WO2016078619A1 - 用于爬楼的车轮、轮式爬楼车辆及能上下楼梯的电动自行车 - Google Patents

用于爬楼的车轮、轮式爬楼车辆及能上下楼梯的电动自行车 Download PDF

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Publication number
WO2016078619A1
WO2016078619A1 PCT/CN2015/095225 CN2015095225W WO2016078619A1 WO 2016078619 A1 WO2016078619 A1 WO 2016078619A1 CN 2015095225 W CN2015095225 W CN 2015095225W WO 2016078619 A1 WO2016078619 A1 WO 2016078619A1
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Prior art keywords
wheel
stairs
power
pawl
ascending
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PCT/CN2015/095225
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English (en)
French (fr)
Inventor
鲍炜
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江苏天绘智能科技有限公司
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Publication date
Priority claimed from CN201410669182.1A external-priority patent/CN104477265A/zh
Priority claimed from CN201420701915.0U external-priority patent/CN204222535U/zh
Priority claimed from CN201420701914.6U external-priority patent/CN204222536U/zh
Application filed by 江苏天绘智能科技有限公司 filed Critical 江苏天绘智能科技有限公司
Publication of WO2016078619A1 publication Critical patent/WO2016078619A1/zh

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs

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  • the invention relates to a wheel for climbing a building, a wheeled climbing vehicle and an electric bicycle capable of going up and down the stairs, and belongs to the technical field of structural components of a power vehicle.
  • the present invention is directed to the problems existing in the prior art design, and provides a wheel, a climbing wheel, and an electric bicycle provided with the wheel.
  • the technical solution utilizes the existing power of the electric vehicle to provide an appropriate assistance with manpower.
  • the vehicle equipped with the wheel is the same or similar to the normal vehicle when driving normally, and does not add extra power device compared with the ordinary vehicle, and basically does not increase the weight and volume.
  • the electric bicycle that relies on the vehicle's own power to smoothly go up and down the building, and the driving from the flat road to the upper and lower floors is simple to convert.
  • the technical solution adopted by the present invention is a wheel mounted on a wheel frame, characterized in that a wheel is mounted on a side of the wheel, and the wheel is rotatably received or extended.
  • the pawl is retracted within the radial profile of the wheel and, when the pawl is extended, projects radially beyond the contour of the wheel and is constrained.
  • the wheel is controlled to rotate and brake under the driving of the power unit of the vehicle, and only the manpower is required to provide an appropriate forward thrust, so that the vehicle can easily go up and down the building.
  • the paws When driving on a flat road, the paws are retracted, because the wheels do not touch the ground, it will not affect the normal driving of the vehicle.
  • the wheel and the car body are supported by the front end of the wheel as a fulcrum, and as the wheel rotates; when the downstairs is made, the wheel is extended, and once the wheel is slid, the wheel claw can buckle the plane of the step, thereby stopping the sliding, as long as the wheel is controlled.
  • the speed is as constant as possible, so that the purpose of smooth downstairs can be achieved.
  • all of the pawls can be elastically extended normally by the elastic members, thereby acting as a pawl when going up and down the stairs.
  • the disadvantage of this method is that the claws continuously contact the ground when driving on a flat road, causing certain resistance and loss.
  • the pawl is not normally extended, and the lever is arranged on the wheel carrier such that when the wheel is rotated to a specific position or position interval with the wheel, the lever moves the pawl outside Stretch.
  • the lever can be placed on the side of the wheel facing the step. When the wheel is rotated to the height of the step surface, the lever is pushed out to extend the plane on the step.
  • an elastic member such as a spring, may be provided to allow the pawl to normally retract, thereby minimizing the effect of the pawl on wheel rolling.
  • the lever may be resilient so as to be pushed in and out if the pawl is not pressed to the upper plane of the step and is pressed by the side of the step.
  • the provision of small rollers on the head of the pawl is advantageous in reducing the resistance and wear caused by the pawl contacting the ground or the side of the stairs.
