WO2015143920A1 - Mixed multi-wheel carrier - Google Patents

Mixed multi-wheel carrier Download PDF

Info

Publication number
WO2015143920A1
WO2015143920A1 PCT/CN2015/000117 CN2015000117W WO2015143920A1 WO 2015143920 A1 WO2015143920 A1 WO 2015143920A1 CN 2015000117 W CN2015000117 W CN 2015000117W WO 2015143920 A1 WO2015143920 A1 WO 2015143920A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
wheels
small
omnidirectional
carrier
Prior art date
Application number
PCT/CN2015/000117
Other languages
French (fr)
Chinese (zh)
Inventor
李军委
Original Assignee
李军委
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 李军委 filed Critical 李军委
Publication of WO2015143920A1 publication Critical patent/WO2015143920A1/en

Links

Images

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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for disabled persons
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C1/00—Ladders in general
    • E06C1/02—Ladders in general with rigid longitudinal member or members
    • E06C1/38—Special constructions of ladders, e.g. ladders with more or less than two longitudinal members, ladders with movable rungs or other treads, longitudinally-foldable ladders
    • E06C1/397—Special constructions of ladders, e.g. ladders with more or less than two longitudinal members, ladders with movable rungs or other treads, longitudinally-foldable ladders characterised by having wheels, rollers, or runners

Definitions

  • the “hybrid multi-wheel carrier” of the present invention is a wheel device that can be used as a wheel for a ladder truck, a climbing wheelchair, and an obstacle vehicle.
  • the device is mainly composed of "unidirectional wheel”, “omnidirectional wheel”, “pin assembly” and “multi-angle star frame”, including “hybrid four-wheel frame” and “hybrid six-wheel frame”.
  • the device can realize the automatic switching of the wheel frame revolution and the small wheel rotation when the ladder is up and down, and reduces the resistance when the wheel is turned left and right.
  • B Omnidirectional wheel, including "intersecting shaft omnidirectional wheel” and “oblique axis omnidirectional wheel”.
  • Multi-angle star frame including "four-corner star frame” and "hexagonal star frame”.
  • A+B+C+D The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at each corner of the polygonal star frame.
  • Hybrid four-wheel carrier The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at the corners of the four-corner star frame.
  • Hybrid six-wheel carrier The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at the corners of the hexagonal star frame.
  • the wheel frame When the wheel frame encounters the step, it can revolve up the step, the one-way wheel can realize the front and rear rotation, and the omnidirectional wheel can realize the front, rear and left and right rotation.
  • Figure 1 is an oblique-axis omnidirectional axle mapping.
  • Figure 2 is an intersecting axial omnidirectional axle mapping.
  • Figure 3 is a hybrid four-wheel axle isometric view.
  • Figure 4 is a hybrid six-wheel axle isometric view.
  • the omnidirectional wheel is composed of a roller, a pin assembly and a wheel frame, and the roller can rotate around the pin shaft, and each roller forms a circle.
  • the omnidirectional wheel can realize the front and rear rotation of the whole wheel and the left and right rotation of the roller, thereby realizing the movement in all directions.
  • the one-way wheel (1) and the omnidirectional wheel (2) are cross-mounted at each corner of the polygonal star frame (4) through a pin assembly (3), and the polygonal star frame (4) is drilled with a center hole and a small wheel hole .
  • the multi-angle star frame (4) When moving, the multi-angle star frame (4) does not revolve, the one-way wheel (1) rotates before and after, and the omnidirectional wheel (2) rotates before, after, and left and right to realize front, rear, left, and right. mobile.
  • the small wheels (1, 2) rotate to reach the step, then the small wheels (1, 2) are blocked by rotation, and the multi-angle star frame (4) revolves and steps up.
  • the two small wheels (1, 2) land at the beginning, the small wheels (1, 2) rotate to a small wheel (1, 2), and then the multi-angle star frame (4) revolves to the suspended small wheel (1) 2) Landing.

Abstract

Disclosed is a multi-wheel carrier with alternately mixed unidirectional wheels and omnidirectional wheels, used as a wheel of a ladder truck, a wheelchair for climbing stairs and an obstacle surmounting vehicle. The multi-wheel carrier structurally comprises: unidirectional wheels (1), omnidirectional wheels (2), a pin assembly (3), and a polygonal star-shaped carrier (4). The polygonal star-shaped carrier (4) may be a quadrilateral or hexagonal star-shaped carrier, the shape thereof being similar to a polygonal star. Since the omnidirectional wheels can be rotated in any horizontal direction, this multi-wheel carrier can guarantee that one wheel carrier has only one unidirectional wheel control direction. When walking horizontally, the polygonal star-shaped carrier (4) does not rotate, the unidirectional wheels (1) rotate in a front-rear direction, and the omnidirectional wheels (2) rotate in a front-rear and left-right direction, so as to move in the front-rear and left-right directions. When climbing stairs, as small wheels, the unidirectional wheels (1) and the omnidirectional wheels (2) rotate to approach a step, and then the rotation of the small wheels is blocked, the polygonal star-shaped carrier (4) rotates and surmounts the step. When going down stairs, initially two of the small wheels are landed, the small wheels rotate such that one small wheel is suspended, and then the polygonal star-shaped carrier (4) rotates until the suspended small wheel is landed.

