of the convertible wheel group of three leaves |
| CN111571557A (en) * | 2020-05-25 | 2020-08-25 | 必飞科技(佛山)有限公司 | Balancing device on traveling mechanism |
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| CN108995741B (en) * | 2018-08-14 | 2021-01-22 | 台州市沃趣车业有限公司 | Electric vehicle capable of climbing stairs |
| CN109646199B (en) * | 2018-12-21 | 2020-09-04 | 杭州铭智云教育科技有限公司 | Electric wheelchair for improving use comfort |
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| CN109524918A (en) * | 2018-11-28 | 2019-03-26 | 广州思泰信息技术有限公司 | A kind of full landform domain distribution line screen of trees laser removing System and method for |
| CN110292490A (en) * | 2019-07-11 | 2019-10-01 | 华东交通大学 | It is a kind of that building machine is stepped on based on the convenient of the convertible wheel group of three leaves |
| CN111571557A (en) * | 2020-05-25 | 2020-08-25 | 必飞科技(佛山)有限公司 | Balancing device on traveling mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2018020758A (en) | 2018-02-08 |
| WO2018025190A1 (en) | 2018-02-08 |
| JP6503402B2 (en) | 2019-04-17 |
| CN107529434B (en) | 2021-03-23 |
| CN107529434A (en) | 2018-01-02 |
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