  • the pawl is mounted on the side of the wheel by a pin.
  • the axle pin should pass through the center of mass of the wheel in order to avoid the extension of the wheel by centrifugal force and impact during high speed operation of the vehicle.
  • the pawl is retracted during normal riding, and the wheel does not touch the ground, and the normal running of the vehicle is not affected.
  • the wheel When going upstairs, if the wheel is extended, when the power wheel rotates close to the step, the wheel can be buckled on the plane of the step, thereby stopping the power wheel from idling, and making the power wheel and the vehicle body with the front end of the wheel as a fulcrum.
  • the power When the power is turned down, the wheel is extended and the speed of the control wheel is kept as constant as possible. Once the power wheel is slid down, the wheel can buckle the plane of the step, thereby stopping the sliding and achieving the purpose of smoothly going downstairs.
  • Appropriate selection of the diameter of the power wheel and the length of the wheel and the position of the wheel shaft can make the up and down floor movements more reliable.
  • a spring is disposed between the wheel and the power wheel to elastically retract the wheel
  • a wheel lever is disposed on the wheel frame such that when the wheel rotates with the power wheel to a specific position or position interval, The pawl lever pushes the wheel pawl out.
  • the wheel lever can be placed on the side of the wheel facing the step, when the wheel is rotated to the height of the step surface At the time, it is pushed out by the wheel lever, so that it can be buckled on the plane of the step.
  • the pawl lever is resilient so that if the pawl is not snapped onto the upper plane of the step and is squeezed by the side of the step, it can be retracted to avoid affecting the advancement of the power wheel or damaging the structure.
  • the advantages of the present invention are as follows: 1) The overall structural design of the technical solution is compact and ingenious, and the wheel described in the technical solution is used for climbing a building, and the vehicle can be climbed without adding an additional power device. The ability to add only the claws and the corresponding paddles, springs and other components on the ordinary power wheel, so the added volume and cost are also small. There is no conversion or simple conversion between climbing stairs and normal driving conditions. It can be the same as a normal vehicle when driving on a normal flat road. Also, the wheeled climbing vehicle of the present invention can climb a step higher than the radius of the wheel.
  • Figure 1 A crawler type climbing device in the prior art
  • Embodiment 1 is a schematic structural view of a wheel for a vehicle climbing a building
  • Figure 3 is a schematic view showing the angle of the claw extension limit in the embodiment 1;
  • FIG. 4 is a schematic structural view of a wheel for an electric bicycle climbing building according to Embodiment 2 and Embodiment 3;
  • Figure 5 is a schematic view of the wheel claw after adding the small roller
  • Figure 6 is a schematic view showing the folding structure of the electric bicycle
  • Figure 7 is a partial enlarged view of Figure 6;
  • Embodiment 1 As shown in FIG. 2, Embodiment 1: The wheel for climbing a stair of this embodiment is mounted on a two-wheeled transport vehicle having two independent power wheels on the left and right sides, and the vehicle body can carry objects, and the rear part of the vehicle There are handles on both sides for people to master the vehicle, mainly used to carry items up and down the stairs. In view of the fact that it is not commonly used for flat road operation, a simple wheel structure is used.
  • Figure 2 is a schematic view of the structure of the power wheel. The wheel 2 is mounted on a wheel carrier 1 which is mounted on the side of the wheel 2 via a wheel spindle 22, and a tension spring is coupled to each wheel so that the wheel normally extends outwardly in a free state.
  • Each wheel 2 has four wheels that are symmetrically mounted on one side.
  • the pawl 3 snaps to the upper plane of the step during rotation. Due to the action of the pawl limiting post 21, the pawl is equivalent to the protruding fulcrum of the wheel, so that the wheel supports the wheel as the wheel rotates. In order to achieve the purpose of climbing stairs.
  • the wheel touches the surface of the wheel it will be squeezed with the rotation of the wheel.
  • the design of the position and angle limit of the appropriate wheel can be used to make the wheel naturally contact when it touches the ground, thus not affecting Running on the flat road.
