WO2015122704A1 - Dispositif d'entraînement de roue triangulaire - Google Patents

Dispositif d'entraînement de roue triangulaire Download PDF

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Publication number
WO2015122704A1
WO2015122704A1 PCT/KR2015/001428 KR2015001428W WO2015122704A1 WO 2015122704 A1 WO2015122704 A1 WO 2015122704A1 KR 2015001428 W KR2015001428 W KR 2015001428W WO 2015122704 A1 WO2015122704 A1 WO 2015122704A1
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WO
WIPO (PCT)
Prior art keywords
gear
triangular wheel
triangular
wheel frame
power transmission
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PCT/KR2015/001428
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English (en)
Korean (ko)
Inventor
배동권
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배동권
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Application filed by 배동권 filed Critical 배동권
Publication of WO2015122704A1 publication Critical patent/WO2015122704A1/fr

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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
    • A61G5/063—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
    • 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
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/024—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular operating means
    • A61G5/025—Levers

Definitions

  • the present invention relates to a mobile device having a triangular wheel capable of crossing an obstacle such as a staircase.
  • the triangular wheel itself as well as each small wheel of the triangular wheel is configured to rotate so that the mobile device can easily pass the obstacle. It relates to a triangular wheel drive device.
  • Wheelchair users encounter various obstacles such as stairs, gravel fields, sand roads, mud roads, etc. During the operation of wheelchairs, stairs are the biggest obstacles to movement.
  • a wheelchair having a triangular wheel transfers the driving force generated from the power generating device to small wheels provided in the triangular wheel.
  • the triangular wheel refers to an arrangement of three small wheels in an equilateral triangle on a frame that rotates about a drive shaft.
  • Triangular wheel disclosed in the Republic of Korea Patent Registration 10-1031321 has a power transmission device for transmitting the driving force generated in the power generating device to each small wheel.
  • the triangular wheel disclosed in the Republic of Korea Patent Registration 10-1031321 is caught by an obstacle and the rotation of the small wheel is stopped, the triangular wheel itself is rotated by the rotation force for rotating the small wheel so that the triangular wheel passes the obstacle.
  • such a conventional triangular wheel driving method transmits the driving force generated in the power generating device to the small wheels constituting the triangular wheel, and drives the triangular wheel frame by itself to overcome the obstacle,
  • the delivery process is so complex that it is difficult to exert enough force to actually overcome the obstacle.
  • the conventional triangular wheel driving method has a problem that the triangular wheel is rotated only when the rotation of the small wheel is stopped, so that the triangular wheel cannot be rotated separately from the rotation of the small wheel.
  • Patent documents Republic of Korea Patent Publication No. 10-2011-0138430 (published Dec. 28, 2011)
  • Patent documents Republic of Korea Patent Publication No. 10-2013-0086418 (published Aug. 2, 2013)
  • Patent documents Republic of Korea Patent Registration 10-1031321 (April 29, 2011)
  • the present invention in order to meet the above demands, to provide a triangular wheel drive device capable of rotating the triangular wheel frame itself independent of the rotation of the small wheel provided in the triangular wheel, as well as the rotation of the small wheel. do.
  • Another object of the present invention is to provide a triangular wheel drive device that allows the moving device to smoothly overcome obstacles by rotating the triangular wheel frame in the same direction as the rotation direction of the small wheel in parallel with the rotation of the small wheel.
  • Triangular wheel drive device for achieving the above object
  • a triangular wheel which rotates by the power transmission shaft, comprises a triangular triangular wheel frame, three small wheels rotatably supported by the triangular wheel frame, and a power transmission device for transmitting rotation of the power transmission shaft to the small wheels. ;
  • a triangular wheel frame gear integrally installed on the triangular wheel frame;
  • a triangular wheel frame rotational force transmission device selectively transmitting / releasing rotational force to the triangular wheel frame gear as it is shifted left and right;
  • a triangular wheel frame drive gear and a triangular wheel frame power transmission gear corresponding to the triangular wheel frame gear and the first driving gear are installed, and the triangular wheel frame drive gear is integrally formed with the triangular wheel frame power transmission gear being the It is preferable to include a triangular wheel frame power transmission shaft that is installed to restrain / release the engagement with the first drive gear.