Description

混合式多轮架Hybrid multi-wheel carrier 一、所属技术领域First, the technical field
本发明“混合式多轮架”是一种车轮装置，可作为爬梯车、爬楼轮椅和越障车的车轮。装置主要由“单向轮”、“全向轮”、“销轴总成”和“多角星形架”组成，包括“混合式四轮架”和“混合式六轮架”。本装置可以实现上下梯时的轮架公转和小轮自转的自动切换，并减少车轮左右转向时的阻力。The "hybrid multi-wheel carrier" of the present invention is a wheel device that can be used as a wheel for a ladder truck, a climbing wheelchair, and an obstacle vehicle. The device is mainly composed of "unidirectional wheel", "omnidirectional wheel", "pin assembly" and "multi-angle star frame", including "hybrid four-wheel frame" and "hybrid six-wheel frame". The device can realize the automatic switching of the wheel frame revolution and the small wheel rotation when the ladder is up and down, and reduces the resistance when the wheel is turned left and right.
二、背景技术：Second, the background technology:
1本发明“混合式多轮架”的技术特征：1 The technical features of the "hybrid multi-wheel carrier" of the invention:
A：单向轮。A: One-way wheel.
B：全向轮，包括“相交轴式全向轮”和“斜轴式全向轮”。B: Omnidirectional wheel, including "intersecting shaft omnidirectional wheel" and "oblique axis omnidirectional wheel".
C：多角星形架，包括“四角星形架”和“六角星形架”。C: Multi-angle star frame, including "four-corner star frame" and "hexagonal star frame".
D：销轴总成，包括螺栓、螺母、弹簧垫片、挡环、轴承等。D: Pin assembly, including bolts, nuts, spring washers, retaining rings, bearings, etc.
A+B+C+D：单向轮和全向轮通过销轴总成固定，且交叉分布在多角星形架的各角。A+B+C+D: The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at each corner of the polygonal star frame.
2现有的类似技术：2 existing similar technologies:
目前的多轮架多是在多角星形架的各角分布单向轮，尚未发现使用全向轮的发明。At present, many multi-wheel frames are distributed in one-way wheels at various corners of the polygonal star frame, and the invention of using the omnidirectional wheel has not been found.
三、发明内容：Third, the invention content:
1解决的技术问题：1 solved technical problems:
为了爬梯时实现轮架公转和小轮自转的自动切换，并进一步减小转弯半径，特此申请“混合式多轮架”专利。In order to realize the automatic switching of the reel rotation and the rotation of the small wheel when climbing the ladder, and further reduce the turning radius, the patent of "hybrid multi-wheel carrier" is hereby applied.
2实施的技术方案：2 technical solutions implemented:
2.1具体结构：2.1 specific structure:
混合式四轮架：单向轮和全向轮通过销轴总成固定，交叉分布在四角星形架的各角。Hybrid four-wheel carrier: The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at the corners of the four-corner star frame.
混合式六轮架：单向轮和全向轮通过销轴总成固定，交叉分布在六角星形架的各角。Hybrid six-wheel carrier: The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at the corners of the hexagonal star frame.
2.2实现功能：2.2 to achieve the function:
轮架在遇到台阶时能够公转翻上台阶，单向轮可实现前、后转动，全向轮可实现前、后和左、右转动。When the wheel frame encounters the step, it can revolve up the step, the one-way wheel can realize the front and rear rotation, and the omnidirectional wheel can realize the front, rear and left and right rotation.