  • Figure 3 shows the setting of the claw extension limit in the embodiment, so that the angle Ang between the rotation axis of the wheel and the front end of the wheel and the ground is less than 90 degrees, and the contact portion between the wheel and the ground is smooth.
  • the curved surface so that when pressed by the ground, the wheel 3 naturally rotates inward, which is beneficial to reduce wheel wear and running resistance.
  • the wheel roller 31 is provided at the front end of the wheel, thereby greatly reducing the friction between the wheel and the ground. Due to the height of the general stair steps For 10-20 cm, the wheel 2 of the present embodiment has a diameter of about 20-50 cm, and the preferred wheel 2 has a diameter of 30 cm and a wheel length of about 10 cm.
  • the motor of the truck drives the wheels to be controlled to rotate and brake by means of a transmission mechanism, and only a manpower is required to provide an appropriate forward thrust, so that the vehicle can easily go up and down the stairs.
  • the vehicle When going downstairs, the vehicle is driving backwards. When the wheel rolls over the corner of the step, the drop accelerates. At this time, it is necessary to stabilize the main wheel speed through the brake to make the whole vehicle move down smoothly.
  • the wheel moves forward there must be a position such that the friction between the wheel and the step is insufficient to support the weight of the vehicle, so that the wheel 2 begins to slip.
  • the pawl 3 can naturally buckle on the plane of the step, thereby supporting the weight of the vehicle. Avoid further sliding, control the speed of the wheel, then the whole vehicle can be controlled to move underground with the rotation of the wheel 2.
  • each power wheel should be coordinated to ensure the stability of the upper and lower buildings. If the number of claws is increased as appropriate, such as setting 8 claws, the stairs up and down are smoother. In this embodiment, the load can be up and down the stairs, and the structure is simple and the cost is low.
  • Embodiment 2 A wheel for an electric bicycle to climb a building, the electric bicycle can be folded, the rear wheel is a hub motor, and the rear wheel is folded and the vehicle body moves in a standing posture.
  • Fig. 4 is a schematic view showing the structure of the wheel of the embodiment. In the figure, four claws 3 are mounted on the side of the wheel 2 through the pawl shaft 22, and a spring is provided to normally receive each of the pawls 3 in a free state, so that the electric bicycle and the ordinary electric bicycle of the present invention are normally driven. the same.
  • the pawl paddle 4 is fixed on the wheel carrier 1, and when the stairs are up and down, the paddle 4 is in a horizontal direction toward the side of the stairs, and the purpose is to make the wheel pawl 3 as the wheel rotates to approach the upper plane of the stairs.
  • the sheet 4 is pushed outwardly so as to be able to snap to the upper plane of the step.
  • the design of the pawl paddle 4 allows the pawl 3 to be pushed outward within a certain range, while the paddle 4 is elastic, so that when the pawl is strongly squeezed, it can be retracted to prevent the vertical step due to the step.
  • the wheel is pressed against the wheel to block the wheel from advancing or causing damage.
  • the number of the pawls 3 can be appropriately increased, so that the smoothness of the upper and lower floors is better, especially when the upper floor is lowered, the wheel friction idling angle can be reduced.
  • the claws can be on one side of the wheel or on both sides of the wheel.
  • the pawl paddle 4 can be designed to be displaceable, removing the pawl paddle 4 when the flat road is running, thereby completely avoiding the impact on the ride.
  • a foldable electric bicycle has a rear wheel which is a power wheel and is mainly composed of a hub motor.
  • the vehicle has a battery and a controller. After the frame is folded, the whole vehicle is in an upright shape and the rear wheel is on the ground. There is a switch on the handlebar to make the car enter a constant speed running state of slow running speed, so as to go up and down the stairs.
  • Fig. 4 is a schematic view showing the structure of the power wheel of the embodiment.
  • the power wheel 2 is mounted on the frame 1
  • four claws 3 are mounted on the side of the power wheel 2 through the wheel shaft 22, and springs are used to normally receive each of the claws 3 in a free state.
