WO2018025190A1

WO2018025190A1 - Tracked movement mechanism

Info

Publication number: WO2018025190A1
Application number: PCT/IB2017/054712
Authority: WO
Inventors: 李少麟; 陈丽冰
Original assignee: 必飞有限公司
Priority date: 2016-08-02
Filing date: 2017-08-02
Publication date: 2018-02-08
Also published as: CN107529434B; CN107529434A; CN208096908U; JP6503402B2; JP2018020758A

Abstract

A movement mechanism, comprising a first track (132) and a second track (131) which are fixedly arranged to be operably interconnected and to move synchronously so as to move on an operation surface, the first track (132) and the second track (131) being configured together to form a zigzag shape and preferably having a lightning bolt-shaped contact/action bottom surface portion or bottom profile, so as to adapt to and be close to different operation surfaces or to move freely on stairs having different slopes, rugged pavements and all-terrain ground.

Description

Tracked moving mechanism

Technical field

The present invention relates to a crawler type mechanical moving mechanism, and in particular to a stair climbing function capable of safely and smoothly lifting up and down a plurality of stairs with different angles, up and down slopes, crossing obstacles, and driving on rugged mountain roads. At the same time, it is flexible on a smooth road surface, and it has a small size and can be used for a track-type mechanical moving mechanism that bends at a narrow corner of a small staircase. Background technique

There are a variety of mechanical combinations designed and invented, all of which are intended to help humans travel or cross different common roads and obstacles. Such as indoor smooth roads, outdoor oil parking roads, obstacles on the streets, rugged mountain roads, and even stairs with different angles. However, there are some problems in the design of such mechanical combinations, which make it impossible for them to pass the above roads and obstacles, such as:

The inventor's Chinese invention patent No. ZL201210110973. 1 discloses a crawler climbing wheelchair, which uses the patented "two-stage crawler design" to climb stairs with different angles. When reaching the top of the ladder, the two-stage The design will remove the falling power and allow the wheelchair to reach the top of the ladder safely. However, the performance of the road surface is neglected because the invention adopts a full crawler design. When driving on a smooth road surface, the track will have a considerable friction with the road surface, and even damage the road surface. not flexible. When driving a rugged road, it will also have a crawler belt design like a tank car. When it passes over the bumps, there is a danger of falling suddenly. (as shown in Figure la) Another Chinese invention patent number 201510555652. 6 discloses a crawler type moving mechanism. The invention utilizes a "drop-type crawler belt design" combining large and small wheels, which can climb stairs with different angles and flexibly travel smoothly. The road surface can also safely travel on rough roads and across obstacles. However, because of its too many functions, the seat needs to be raised and lowered frequently or back and forth, and the forearm often needs to be extended or retracted. The complicated structure causes difficulty in operation and large volume, and the radius of rotation is greatly increased (Fig. lb). . When encountering narrow stairs and corners, the moving mechanism will not be able to drive.

The prior art moving mechanism for climbing ladders still has a major disadvantage, that is, the crawler can only grasp the "ladder angle" of the stairs (Fig. lc). Although there are some inventions, try to extend the track to increase the grip point of the track and the angle of the ladder. However, the track can only grasp the "corner" of the step. As long as someone pushes it from behind, the moving mechanism can easily turn over. inverted.

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In order to solve the shortcomings and problems of the prior art, the present invention provides a "lightning crawler structure" (Fig. 2a), which is fixedly combined into a lightning shape by using two different shapes of crawler structures to realize a perfect climbing and off-road. A "tracked mechanical moving mechanism" with a small size and a small radius of rotation (Fig. 2b). This mechanical structure is mainly composed of three parts, including: track moving mechanism, universal wheel moving mechanism and supporting mechanism.