  • a drive motor provided with a second drive gear
  • a triangular wheel frame drive gear and a triangular wheel frame power transmission gear corresponding to the triangular wheel frame gear and the second driving gear are installed, and the triangular wheel frame drive gear is integrally formed with the triangular wheel frame power transmission gear being the It is preferable to include a triangular wheel frame power transmission shaft that is installed to restrain / release the engagement with the second drive gear.
  • a fastening disk which is shifted left and right on the power transmission shaft and has a fastening pin formed therethrough through the triangular wheel frame gear and the auxiliary disk.
  • the fastening disk is
  • a second fastening disk on which advance and contraction are constrained by the first fastening disk and the fastening pin is formed;
  • a support disk installed at a predetermined distance from the second fastening disk
  • It includes a support that is installed between the first and second fastening disks and the support disk,
  • the second fastening disk is characterized in that the rotatable with respect to the first fastening disk.
  • a wheel shaft gear disposed in the triangular wheel frame in an equilateral triangle and in which the small wheels are integrally coupled;
  • a central shaft gear disposed at the center of an equilateral triangle formed by the wheel shaft gear
  • a turning gear disposed between the wheel shaft gear and the center shaft gear
  • Three wheel shaft gears arranged in an equilateral triangle on the triangular wheel frame and in which the small wheels are integrally coupled;
  • Three wheel shaft gears arranged in an equilateral triangle on the triangular wheel frame and in which the small wheels are integrally coupled;
  • the triangular wheel driving device has a triangular wheel frame driving device for driving a triangular wheel frame itself together with a power transmission device for driving a small wheel constituting a triangular wheel, so that the moving device can smoothly overcome obstacles.
  • 1 to 2 is a perspective view showing the appearance of a wheelchair according to an embodiment of the present invention.
  • FIG. 3 shows the appearance of the triangular wheel shown in FIG.
  • Figure 4 is a cross-sectional view showing the configuration of an embodiment of a triangular wheel drive device according to the present invention.
  • FIG. 5 shows another embodiment of the triangular wheel drive apparatus according to the present invention.
  • FIG 6 to 8 show still another embodiment of the triangular wheel drive apparatus according to the present invention.
  • FIG 9 shows another embodiment of a triangular wheel drive device according to the present invention.
  • FIG. 10 shows a basic configuration of the triangular wheel shown in FIG.
  • FIG. 11 is a diagram illustrating the geometric relationship between the constituent elements of the triangular wheel illustrated in FIG. 4.
  • Figure 15 shows the connection state of the triangular wheel frame and gears.
  • Figure 4 is a cross-sectional view showing the configuration of an embodiment of a triangular wheel drive device according to the present invention.
  • the triangular wheel 600 includes a central shaft gear 610, a wheel shaft gear 612, a small wheel 616, a turning gear 614, and a triangular wheel frame 620. Able to know.
  • the central shaft gear 610 is coupled to the power transmission shaft 720 and rotates in synchronization with the rotation of the power transmission shaft 720.
  • the power transmission shaft 720 is driven by the driving device 300. Braking is performed by the brake 900 and the brake 900 operates by flipping the handle 310 of the driving device 300 to the left and right.
  • the body frame 820 rotatably supports the power transmission shaft 720.
  • the triangular wheel 600 is directly connected to and driven by the power transmission shaft 720, while the triangular wheel frame 620 is driven by the triangular wheel frame power transmission shaft 906 interlocked with the power transmission shaft 720.
  • the drive layer for driving the triangular wheel frame 620 includes a triangular wheel frame gear 902, a triangular wheel frame drive gear 904, a triangular wheel frame power transmission shaft 906, a triangular wheel frame power transmission gear 804. do.
  • the triangular wheel frame gear 902 is integrally formed with the triangular wheel frame 620.
  • the triangular wheel frame power transmission gear 804 is provided to be able to shift in the axial direction of the triangular wheel frame power transmission shaft 906, and is shifted by operation of the occupant.
  • the central shaft gear 610 of the tripod 600 is coupled to the power transmission shaft 720, while the triangular wheel frame 620 is rotatably coupled to the power transmission shaft 720.