  • the electric bicycle of the present invention does not differ from the ordinary electric bicycle during normal running.
  • the pawl paddle 4 is fixed to the frame 1, and when the stairs are up and down, the pawl paddle 4 is in a horizontal position toward the side of the stairs, the purpose of which is to make the wheel pawl 3 rotate with the power wheel to approach the upper plane of the stairs. Extending outwardly under the push of the pawl paddle 4, it is possible to snap to the upper plane of the step.
  • the design of the pawl paddle 4 allows the pawl 3 to be extrapolated within a certain range, which increases the reliability of the pawl cleat step.
  • the picking piece 4 is elastic, so that when the wheel claw is strongly squeezed, it can be received, preventing the power wheel from advancing or causing damage by pressing the wheel claw on the vertical surface of the step, and the number of the wheel claws 3 can be appropriately increased.
  • the smoothness of the building is better, especially when going upstairs to reduce the angle of friction of the wheel.
  • the claws can be on one side of the power wheel or on both sides of the power wheel.
  • the pawl paddle 4 is designed to be of a variable position, and the paddle 4 can be removed when the flat road is running, thereby completely avoiding The impact of riding.
  • Embodiment 4 Referring to FIG. 6 and FIG. 7, the pawl limiting post 21 and the pawl rotating shaft 22 in the embodiment 3 are directly fixed on the wheel 2, which is a simplified or ideal state, and is actually directly
  • the increase of the wheel limit column and the wheel shaft on the wheel makes machining difficult and the strength of the limit is difficult to guarantee.