A moving mechanism according to the present invention includes fixedly disposed first and second crawlers operatively coupled to each other and moving in synchrony to move on a work surface, wherein:

The first track includes a first contact/acting bottom surface portion that extends obliquely at a first configurable angle relative to the work surface; the first contact/acting bottom surface portion is substantially in contact with the work surface a point contact or a face contact and a first contact point therebetween is configured to move the second track to extend obliquely with respect to the work surface at a configurable second angle and a configurable third angle, respectively Second contact/acting bottom portion and third contact/acting bottom surface a portion, the second contact/acting bottom surface portion and the third contact/active bottom surface portion intersect to collectively form a substantially V-shaped extended contact/acting bottom surface portion; the contact/acting bottom surface portion is in contact with the working surface a second fulcrum of the moving mechanism being a single point contact or a face contact and a second contact point or contact surface therebetween;

The first track and the second track are configured to collectively form a meandering and preferably lightning-shaped contact/acting bottom portion or bottom profile to accommodate and abut different working faces or may be stairways having different slopes , Rugged roads and all terrain on the ground.

In some embodiments of the moving mechanism according to the present invention, the bottom profile and the first fulcrum and the second fulcrum jointly formed by the first crawler belt and the second crawler belt form a substantially triangular space to accommodate and facilitate crossing The raised portion of the face encountered during the movement, with respect to the flat bottom profile, reduces the likelihood of a sudden drop in the moving mechanism.

In some embodiments, the height of the triangular space is approximately 60%-180% and preferably 120% of the height of the first track or the second track to accommodate and facilitate crossing the encounter during the move. The raised portion of the working surface, relative to the flat bottom profile, reduces the likelihood of a sudden drop in the moving mechanism.

In some embodiments, the length of the first contact/acting bottom surface portion is about twice the length of the second contact/active bottom surface portion; and/or the length of the first contact/active bottom surface portion is approximately The length of the third contact/acting bottom portion is 1.5 times, the length or the length ratio helps to form the desired bottom profile to fit and fit the different working faces, relative to the flat bottom Contour, which reduces the likelihood that the moving mechanism will plummet after crossing the protuberance.

In some embodiments, the configuration of the first track and/or the second track, the first angle, the second angle, and/or the third angle are configured to facilitate When at least one of the first fulcrum and the second fulcrum is at or supported at the tip end portion or corner of the working surface, the other fulcrum may be at or supported by the flat portion of the working surface or at the work Above another plane near the face, thus greatly improving the stability and safety of the moving mechanism! 3⁄4 °

In some embodiments, the first crawler belt and the second crawler belt are configured such that at least one of the first fulcrum and the second fulcrum constituting the lightning-shaped bottom surface portion is always associated with one when moving on a staircase The steps of the step providing a greater bearing force are offset so that the step surface acts as the main support of the moving mechanism when the other point is above and supported by the other step providing a smaller supporting force step angle The face is prevented from falling over, thereby greatly improving the stability and safety of the operation of the moving mechanism.

In some embodiments, the first angle, the second angle, and/or the third angle may be relative to an estimated or measured slope range of a stair in a predetermined use area, an estimate of a rugged road surface, or The legal ruggedness is configured accordingly; 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 °, preferably 126 °, the angle or the range of angles helps to form the desired bottom profile to fit and fit the different work surfaces and stairs, relative to the straight type A bottom profile that reduces the likelihood that the moving mechanism will plummet after crossing the bumps and during the laddering process.

In some embodiments, the first track is a generally elongated track; and/or the second track is a generally triangular track; the first track and the second track are configured to be driven coaxially To improve gear ratio and efficiency.

In some embodiments, further comprising at least one universal wheel configured to be operatively coupled to the first track and/or the second track, the universal wheel being configured to be independent of The first track and the second track are rotatably switchable between a standby position and a working position, and in the working position, the universal wheel pivots in a direction toward the work surface until The work surface abuts and further lifts the first track or the second track operatively coupled thereto to separate the first track or the second track from the work surface, The contact of the universal wheel with the working surface is substantially in line contact and the third contact point therebetween is configured as a third fulcrum of the moving mechanism to replace the first fulcrum or the second fulcrum And thereby causing the moving mechanism to be converted from a dual track structure to a single track plus universal wheel structure; and in the standby position, the universal wheel pivots in a direction away from the work surface until the work Surface separating and further lowering the first track or the second track operatively coupled thereto until it abuts against the work surface, the third fulcrum being taken by the first fulcrum or the second fulcrum Alternatively, and thereby the moving mechanism is converted from a single track plus caster structure to a dual track structure.