  • 1 to 2 is a perspective view showing the appearance of the wheelchair to which the triangular wheel drive device of the present invention is applied.
  • the wheelchair 10 is a seat 100, a base 200, a drive device 300, the front guide wheel 400, the guide wheel in the summary of the present invention, which the occupant can board. , The balance maintaining apparatus 500 and the triangular wheel 600.
  • the base 200 supports the sheet 100 and rotatably supports the front guide wheel 400 and the rear triangular wheel 600.
  • the base 200 is basically a "T" shaped or H-shaped frame, the front guide wheel 400 is rotatably supported at the front, and the triangular wheels 600 (600a, 600b, 600b) at both sides are rotatably supported at the rear. do.
  • the driving device 300 (300a, 300b) generates a driving force for driving the triangular wheel 600, and includes two driving devices (300a, 300b) respectively provided for the left and right triangular wheels (600a, 600b). .
  • the triangular wheel 600 allows the wheelchair 10 to climb up and down the flat as well as the stairs by the driving force of the driving device 300.
  • left and right triangular wheels 600a and 600b have the same configuration, only the configuration of the left triangular wheel will be described below for convenience of description, and the configuration of the right triangular wheel 600b will be replaced by this.
  • FIG. 3 shows the appearance of the triangular wheel shown in FIG.
  • a triangular wheel frame 620 and a small wheel 616 constituting the triangular wheel 600 are illustrated.
  • the triangular wheel frame 620 is flat and generally constitutes an equilateral triangle, and the small wheel 616 is positioned at a vertex of the equilateral triangle.
  • Figure 4 is a cross-sectional view showing the configuration of an embodiment of a triangular wheel drive device according to the present invention.
  • the triangular wheel 600 includes a central shaft gear 610, a wheel shaft gear 612, a small wheel 616, a turning gear 614, and a triangular wheel frame 620. Able to know.
  • the central shaft gear 610 is coupled to the power transmission shaft 720 and rotates in synchronization with the rotation of the power transmission shaft 720.
  • the central shaft gear 610, the wheel shaft gear 612, and the turning gear 614 are coplanar, that is, disposed on the triangular wheel frame 620.
  • the central shaft gear 610, the wheel shaft gear 612 and the turning gear 614 has gears of the same dimensions to be engaged with each other.
  • the rotational direction of the central shaft gear 610 and the wheel shaft gear 612 is the same by the action of the turning gear 614.
  • the central axis of the wheel shaft gear 612 and the central axis of the turning gear 614 are rotatably supported by the triangular wheel frame 620.
  • the triangular wheel frame 620 is also rotatably coupled to the power transmission shaft (720).
  • the central axis of the wheel shaft gear 612 extends outside of the triangular wheel frame 620, and the small wheel 616 is coupled to the end thereof.
  • the diameter of the small wheel 616 is larger than the diameter of the wheel shaft gear 612, but each small wheel 616a to 616c does not contact each other.
  • the power transmission shaft 720 is driven by the driving device 300. Braking is performed by the brake 900 and the brake 900 operates by flipping the handle 310 of the driving device 300 to the left and right.
  • the body frame 820 rotatably supports the power transmission shaft 720.
  • the power transmission shaft 720, the triangular wheel frame gear 902, the triangular wheel frame drive gear 904, the triangular wheel frame power transmission shaft 906, the triangular wheel frame power transmission gear. 804 is shown.
  • the triangular wheel 600 is directly connected to and driven by the power transmission shaft 720, while the triangular wheel frame 620 is driven by the triangular wheel frame power transmission shaft 906 interlocked with the power transmission shaft 720.
  • the drive layer for driving the triangular wheel frame 620 includes a triangular wheel frame gear 902, a triangular wheel frame drive gear 904, a triangular wheel frame power transmission shaft 906, a triangular wheel frame power transmission gear 804. do.
  • the triangular wheel frame gear 902 is integrally formed with the triangular wheel frame 620.
  • the triangular wheel frame drive gear 904 and the triangular wheel frame power transmission gear 804 are formed on the left and right sides of the triangular wheel frame power transmission shaft 906.