  • the technical solution of FIG. 6 and FIG. 7 is that a pin-shaped base plate 5 is provided, and the wheel shaft 22 is disposed on the base plate 5, and the wheel limit column 21 in the embodiment 3 can be omitted, and the wheel is directly passed through the wheel.
  • the recessed portion of the claw base plate 5 can be restrained, and the pinwheel-shaped claw base plate can be fixedly mounted on the wheel and rotated together with the wheel, as shown in FIG. 6, the limit strength thus obtained is greatly improved. It is also more convenient to process.
  • the power wheel diameter in this embodiment is 25-35 cm.
  • the invention can provide complete or auxiliary power, which can achieve the effect that ordinary bicycles can't achieve at all, making it possible to carry electric bicycles upstairs for storage and charging, and even play the role of carrying goods.
  • the invention only needs to add a small number of structural components on the basis of the ordinary electric bicycle, and does not affect the normal riding.
  • the implementation of the present invention is expected to provide substantial support for green travel.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)

Abstract

一种车轮（2）以及设置所述车轮（2）的爬楼车轮和电动自行车，所述车轮（2）安装在轮架（1）上，在车轮（2）的侧面安装有轮爪（3），轮爪（3）可转动地内收或外伸，当轮爪（3）内收，则处于车轮（2）的径向轮廓以内，当轮爪（3）外伸，则径向伸出车轮（2）的轮廓以外且被限位。使用上述车轮（2）用于爬楼，车辆不需要增加额外的动力装置即可具备爬楼能力，仅需在普通动力车轮上增加轮爪和相应的拨片、弹簧等部件，因此增加的体积和成本也很小。爬楼和正常形式状态之间可以不做转换或作简单转换，在正常平路行驶时可以与普通车辆相同。爬楼车轮可以爬越高于车轮半径的台阶。

Description

用于爬楼的车轮、轮式爬楼车辆及能上下楼梯的电动自行车 技术领域
本发明涉及一种用于爬楼的车轮、轮式爬楼车辆及能上下楼梯的电动自行车，属于动力车辆结构部件技术领域。
背景技术
生活中常常需要运送货物或病残人员上下楼梯，但目前并没有一种理想的车辆能够兼具平路行驶和灵活上下楼的功能。较为常见的是履带式爬楼装置，其特点是在上下台阶时，车子的重心总是沿着与台阶拐角连线相平行的直线运动，其重心波动小，运行平稳，但履带结构复杂，效率低，更要求其长度要跨越两个阶梯，使车子变得笨重，具体参见参见图1，而且车辆正常行驶和转换为履带行驶的过程复杂，一般需用液压装置转换承载系统，时间长；另外由于重力完全作用于楼梯尖角，对楼梯损害较大；并且目前市场上的电动自行车具备在平地上行驶的动力，但是如果想实现上下楼梯则比较笨重，该问题一直没有得到很好的解决。
发明内容