In some embodiments, the centerline of the universal wheel extends obliquely relative to the work surface and substantially orthogonal to a length direction of the first track or the second track in the working position; / or in the standby position, the center line of the universal wheel extends obliquely with respect to the work surface and is substantially parallel to the longitudinal direction of the first track or the second track, the universal wheel The configuration, the position and the switching mode help to reduce the space requirements of the moving mechanism and adapt it to and close to different working faces to perform the required operations.

The advantages of the mobile mechanism according to the invention are:

1. Track Moving Mechanism - The present invention creates a unique "lightning track structure" that is fixedly combined into a lightning shape using two differently shaped track structures. This innovative combination of structures makes the mechanism suitable for moving roads in different situations, and because it eliminates the cumbersome transformation, the structure is simplified and the volume is greatly reduced (Fig. 2b). In addition, the unique crawler structure created by the present invention has a ladder climbing principle which is quite different from the existing invention. As shown in Fig. 2c, when the rear crawler grips only the "ladder angle", the front crawler belt will appear tight. Stepping on the "ladder"; (As shown in Figure 2d), the current crawler will only hold the "ladder" and the rear crawler will be in the "ladder". It is precisely because "stepping on the ladder" is much more secure than "catching the corner", so even if someone pushes it from behind, it is difficult for the moving mechanism to fall over the stairs.

2. Universal wheel moving mechanism. The invention creates a pair of telescopic universal wheels, with an electric push rod. Pushing a pair of universal wheels to swing forward or backward. When the electric push rod reaches the longest length, the universal wheel will leave the ground and let the track touch the ground, so that the moving mechanism can climb the stairs and overcome obstacles (Fig. 6a) When the electric push rod is minimized, the universal wheel will touch the ground, allowing the moving mechanism to flexibly turn on the flat road (Fig. 7a).

3. Supporting Bracket Balancing Mechanism - The present invention utilizes an electric push rod, a gyroscope and a simple structure to create an effective support bracket balancing mechanism (Fig. 6b). On a flat road, the gyroscope will send a message to minimize the electric push rod (Figure 6a). When climbing stairs or obstacles, the electric push rod will extend the electric push rod according to the message from the gyroscope. Long or shortened, the person or thing supported on the support can always maintain a vertical balance with the ground (see Figures 8a, 8b).

Therefore, the present invention adopts the moving mode of the lightning crawler belt, and adopts the novel operation concept without complicated structure and transformation, and solves the complicated situation of different road surfaces by the simplest method. In particular, climbing the stairs in a "stepping on the ladder" is a new concept of the crawler moving mechanism. In addition, the universal wheel of the present invention is operative and does not require other components, such as extending the forearm to provide additional work space and increasing the length of the vehicle body. Therefore, the present invention can keep the vehicle body small, flexible and lightweight.

Since the two sets of crawler belts before and after the invention cleverly form a lightning shape, the simplest method is used to solve the problem, thereby greatly reducing the complexity of assembly and maintenance, and greatly increasing the practicality of the invention product, such as practical application. For electric wheelchairs, scooters, cargo handling tools, measuring instruments and toys, etc.

The universal wheel moving mechanism of the present invention can take into account corresponding environmental factors when the invention is to be commercialized, especially in urban areas with dense population and narrow streets, and a small-sized wheelchair can meet the actual needs of users. need.

In addition, the present invention employs a relatively simple balancing system to make the things supported above more balanced and safer. Therefore, the support can actually carry goods, passengers or people with disabilities. Country The invention will now be described by way of example with reference to the accompanying drawings in which:

Figure la shows the dangerous situation that occurs when the tracked vehicle passes over obstacles.

Figure lb shows that the radius of rotation of the same invention is very large.

Figure lc shows the crawler can only grasp the "ladder angle" when climbing the stairs. Figure 2a shows the unique lightning shape formed by the moving mechanism.

Figure 2b shows that the radius of rotation of the present invention is very small.

Fig. 2c is a view showing the case where the front crawler is stepped on the "ladder" during the climbing of the present invention.

Fig. 2d shows the case where the rear crawler is stepping on the "ladder" during the climbing of the present invention.