  • the triangular wheel frame drive gear 904 is integrally formed on the left side of the triangular wheel frame power transmission shaft 906 while the triangular wheel frame power transmission gear 804 is located on the right side of the triangular wheel frame power transmission shaft 906.
  • the first driving gear 302 is installed to be shiftable along the axial direction of the triangular wheel frame power transmission shaft 906 so that the engagement with the first driving gear 302 can be restrained / released.
  • the triangular wheel frame power transmission gear 804 may be shifted to the right with respect to the position of the first drive gear 302 in the figure so that it is not engaged with the first drive gear 302 when in the released state. have.
  • the triangular wheel frame power transmission gear 804 is placed at the position of the first driving gear 302 in the drawing to be engaged with the first driving gear 302 in the restrained state.
  • the triangular wheel frame power transmission gear 804 is coupled to the triangular wheel frame power transmission shaft 906 by a coupling groove / engagement projection, and the like, as the triangular wheel frame power transmission gear 804 rotates. Triangular wheel frame power transmission shaft 906 is rotated.
  • the triangular wheel frame gear 902 is integrally coupled with the triangular wheel frame 620 so that the power transmission shaft 720 rotates while the triangular wheel frame driving gear 904 and the triangular wheel frame gear 902 are engaged.
  • the triangular wheel frame 620 is rotated.
  • the triangular wheel frame power transmission gear 804 is provided to be able to shift in the axial direction of the triangular wheel frame power transmission shaft 906, and is shifted by operation of the occupant. That is, when the triangular wheel frame power transmission gear 804 is shifted to a position where the triangular wheel frame power transmission gear meshes with the driving gear 304 by the user's operation, the first drive gear 302 and the triangular wheel frame power transmission gear 804 mesh with each other. The state is achieved.
  • the first drive gear 302, the triangular wheel frame power transmission shaft 906 corresponds to the triangular wheel frame rotational force transmission device in the summary of the present invention.
  • the triangular frame 620 rotates by the operation of the driving device 300.
  • the central shaft gear 610 of the tripod 600 is coupled to the power transmission shaft 720, while the triangular wheel frame 620 is rotatably coupled to the power transmission shaft 720.
  • the rotation direction of the small wheel 616 is the same as the rotation direction of the power transmission shaft 720, and the rotation direction of the triangular wheel frame 620 also coincides with the rotation direction of the power transmission shaft 720, the triangular wheel frame ( During rotation of 620, small wheel 616 moves in the same speed and direction.
  • the gear ratio of the triangular wheel frame drive gear 904 and the triangular wheel frame gear 902 is preferably determined to correspond to the gear ratio of the power transmission shaft 720 and the wheel shaft gear 612.
  • Figure 5 shows another embodiment of the triangular wheel drive device according to the present invention, which shows a separate drive motor for driving the triangular wheel frame.
  • the power transmission shaft 720, triangular wheel frame gear 902, triangular wheel frame drive gear 904, triangular wheel frame power transmission shaft 906, triangular wheel frame power transmission gear 804, The second drive gear 908 and the drive motor 910 are shown.
  • the triangular wheel 600 is directly connected to and driven by the power transmission shaft 720, while the triangular wheel frame 620 is connected to and driven by the triangular wheel frame power transmission shaft 906 driven by the driving motor 910.
  • the system for driving the triangular wheel frame 620 is a triangular wheel frame gear 902, a triangular wheel frame drive gear 904, a triangular wheel frame power transmission shaft 906, a triangular wheel frame power transmission gear 804, the second A drive gear 908 and a drive motor 910.
  • the driving force of the driving motor 910 is transmitted to the triangular wheel frame 620 by shifting the triangular wheel frame power transmission gear 804.
  • the drive motor 910 and the triangular wheel frame power transmission shaft 906 correspond to the triangular wheel frame rotational force transmission device in the summary of the present invention.
  • FIG. 6 to 8 show still another embodiment of the triangular wheel drive apparatus according to the present invention, showing an example of driving the triangular wheel frame through a fastening disk installed on the power transmission shaft.
  • a power transmission shaft 720, a triangular wheel frame gear 902, an auxiliary disk 912, and a fastening disk 914 are illustrated.
  • the triangular wheel 600 is driven by being directly connected to the power transmission shaft 720 while being driven by the auxiliary disk 912 and the check disk 914 connected to the power transmission shaft 720.