本发明正是针对现有技术设计中存在的问题，提供了一种车轮、爬楼车轮以及设置该车轮的电动自行车，该技术方案利用电动车辆已有的动力，提供一种在人力适当辅助下，适于爬楼的车轮，装有该车轮的车辆正常行驶时与普通车辆相同或相似，且与普通车辆相比不增加额外动力装置、基本不增加重量和体积，在人力适当辅助下，可以 依靠车辆自身动力平稳上下楼的电动自行车，且从平路行驶到上下楼行驶转换简单。
为了实现上述目的，本发明采用的技术方案为，一种车轮，所述车轮安装在轮架上，其特征在于，在车轮的侧面安装有轮爪，轮爪可转动地内收或外伸，当轮爪内收，则处于车轮的径向轮廓以内，当轮爪外伸，则径向伸出车轮的轮廓以外且被限位。所述车轮在车辆的动力装置驱动下受控地转动和制动，仅需人力提供适当的向前推力，车辆即可实现方便地上下楼。
当平路行驶，使轮爪内收，因轮爪不接触地面，不会影响车辆正常行驶。适当设置轮爪外伸限位角度、轮爪转轴位置等，还可实现即便轮爪处于外伸状态接触地面，仍然可被自然压推到内收位置，从而消除对平路行驶的影响。适当设计车轮的直径和轮爪的长度和转轴的位置，则上楼时，使轮爪外伸，则当车轮靠近台阶旋转时，轮爪能够搭扣在台阶上平面，从而制止车轮空转，并使车轮及车体以轮爪前端为支点，随车轮的转动而上升；当下楼时，使轮爪外伸，则一旦车轮下滑则轮爪可以扣住台阶平面，从而制止下滑，只要控制车轮的转速尽量恒定，则可以达到平稳下楼的目的。
作为一种简化的实现，可以通过弹性部件使所有轮爪常态地弹性地外伸，从而在上下楼梯时发挥轮爪的作用。这种方式的缺点是平路行驶时轮爪不断接触地面造成一定的阻力和损耗。
作为一种改进，不使轮爪常态外伸，而在轮架上设置拨杆，使得当轮爪随车轮转动到特定位置或位置区间时，所述拨杆将轮爪拨动外 伸。例如可以将拨杆设置在车轮面临台阶的一侧，当轮爪转动到接近台阶表面高度时，被拨杆推动外伸，从而可以搭扣在台阶上平面。
作为上述改进的进一步优化，可以设置弹性部件，如弹簧，使轮爪常态地内收，从而尽量减少轮爪对车轮滚动的影响。
作为进一步的改进，所述拨杆可以是有弹性的，从而如果轮爪没有搭扣到台阶上平面而受到台阶侧面挤压，则被推挤内收。
作为进一步的改进，在轮爪的头部设置小滚轮，则有利于减少轮爪接触地面或楼梯侧面过程中造成的阻力和磨损。
轮爪是通过轴销安装在车轮侧面的，为了避免车辆高速运转时离心力和冲击造成轮爪外伸，所述轴销应当穿过轮爪的质心。
上述技术方案中，在正常骑行时，使轮爪内收，因轮爪不接触地面，不会影响车辆正常行驶。上楼时，使轮爪外伸，则当动力车轮靠近台阶旋转时，轮爪能够搭扣在台阶上平面，从而制止动力车轮空转，并使动力车轮及车体以轮爪前端为支点，随动力车轮的转动而上升；当下楼时，使轮爪外伸，控制动力车轮的转速尽量恒定，则一旦动力车轮向下滑则轮爪可以扣住台阶平面，从而制止下滑，达到平稳下楼的目的。适当选择动力车轮的直径和轮爪的长度及轮爪转轴的位置，则可以较可靠地实现上下楼动作。
作为一种改进，在轮爪和动力车轮之间设置弹簧使轮爪常态弹性地内收，而在轮架上设置轮爪拨杆，使得当轮爪随动力车轮转动到特定位置或位置区间时，所述轮爪拨杆将轮爪推动外伸。例如可以将轮爪拨杆设置在车轮面临台阶的一侧，当轮爪转动到接近台阶表面高度 时，被轮爪拨杆推动外伸，从而可以搭扣在台阶上平面。
作为进一步的改进，所述轮爪拨杆是有弹性的，从而如果轮爪没有搭扣到台阶上平面而受到台阶侧面挤压，则可以内收，从而避免影响动力车轮前进或破坏结构。
作为进一步的改进，有两个以上轮爪，所述车轮直径为20-50厘米。
相对于现有技术，本发明的优点如下：1)该技术方案整体结构设计紧凑、巧妙，使用该技术方案所述的车轮用于爬楼，车辆不需要增加额外的动力装置即可具备爬楼能力，仅需在普通动力车轮上增加轮爪和相应的拨片、弹簧等部件，因此增加的体积和成本也很小。爬楼和正常行驶状态之间可以不做转换或作简单转换。在正常平路行驶时可以与普通车辆相同。并且，本发明的轮式爬楼车辆可以爬越高于车轮半径的台阶。
附图说明
图1：现有技术中履带式爬楼装置；
图2：实施例1一种用于搬运车爬楼的车轮的结构示意图；
图3：实施例1中轮爪伸出限位角度示意图；
图4：实施例2、实施例3中所述用于电动自行车爬楼的车轮结构示意图；
图5为增加小滚轮后的轮爪示意图；
图6为电动自行车折叠结构示意图；
图7为图6局部放大图；