3有益效果：3 beneficial effects:
(1)安全可靠，可以支撑车体平衡，并可以防止车体倾覆。(1) It is safe and reliable, can support the balance of the car body, and can prevent the car body from tipping over.
(2)功能强大，能够实现多角星形架公转和小轮自转的切换，且转弯半径小。(2) Powerful, it can realize the switching of the multi-angle star frame revolution and the small wheel rotation, and the turning radius is small.
(3)造价低廉，常规设备即可加工，无复杂零部件。(3) Low cost, conventional equipment can be processed without complicated parts.
四、附图说明：Fourth, the description of the drawings:
图1斜轴式全向轮轴测图。Figure 1 is an oblique-axis omnidirectional axle mapping.
图2相交轴式全向轮轴测图。Figure 2 is an intersecting axial omnidirectional axle mapping.
图3混合式四轮架轴测图。Figure 3 is a hybrid four-wheel axle isometric view.
图4混合式六轮架轴测图。Figure 4 is a hybrid six-wheel axle isometric view.
图3中：In Figure 3:
1单向轮，2全向轮，3销轴总成，4四角星形架，。1 one-way wheel, 2 omnidirectional wheel, 3 pin shaft assembly, 4 square star frame.
图4中： In Figure 4:
1单向轮，2全向轮，3销轴总成，4六角星形架，。1 one-way wheel, 2 omnidirectional wheel, 3 pin shaft assembly, 4 hex star frame.
五、具体实施方式：V. Specific implementation methods:
图1、图2：Figure 1, Figure 2:
1具体结构：1 specific structure:
全向轮由滚轮、销轴总成和轮架组成，滚轮可以围绕销轴转动，各滚轮组成一个圆。The omnidirectional wheel is composed of a roller, a pin assembly and a wheel frame, and the roller can rotate around the pin shaft, and each roller forms a circle.
2工作原理：2 working principle:
全向轮可以实现整轮的前、后转动和滚轮的左、右转动，从而实现各个方向的移动。The omnidirectional wheel can realize the front and rear rotation of the whole wheel and the left and right rotation of the roller, thereby realizing the movement in all directions.
图3、图4：Figure 3, Figure 4:
1具体结构：1 specific structure:
单向轮(1)和全向轮(2)通过销轴总成(3)交叉安装在多角星形架(4)的各个角，多角星形架(4)钻有中心孔和小轮孔。The one-way wheel (1) and the omnidirectional wheel (2) are cross-mounted at each corner of the polygonal star frame (4) through a pin assembly (3), and the polygonal star frame (4) is drilled with a center hole and a small wheel hole .
2工作原理：2 working principle:
平动时，多角星形架(4)不公转，单向轮(1)前、后自转，全向轮(2)前、后和左、右转动，从而实现前、后、左、右移动。When moving, the multi-angle star frame (4) does not revolve, the one-way wheel (1) rotates before and after, and the omnidirectional wheel (2) rotates before, after, and left and right to realize front, rear, left, and right. mobile.
爬梯时，小轮(1、2)自转至抵近台阶，之后小轮(1、2)自转受阻，多角星形架(4)公转，翻上台阶。When climbing the ladder, the small wheels (1, 2) rotate to reach the step, then the small wheels (1, 2) are blocked by rotation, and the multi-angle star frame (4) revolves and steps up.
下梯时，起初两个小轮(1、2)着地，小轮(1、2)自转至一个小轮(1、2)悬空，之后多角星形架(4)公转至悬空小轮(1、2)着地。 When the ladder is down, the two small wheels (1, 2) land at the beginning, the small wheels (1, 2) rotate to a small wheel (1, 2), and then the multi-angle star frame (4) revolves to the suspended small wheel (1) 2) Landing.