  • the fastening pins 914-6 protrude in the direction of the auxiliary disk 912 on the surface of the fastening disk 914.
  • the triangular wheel frame gear 902 and the auxiliary disk 912 are provided with fastening grooves 902-1 and 912-1 through which the fastening pins 914-6 are inserted and inserted.
  • the auxiliary disk 912 is integrally installed on the power transmission shaft 720 and rotates together with the rotation of the power transmission shaft 720.
  • the fastening disk 914 is for coupling / disengaging the auxiliary disk 912 and the triangular wheel frame driving gear 902, the fastening pin 914-6 installed to be slid left and right with respect to the power transmission shaft 720. ) Is designed to drive. Accordingly, the fastening disk 914 is composed of elements 914-1 to 914-5 for shifting the fastening pins 914-6 and the fastening pins 914-6 from side to side on the power transmission shaft 720. do.
  • the fastening disk 914 includes a first fastening disk 914-1, a second fastening disk 924-2, a fastening spring 914-3, a support disk 914-4, and a support span 914-5. And it is composed of a fastening pin (914-6).
  • the first fastening disk 914-1 is installed so as not to rotate left and right with respect to the main frame 820, and the second fastening disk 924-2 is connected to the fastening pin 914-6 and the first fastening disk ( 914-1) is installed so as to move forward and backward. Meanwhile, one end of the fastening spring 914-3 is in contact with the second fastening disk 914-2 and the other end is fixed to the main frame 820.
  • the fastening spring 914-3 is the second fastening disk 914-. 2) to push the auxiliary disk 912.
  • the support section 924-5 is installed through the main frame 820, and the second fastening disk 914-2 and the support disk 914-4 are fixed to both ends of the support section 914-5, respectively.
  • the fastening pins 914-6 protrude in the direction of the auxiliary disk 912 on the surface of the second fastening disk 914-2.
  • the length of the fastening pins 914-6 is fastened to both the triangular wheel frame gear 902 and the auxiliary disk 12 when the first and second fastening disks 914-1 and 914-2 are shifted to the left in the drawing. It should be such that pins 914-6 are fully inserted.
  • the first and second fastening disks 914-1 and 914-2 are pulled toward the main frame 820.
  • the fastening pins 914-6 are separated from the triangular wheel frame gear 902, the triangular wheel frame 620 is not driven by the power transmission shaft 720.
  • the fastening pins 914-6 are inserted into the triangular wheel frame gear 902.
  • the triangular wheel frame 620 rotates in synchronization with the rotation of the power transmission shaft 720.
  • the second fastening disk 914-2 also rotates as the auxiliary disk 912 rotates.
  • the spring 914-3 pushes the second fastening disk 914-2 toward the auxiliary disk 921 so that the fastening pins 914-6 are not separated.
  • FIG. 7 a modification of the fastening disk 914 shown in FIG. 6 is disclosed.
  • the fastening disk 914 shown in FIG. 7 is configured to bend the outer end of the first fastening disk 914-1 in a "c" shape to accommodate the second fastening disk 914-2.
  • FIG. 8 shows an example of a triangular frame gear 902 applied to the apparatus shown in FIGS. 6 and 7.
  • the triangular frame gear 902 is provided with a groove 902-1 for receiving the fastening pin 914-6.
  • the number and size of the fastening pins 914-6 may be appropriately designed to maintain the coupling between the auxiliary disk 912 and the triangular pin frame gear 902.
  • Figure 9 shows another embodiment of the triangular wheel drive apparatus according to the present invention, showing an example of driving the triangular wheel frame through the fastening disk installed on the power transmission shaft.
  • a power transmission shaft 720 a triangular wheel frame gear 902, an auxiliary disk 912, and a fastening disk 924 are illustrated.
  • the triangular wheel 600 is driven by being directly connected to the power transmission shaft 720 while being driven by the auxiliary disk 912 and the check disk 924 connected to the power transmission shaft 720.
  • a fastening pin 924-6 protrudes toward the auxiliary disk 912 in the fastening disk 924.