图中:1-轮架，2-车轮，3-轮爪，4-轮爪拨片，5、轮爪基板，20-车轮的径向轮廓，21-轮爪限位柱，22-轮爪转轴，31-轮爪滚轮。
具体实施方式
为了加深对本发明的理解和认识，下面结合附图对本发明作进一步描述和介绍。
实施例1：如图2，实施例1：本实施例的用于爬楼的车轮安装在两轮搬运车上，所述搬运车有左右两个独立动力轮，车身可载物，车后部两侧有把手供人掌握车辆，主要用于运载物品上下楼梯。鉴于不常用于平路运行，因此采用了一种简单的轮爪结构。图2为其动力轮结构示意图。车轮2安装在轮架1上，轮爪3通过轮爪转轴22安装在车轮2的侧面，另外有拉力弹簧连接每个轮爪，使得轮爪在自由状态下常态地外伸。每个车轮2有4个轮爪对称地安装在一侧。当接近台阶时，轮爪3在转动中搭扣到台阶的上平面，由于轮爪限位柱21的作用，轮爪等效成为车轮的突出支点，因而随车轮的转动，轮爪支撑车轮上升，从而达到爬楼的目的。当轮爪接触车轮所在地面时，将随着车轮的转动而受到挤压，可以通过适当的轮爪转轴位置和角度限位的设计，使得当轮爪接触地面时自然内收，从而不影响在平路上的运行。图3显示了本实施例中，轮爪伸出限位的设置，使得轮爪转轴到轮爪前端连线与地面间的夹角Ang为小于90度，轮爪与地面接触部位为较光滑的弧面，从而当受到地面挤压时，轮爪3自然向内转动，有利于减少轮爪磨损和运转阻力。进一步，在轮爪前端设置了轮爪滚轮31，从而极大降低轮爪与地面间的摩擦。由于一般楼梯台阶高度 为10-20厘米，本实施例的车轮2直径约为20-50厘米，优选的车轮2直径为30厘米，轮爪长度约为10厘米。搬运车的电机通过传动机构驱动所述车轮受控地转动和制动，仅需人力提供适当的向前推力，车辆即可实现方便地上下楼。下楼时，车辆倒车行驶。当车轮滚过台阶拐角后，下落加速，此时需要通过刹车稳定主轮转速使整车平稳下移。随着车轮前移，必有一个位置使得车轮与台阶的摩擦力不足以支持车重，因而车轮2开始滑落，滑落过程中轮爪3可自然搭扣在台阶上平面，从而支撑整车重量，避免继续下滑，控制车轮的转速，则整车随车轮2的转动而可控地下移。
实际运行中，应当协调每个动力轮的动作，以确保上下楼的平稳。如果适当增加轮爪数量，如设置8个轮爪，则上下楼梯更加流畅。本实施例可实现载物上下楼梯，且结构简单、成本低。
实施例2：一种用于电动自行车爬楼的车轮，所述电动自行车可以折叠，后轮为轮毂电机，且折叠后后轮着地，车体呈站立姿态移动。图4是本实施例的车轮结构示意图。图中，有四个轮爪3通过轮爪转轴22安装在车轮2的侧面，有弹簧使每个轮爪3在自由状态下常态地内收，从而正常行驶时本发明的电动自行车与普通电动自行车相同。轮爪拨片4固定在轮架1上，在上下楼梯时，拨片4处于朝向楼梯的一侧接近水平方向，其目的是使得当轮爪3随车轮转动到接近楼梯上平面时，在拨片4的推动下将向外伸出，从而能够搭扣到台阶上平面。轮爪拨片4的设计使得在一定范围内轮爪3得以被外推，同时拨片4是有弹性的，这样当轮爪受到强力挤压时能够内收，防止因台阶垂直 面挤压轮爪而阻挡车轮前进或造成破坏。
作为改进，轮爪3的数量可以适当增加，这样上下楼的平顺性更好，特别是上楼时可以减少车轮摩擦空转角度。轮爪可以在车轮一侧，也可以在车轮两侧分布。轮爪拨片4可以设计为可移位的，当平路运行时将轮爪拨片4移开，从而完全避免对骑行的影响。
实施例3：参见图4、图5，一种可折叠的电动自行车，其后轮为动力轮，主要由轮毂电机构成，车内有电池、控制器。车架折叠后，整车呈直立形状，后轮在下着地。车把上有开关使车进入慢走速度的恒速运行状态，以便于上下楼。图4是本实施例的动力车轮结构示意图。图4中，动力车轮2安装在车架1上，有四个轮爪3通过轮爪转轴22安装在动力车轮2的侧面，有弹簧使每个轮爪3在自由状态下常态地内收，从而正常行驶时本发明的电动自行车与普通电动自行车没有区别。轮爪拨片4固定在车架1上，在上下楼梯时，轮爪拨片4处于朝向楼梯的一侧接近水平位置，其目的是使得当轮爪3随动力车轮转动到接近楼梯上平面时，在轮爪拨片4的推动下向外伸出，从而能够搭扣到台阶上平面。轮爪拨片4的设计使得在一定范围内轮爪3得以被外推，这样可以增大轮爪搭扣台阶面的可靠性。拨片4是有弹性的，这样当轮爪受到强力挤压时能够内收，防止因台阶垂直面挤压轮爪而阻挡动力车轮前进或造成破坏，轮爪3的数量可以适当增加，这样上下楼的平顺性更好，特别是上楼时可以减少车轮摩擦空转角度。轮爪可以在动力车轮一侧，也可以在动力车轮两侧分布。轮爪拨片4设计为可变位置的，当平路运行时可将拨片4移开，从而完全避免对 骑行的影响。