Figure 3a is a side elevational view of the present invention and shows the three main mechanisms that make up the present invention. Figure 3b is a top plan view of the present invention and shows the three main mechanisms that make up the present invention. Figure 4a is a side elevational view of the track moving mechanism of the present invention and showing the components that make up the mechanism. Figure 4b is a top plan view of the track moving mechanism of the present invention and shows the components that make up the mechanism. Figure 5a is a side elevational view of the universal wheel moving mechanism and the support bracket balancing mechanism of the present invention, and shows the components that make up the mechanism.

Fig. 5b is a top plan view of the universal wheel moving mechanism and the support bracket balancing mechanism of the present invention, and shows the components constituting the mechanism.

Figure 6a shows the extension of the universal wheel telescopic electric push rod to the longest, the universal wheel retracted, and the front and rear crawler belts touch the ground at the same time.

Figure 6b shows the situation in which the seat balance electric push rod is extended to the longest and the support bracket is raised high. Figure 7a shows the condition of the invention as it moves on a flat road.

Figure 7b shows the state of the invention as it moves on a rough road.

Figure 8a shows the situation in which the invention climbs on a staircase of different angles.

Figure 8b shows the condition of the invention as it reaches the top or bottom of the ladder.

9a-9d are comparative views of the design of the crawler moving mechanism of the present invention and other crawler-type structures. Concrete real

Figures 3a and 3b show perspective views of one embodiment of the "crawler-type mechanical moving mechanism" of the present invention, for the sake of clarity, only a portion of the components are shown schematically. The mechanism of the present invention includes: 1 track moving mechanism, 2 million wheel moving mechanism, and 3 supporting bracket balancing mechanism.

The moving mechanism 1 includes a left and right drive reduction drive motor 110 (110 engine structure, which may be other engine structures, such as fuel generators and other engine devices).

The drive reduction motor 110 is fixed on the drive reduction motor bracket 102, and 102 is fixed to the main body bracket 101 and the front inner fixed plate 143 at the same time to fix the drive reduction motor and the main body bracket.

When the controller indicates the energy-driven geared motor 110 (the energy source can be battery, gasoline or solar energy, and the controller is also prior art, there are various brands to choose from, so it will not be described in detail here), 110 will drive the drive geared motor drive. When the shaft 111 rotates, the inner synchronous wheel 121 and the outer synchronous wheel 122 are simultaneously fixed on the shaft 111, so that the 121 and 122 rotate simultaneously. The power of the inner synchronizing wheel 121 drives the pre-synchronizing wheel 125 through the front synchronizing track 132. The front inner fixed plate 143 and the front outer fixed plate 144 fix the inner synchronous wheel 121 and the front synchronous wheel 125 in position, and the two fixed plates are provided with bearings between the shaft and the plate, so that the shaft can be between the plates. Turn. The front inner fixing plate 143 and the front outer fixing plate 144 form an angle and are fixedly attached, and the angle depends on actual needs.

When the driving geared motor 110 drives the driving motor transmission shaft 111 to rotate, and simultaneously drives the external synchronous wheel 122 to rotate, the power thereof drives the lower synchronous wheel 123 and the rear synchronous wheel 124 through the rear synchronous track 131. The rear inner fixing plate 141 and the rear outer fixing plate 142 fix the synchronous wheels 122, 123 and 124 in position to form a triangle. The two fixing plates are provided with bearings between the shaft and the plate, so that the shaft can be placed on the board. Rotate between. The rear inner fixing plate 141 is fixedly connected to the main body bracket 101, so that the driving force can stably drive the rear synchronous crawler 131 to operate.

The universal wheel moving mechanism 2 includes a universal wheel telescopic electric push rod 220 (220 engine structure, It can be other engine structures, such as geared motors or hydraulic pushers.

First, the universal wheel telescopic electric push rod 220 is movably connected with the push rod connecting bracket 204, and the 204 is fixedly connected with the main body main bracket 101. Therefore, the force generated by the universal wheel telescopic electric push rod 220 is generated by the main body. The bracket 101 is offset.

When the energy-driven universal wheel telescopic electric push rod 220 is extended or shortened, power is transmitted to the push rod connector 203 to rotate it forward or backward. The push rod connector 203 is in direct contact with the universal wheel rotating shaft 201, and the 201 is movably coupled to the left and right front inner fixing plates 143 through the bearings.