  • the triangular wheel frame gear 902 and the auxiliary disk 912 are provided with fastening grooves 902-1 and 912-1 through which the fastening pins 924-6 are inserted and inserted.
  • the auxiliary disk 912 is integrally coupled to the power transmission shaft 720 to rotate together with the rotation of the power transmission shaft 720.
  • the fastening disk 924 includes a first fastening disk 924-1, a second fastening disk 924-2, a spring 924-3, a support disk 924-4, and a support interval 924-5.
  • the first and second fastening disks 924-1 and 924-2 are slidably moved from side to side with respect to the power transmission shaft 720.
  • the spring 924-3 may be installed between the second fastening disk 924-2 and the triangular wheel frame gear 902.
  • the support section 924-5 is installed through the main frame 820, and the first fastening disk 924-1 and the support disk 924-5 are fixed at both ends of the support section 924-5, respectively.
  • the fastening pin 924-6 protrudes toward the auxiliary disk 912 on the surface of the second fastening disk 924-2.
  • the length of the fastening pin 924-6 is fastened to both the triangular wheel frame gear 902 and the auxiliary disk 912 when the first and second fastening disks 924-1 and 924-2 are shifted to the right in the drawing. Pins 924-6 should be sufficiently inserted.
  • the first fastening disk 924-1 and the support disk 924-4 are fixed relative to the main frame 820, but the second fastening disk 924-2 is rotatable.
  • auxiliary disk 902 and the fastening disk 924 correspond to the triangular wheel frame rotational force transmission device in the summary of the present invention.
  • FIG. 10 shows the configuration of the triangular wheel shown in FIG.
  • the triangular wheel 600 includes one central shaft gear 610, three wheel shaft gears 612; 612a to 612c, three directional shift gears 614; 614a to 614c, and three small wheels. (616; 616a-616c).
  • one central shaft gear 610, three wheel shaft gears 612; 612a to 612c, and three directional shift gears 614; 614a to 614c correspond to a power transmission device in the summary of the present invention. .
  • the power transmission device serves to transmit the driving force of the power transmission shaft 720 to the three small wheels 616 (616a to 616c) provided in the triangular wheel (600).
  • the central shaft gear 610 is rotated by the driving force generated by the driving device 300, and the wheel shaft gears 612a to 612c are integrally coupled with each of the small wheels 616a to 616c, and the central shaft gear 610 It is rotated by the generated driving force.
  • FIG. 11 is a diagram illustrating the geometrical relationship and the gear structure of the constituent elements of the triangular wheel shown in FIG. 4.
  • the wheel shaft gears 612a to 612c are arranged in an equilateral triangle, and a central shaft gear 610 is disposed in the center of the equilateral triangle.
  • Small wheels 616a to 616c are located on the same plane, and their outer circumferential surfaces do not contact each other. It is preferable that the diameters of the small rings 616a to 616c become larger as long as their outer peripheral surfaces do not contact each other.
  • the length of one side of the equilateral triangle is determined by the height of the stairs. If the length is too small, you can't climb the stairs. Statistically, the height of the stairs is in the range of 14cm to 20cm and the width is more than 20cm. Considering these conditions, the length of one side should be less than 15cm ⁇ 28cm, of which 22cm is appropriate. In addition, the length of one side should be equal to or larger than the diameter of the wheel.
  • the central axis of the turning gear 614 is located on a straight line connecting the central axis gear 610 and the wheel shaft gear 612.
  • the central shaft gears 610a to 610c are arranged in an equilateral triangle, and the central shaft of the direction change gear 614 connects the central shaft gear 610 and the wheel shaft gear 612. It is shown located on a straight line.
  • the gear ratio of the central shaft gear 610 and the wheel shaft gear 612 is preferably about 1: 3.
  • connection groove 622 is provided in the center of the central shaft gear 610 and the protrusion is formed on the inner circumferential side of the connection groove 622.
  • the connection groove 622 is for connecting with the power transmission shaft 720. That is, the power transmission shaft 720 is coupled to the power transmission shaft 720 and the central shaft gear 610 by engaging with each other by forming a projection corresponding to the projection provided in the connection groove 622.
  • the connection between the power transmission shaft and the central shaft gear 610 is not necessarily due to the connection groove 622 of the bar shown in FIG.