实施例4：参见图6、图7，实施例3中的轮爪限位柱21和轮爪转轴22都是直接固定在车轮2上的，这是一种简化或者理想状态，实际上直接在车轮上增加轮爪限位柱和轮爪转轴，加工难度高，且限位的强度很难保证。图6和图7的技术方案是，设置一个风车形的轮爪基板5，轮爪转轴22设置在轮爪基板5上，可以省去实施例3中的轮爪限位柱21，直接通过轮爪基板5的凹陷部分进行限位即可，而这个风车形的轮爪基板是可以固定安装在车轮上并随车轮一起转动的，具体如图6所示，这样获得的限位强度大大提高，加工起来也更方便。
由于动力车轮直径与台阶高度的关系直接影响到本发明的使用效果，考虑到普通楼梯的台阶高度为10-20cm之间，本实施例中的动力车轮直径为25-35厘米。在上楼梯时可以提供完全的或辅助的动力，达到普通自行车完全不能达到的效果，使得携带电动自行车上楼保管、充电成为可能，甚至可能起到搬运物品的作用。并且本发明在普通电动自行车的基础上仅需增加少量结构部件，也不影响正常骑行。本发明的实施有望对绿色出行提供实在的支持。
需要说明的是上述实施例，并非用来限定本发明的保护范围，在上述技术方案的基础上所作出的等同变换或替代均落入本发明权利要求所保护的范围。

Claims (9)

  1. 一种车轮，所述车轮(2)安装在轮架(1)上，其特征在于，在车轮(2)的侧面安装有轮爪(3)，轮爪(3)可转动地内收或外伸，当轮爪(3)内收，则处于车轮(2)的径向轮廓以内，当轮爪(3)外伸，则径向伸出车轮(2)的径向轮廓(20)以外且被限位。
  2. 如权利要求1所述的车轮，其特征在于，在轮架(1)上安装有拨杆(4)，它能够将所述轮爪(3)向外拨动使之外伸。
  3. 如权利要求1所述的车轮，其特征在于，有弹性部件连接所述轮爪(3)使其弹性地外伸。
  4. 如权利要求2所述的车轮，其特征在于，有弹性部件连接所述轮爪(3)使其弹性地内收。
  5. 如权利要求2所述车轮，其特征在于，所述轮爪(3)通过轴销安装在车轮(2)靠近边缘的位置，所述轴销穿过轮爪(3)的质心。
  6. 如权利要求5所述的车轮，其特征在于，所述拨杆(4)是弹性的。
  7. 如权利要求1-5任一项所述的车轮，其特征在于，轮爪(3)的头部设有小滚轮。
  8. 设置有权利要求1-7任一项所述轮子的爬楼车轮，其特征在于，所述爬楼车轮包括车架、至少一个动力轮，所述动力轮包括轮架(1)、安装在轮架上的车轮(2)，车轮(2)在动力装置的驱动下能够受控地转动和制动，在车轮(2)的侧面安装有轮爪(3)，轮爪(3)可转动地内收或外伸，当轮爪(3)内收，则处于车轮(2)的径向轮廓 (20)以内，当轮爪(3)外伸，则径向伸出车轮(2)的径向轮廓(20)以外且被限位。
  9. 设置有权利要求1-7任一项所述车轮的电动自行车，包括车架、车轮、电机、控制器、电池，其折叠后有一个动力车轮可着地支撑整车运行，所述动力车轮(2)连接电机，有控制器连接电机并控制其转速，动力车轮(2)安装在车架(1)上，其特征在于，在动力车轮(2)的侧面安装有轮爪(3)，轮爪(3)可转动地内收或外伸，当轮爪(3)内收，则处于车轮(2)的径向轮廓(20)以内，当轮爪(3)外伸，则径向伸出车轮(2)的径向轮廓(20)以外且被限位。
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CN114571911A (zh) * 2021-12-31 2022-06-03 南京赫曼机器人自动化有限公司 一种高机动机器人用主动式轮爪变形机构
CN114571911B (zh) * 2021-12-31 2024-01-23 南京赫曼机器人自动化有限公司 一种高机动机器人用主动式轮爪变形机构
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CN115501365A (zh) * 2022-10-08 2022-12-23 防欣有害生物防治(上海)有限公司 一种可楼道自动消毒喷射装置

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