Claims (2)

  1. 混合式四轮架：单向轮和全向轮通过销轴总成固定，交叉分布在四角星形架的各角。Hybrid four-wheel carrier: The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at the corners of the four-corner star frame.
  2. 混合式六轮架：单向轮和全向轮通过销轴总成固定，交叉分布在六角星形架的各角。 Hybrid six-wheel carrier: The one-way wheel and the omnidirectional wheel are fixed by the pin assembly and are distributed at the corners of the hexagonal star frame.
PCT/CN2015/000117 2014-03-24 2015-02-27 Mixed multi-wheel carrier WO2015143920A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410109383.6A CN104939985A (en) 2014-03-24 2014-03-24 Hybrid multi-wheel carrier
CN201410109383.6 2014-03-24

Publications (1)

Publication Number Publication Date
WO2015143920A1 true WO2015143920A1 (en) 2015-10-01

Family

ID=54155436

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/000117 WO2015143920A1 (en) 2014-03-24 2015-02-27 Mixed multi-wheel carrier

Country Status (2)

Country Link
CN (1) CN104939985A (en)
WO (1) WO2015143920A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017042670A1 (en) * 2016-06-24 2017-03-16 Universidad Tecnológica De Panamá Window-cleaning machine

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0692272A (en) * 1992-09-11 1994-04-05 Masaharu Takano Traveling vehicle
DE10113635A1 (en) * 2001-03-21 2002-12-05 Johannes Alt Trolley for transportation of goods and persons has brake unit for non-slip climbing of stairs and inclined surfaces
CN2609783Y (en) * 2002-11-08 2004-04-07 杨宏建 Special hub
JP2007137305A (en) * 2005-11-21 2007-06-07 Sawada:Kk Auxiliary wheel for caster
CN101676160A (en) * 2008-09-16 2010-03-24 施洪超 Planetary dual purpose wheel for going upstairs/downstairs and walking
JP2010125307A (en) * 2008-11-28 2010-06-10 Yoshio Komatsu Wheel-type power assisted stair lifting vehicle
CN202086696U (en) * 2011-05-05 2011-12-28 山东科技大学 Three-jib stair climbing wheel set
CN103565593A (en) * 2013-08-02 2014-02-12 李军委 Hexagonal one-way wheel carrier
CN103569181A (en) * 2013-08-02 2014-02-12 李军委 Planetary multi-wheel carrier stair climbing vehicle
CN103587566A (en) * 2013-08-02 2014-02-19 李军委 Planetary multi-wheel carrier
CN103587347A (en) * 2013-08-02 2014-02-19 李军委 Multi-universal-wheel frame

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2128225Y (en) * 1991-05-30 1993-03-17 赵源海 Multifunctional perambulator capable of climbing stairs
JPH07246939A (en) * 1994-03-11 1995-09-26 Masaaki Takasaki Simple dolly

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0692272A (en) * 1992-09-11 1994-04-05 Masaharu Takano Traveling vehicle
DE10113635A1 (en) * 2001-03-21 2002-12-05 Johannes Alt Trolley for transportation of goods and persons has brake unit for non-slip climbing of stairs and inclined surfaces
CN2609783Y (en) * 2002-11-08 2004-04-07 杨宏建 Special hub
JP2007137305A (en) * 2005-11-21 2007-06-07 Sawada:Kk Auxiliary wheel for caster
CN101676160A (en) * 2008-09-16 2010-03-24 施洪超 Planetary dual purpose wheel for going upstairs/downstairs and walking
JP2010125307A (en) * 2008-11-28 2010-06-10 Yoshio Komatsu Wheel-type power assisted stair lifting vehicle
CN202086696U (en) * 2011-05-05 2011-12-28 山东科技大学 Three-jib stair climbing wheel set
CN103565593A (en) * 2013-08-02 2014-02-12 李军委 Hexagonal one-way wheel carrier
CN103569181A (en) * 2013-08-02 2014-02-12 李军委 Planetary multi-wheel carrier stair climbing vehicle
CN103587566A (en) * 2013-08-02 2014-02-19 李军委 Planetary multi-wheel carrier
CN103587347A (en) * 2013-08-02 2014-02-19 李军委 Multi-universal-wheel frame

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LIU, ZUOSHI ET AL.: "Design of transmission and structure of a wheelsets stair-climbing robot.", ELECTRO-MECHANICAL ENGINEERING., vol. 25, no. 6, 31 December 2009 (2009-12-31), pages 48 - 51, ISSN: 1008-5300 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017042670A1 (en) * 2016-06-24 2017-03-16 Universidad Tecnológica De Panamá Window-cleaning machine

Also Published As

Publication number Publication date
CN104939985A (en) 2015-09-30

Similar Documents

Publication Publication Date Title
CN103569181A (en) Planetary multi-wheel carrier stair climbing vehicle
CN106137577B (en) It is a kind of to realize self-service upper wheelchair downstairs
CN103587566A (en) Planetary multi-wheel carrier
WO2015014102A1 (en) Multi-omniwheel hub
CN107323563A (en) Many wheel full landform robot cars of leg
CN104921881A (en) Novel electric stair climbing wheelchair chassis and design method thereof
CN107661631A (en) A kind of double-wheel self-balancing robot toy platform
CN205601807U (en) Vehicle tyre strutting arrangement
WO2015143920A1 (en) Mixed multi-wheel carrier
CN102180064A (en) Differential type omnibearing wheel
CN205916690U (en) A AGV dolly that is used for uneven ground surface's actuating system and contains this system
CN201566660U (en) Hand cart capable of climbing ladder
CN107380297A (en) Deform the full landform robot running gear of pleiotaxy
CN104309744A (en) Low-abrasion friction driving mechanism and corresponding one-wheel driving vehicle
WO2017210854A1 (en) Riding mechanism, and segway vehicle including same
CN104943722A (en) Multi-omnidirectional wheel carrier ladder-climbing vehicle
CN105836015A (en) Dual-wheel driving vehicle
CN105691503A (en) Non-falling electric monocycle
CN205131413U (en) Rescue robot
CN204263837U (en) A kind of two spherical crown differential type all-round wheel in parallel
CN204210655U (en) Only wheel drive vehicle of low Wear Friction driver train and correspondence
CN103565593A (en) Hexagonal one-way wheel carrier
CN203698572U (en) Walking-replacing one-wheel electric vehicle with balance rolling wheels and rotating bearings
CN105835930A (en) Trailer
WO2017210855A1 (en) Balancing transportation means

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15769333

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15769333

Country of ref document: EP

Kind code of ref document: A1