  • a triangular wheel frame 620 is provided, as shown in FIG. 3, to allow the small wheels 616a-616c to maintain an equilateral triangle arrangement.
  • the triangular wheel frame 620 is such that the small wheels 616a to 616c are coupled to form an equilateral triangle on the same plane, but it is illustrated in FIG. 3 as having an equilateral triangle, but it is not necessary to do so.
  • the side of the triangular wheel frame 620 is provided with a case connecting groove 626 for connection with the case (not shown).
  • the driving device 300 and the central shaft gear 610 are connected to each other by the power transmission shaft 720. Wheelchair occupants can use the pushing force more effectively than the pulling force. Accordingly, when pushing the handle 310 of the drive device 300 forward, the wheelchair 10 is preferably moved in the advancing direction.
  • the power transmission shaft 720 rotates in the travel direction.
  • the central shaft gear 610 also rotates in the travel direction, and the turning gear 614 engaged thereto rotates in the opposite direction to the travel direction.
  • the wheel shaft gear 612 meshed with the turning gear 614 rotates in the advancing direction and the small wheel 616 rotates in the advancing direction.
  • the direction change gear 614 no longer rotates in the opposite direction and remains stationary, and the central shaft gear 610 is a wheel shaft gear ( Using the stationary state of the 612 and the direction shifting gear 614, the obstacle is passed while rotating the triangular wheel frame as it is.
  • the triangular wheel 600 may pass over the obstacle by the driving force of the power transmission shaft 720 for rotating the small wheels 616, but in the case of the obstacle or the stairway, the triangular wheel itself rotates to cross the obstacle. Is much more effective.
  • the wheelchair occupant can stably descend the stairs.
  • the wheelchair occupant since the seat 100 maintains the horizontal plane by the balance maintaining apparatus 500, the wheelchair occupant can descend the stairs more stably.
  • the state illustrated in FIG. 14 corresponds to a state in which the height and length of the stairs and the diameters of the triangular wheel 600 are optimally combined.
  • the wheelchair 10 according to the present invention can stably descend the stairs. This is because each of the small wheels 616 maintains free rotation while the triangular wheel frame rotates. That is, each small wheel 616 moves forward and backward on the floor of the stairs so that the wheelchair 10 can easily descend the stairs with the rotation of the triangular wheel frame.
  • the present invention is configured to rotate the triangular wheel frame 620 itself by using a triangular wheel frame driving device when climbing up and down stairs.
  • the central shaft gear 610, the wheel shaft gear 612, and the turning gear 614 are supported by the triangular wheel frame 620. Specifically, the gears 610, 612, and 614 are coupled to the triangular wheel frame 620 through a ring bearing 624.
  • the triangular wheel 600 has two states, in which each of the three small wheels 616 rotates and the triangular wheel frame 620 rotates.
  • the state in which the three small wheels 616 rotate, respectively, is used when driving on a flat surface and will be referred to as a driving mode hereinafter.
  • the state in which the triangular wheel frame 620 rotates is used when climbing stairs, that is, in climbing mode.
  • central shaft gears 610-a, 610-b, and 610-c are installed in the power transmission shaft 720, and the respective central shaft gears 610-a and 610-b are installed.
  • 610-c and first axle 636a, 636b, 636c are installed between the wheel shaft gears 612a, 612b, 612c.
  • the wheel shaft gears 612a, 612b, and 612c may have a step accordingly. Is installed.
  • FIG 17 shows another embodiment of a triangular wheel.
  • a central shaft gear 610 is installed on the power transmission shaft 720, and the direction shift gears 614a and 614b are disposed between the central shaft gear 610 and the wheel shaft gears 612a, 612b, and 612c.
  • 614c is installed, and the tightening gears 646a, 646b, 646c are installed integrally with the direction change gears 614a, 614b, 614c.
  • the wheel shaft gears 612a, 612b, 612c and the tightening gears 646a, 646b, 646c are connected by the second chain 648.
  • the wheel axle gears (612a, 612b, 612c) are installed to contact the inner peripheral surface of the second chain 648, the tightening gears (646a, 646b, 646c) is first It is installed to contact the outer peripheral surface of the two chain (648).
  • the second chain 648 is driven by the central shaft gear 610 and the tightening gears 646a, 646b, and 646c so that the wheel shaft gears 612a, 612b, and 612c are driven by the central shaft gear 610. It rotates in the same direction of rotation.
  • the present invention is a mobile device having a triangular wheel capable of crossing obstacles, such as stairs, the effect of allowing the mobile device to easily pass the obstacle by configuring to rotate the triangular wheel itself as well as the small wheels of the triangular wheel.
  • the triangular wheel drive device has the effect that the moving device smoothly obstacles by rotating the triangular wheel frame in the same direction as the direction of rotation of the small wheel in parallel with the rotation of the small wheel.

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Abstract

L'invention concerne un dispositif d'entraînement de roue triangulaire, qui tourne non seulement des petites roues respectives d'une roue triangulaire, mais également la roue triangulaire elle-même, de telle sorte qu'il peut facilement traverser un obstacle. Le dispositif d'entraînement de roue triangulaire comprend : un arbre de transmission de puissance qui tourne au moyen d'une force d'entraînement générée par un dispositif d'entraînement ; une roue triangulaire qui tourne au moyen de l'arbre de transmission de puissance, et qui comprend un cadre de roue triangulaire ayant une forme triangulaire, trois petites roues portées en rotation par le cadre de roue triangulaire, et un dispositif de transmission de puissance pour transmettre la rotation de l'arbre de transmission de puissance aux petites roues ; un engrenage de cadre de roue triangulaire, installé d'une seule pièce sur le cadre de roue triangulaire ; et un dispositif de transmission de force de rotation de cadre de roue triangulaire, qui est décalé vers la gauche/droite de façon à sélectivement transmettre/libérer une force de rotation vers l'engrenage de cadre de roue triangulaire.
PCT/KR2015/001428 2014-02-12 2015-02-12 Dispositif d'entraînement de roue triangulaire WO2015122704A1 (fr)

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Cited By (2)

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CN106176077A (zh) * 2016-08-09 2016-12-07 刘纪旋 一种六轮驱动轮椅的行走装置
CN106726204A (zh) * 2017-01-06 2017-05-31 方亮 一种轮椅大轮升降带联动安全支架的机械装置

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CN104118272A (zh) * 2014-07-30 2014-10-29 蔡强胜 一种多子轮组合带式轮
KR101712163B1 (ko) * 2015-04-17 2017-03-03 김승기 전동스쿠터 및 이의 운행시스템
CN112428747B (zh) * 2020-10-17 2022-09-23 兰州理工大学 一种可适应不同高度楼梯台阶的径向伸缩车轮机构
KR102643009B1 (ko) * 2022-07-25 2024-02-29 한국로봇융합연구원 에어리스 타이어 및 에어리스 타이어의 모드 변경 방법

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JPH0655901A (ja) * 1992-05-13 1994-03-01 Kanbe Tokuta 車輪式自在走行装置
KR20050013087A (ko) * 2004-12-21 2005-02-02 김근호 수동 전동 겸용 휠체어
KR20080000392A (ko) * 2006-06-27 2008-01-02 김기수 구동장치
JP2012085854A (ja) * 2010-10-20 2012-05-10 Tottori Univ 段差昇降装置及びこれを用いた電動車椅子

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Publication number Priority date Publication date Assignee Title
JPH0655901A (ja) * 1992-05-13 1994-03-01 Kanbe Tokuta 車輪式自在走行装置
KR20050013087A (ko) * 2004-12-21 2005-02-02 김근호 수동 전동 겸용 휠체어
KR20080000392A (ko) * 2006-06-27 2008-01-02 김기수 구동장치
JP2012085854A (ja) * 2010-10-20 2012-05-10 Tottori Univ 段差昇降装置及びこれを用いた電動車椅子

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106176077A (zh) * 2016-08-09 2016-12-07 刘纪旋 一种六轮驱动轮椅的行走装置
CN106726204A (zh) * 2017-01-06 2017-05-31 方亮 一种轮椅大轮升降带联动安全支架的机械装置
CN106726204B (zh) * 2017-01-06 2018-12-21 方亮 一种轮椅大轮升降带联动安全支架的机械装置

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