At the same time, the two universal wheels 210 are fixedly coupled to the two universal wheel connecting members 202, and the two universal wheel connecting members 202 are in close contact with the universal wheel rotating shaft 201. That is, when the power of the universal wheel telescopic electric push rod is transmitted to the push rod connecting member 203, the power simultaneously causes the universal wheel rotating shaft 201 to swing forward or backward. The universal wheel 210 is connected through 202 and 201. Therefore, when the universal wheel telescopic electric push rod 220 is extended or shortened, the two universal wheels 210 will also swing forward or backward at the same time, that is, landing. Or off the ground.

The support bracket balancing mechanism 3 includes a support bracket balancing electric push rod 310 (the engine structure of 310, which may be other engine structures, such as a geared motor or a hydraulic push rod, etc.), and the gyroscope 320 (320 may be two-dimensional, may be Three-dimensional) and support mechanism 330 (330 can be a seat or other mechanism for carrying goods).

First, the support bracket balance electric push rod 310 is movably connected with the push rod connection bracket 301, and the 301 is fixedly connected with the main body main support 101. Therefore, the support bracket balances the power generated by the electric push rod 310, which is The bracket 101 is offset.

When the gyroscope 320 receives the forward or backward tilt message, an instruction is issued to the support bracket to balance the electric push rod 310 to extend or shorten. Since the 310 is movably coupled to the support mechanism 330 and the 330 is in operatively coupled to the main body support 101, the support mechanism 330 is raised as the 310 is extended. Conversely, when 310 is shortened, the support mechanism 330 will descend. In this simple structure, the entire support mechanism can be balanced with the ground. Through the above structure, the function of the present invention is as follows (to make the mechanism more specific, the functional view will add a seat above the support bracket balancing mechanism 330):

1. Flat road function (Fig. 7a): In order to make the car flexible in indoor or flat road, the universal wheel telescopic electric push rod 220 will shrink to the shortest, so that the pair of universal wheels 210 will fall to the ground, so that the front belt 132 off the ground (Figure 4a). Thus, the movement mode of the car becomes completely driven by the back synchronization, and since the two universal wheels 210 on the front can be steered at will, the car is very flexible and can turn in a narrow road.

2. Rugged road function (Fig. 7b): In order to travel on rough mountain roads or overcome obstacles, simply extend the universal wheel telescopic electric push rod 220 to the longest, so that the pair of universal wheels 210 are lifted off the ground.

(Fig. 5a), and the support bracket balancing mechanism will start at the same time. In this mode, the car can be moved freely on the ordinary mountainous rugged roads, and it can easily cross the obstacles encountered on the general road surface.

3. Climbing function (Fig. 8a): The biggest advantage of the invention is that it is easy to operate. It only needs to adopt the same mode as the mobile rugged road, and extend the universal wheel telescopic electric push rod 220 to the longest, making a pair of universal wheels 210 is lifted off the ground (Fig. 5a), and the support bracket balancing mechanism is activated at the same time. In this mode, the passenger only needs to control two rear-synchronized tracks 131 and simultaneously climb the steps to climb. Because the invention uses a unique "lightning track structure", it can easily climb along every level of stairs, even if it reaches the top of the ladder, it will not cause the car to suddenly fall (Figure 8b). Another advantage of the "lightning crawler structure" is that the principle of climbing is different from the general one. It does not rely solely on the crawler to grasp the "ladder angle" (Fig. lc), but rather "steps on the ladder". The way to climb the ladder (Figures 2c and 2d), so even if there is a situation in which someone pushes hard from behind, the car is not easy to fall over the stairs.

When climbing the ladder up or down, the support bracket balancing mechanism 3 will function to maintain a vertical balance between the passenger and the ground to ensure passenger safety. The situation at the time of the ladder is basically the same as that at the time of the ladder. In the same mode, and because of the "lightning crawler structure", there is no danger of sudden falling when the first staircase is lowered.

8b).

In summary, the lightning crawler structure of the present invention utilizes two different shapes of crawler structures to be fixedly combined into a lightning shape, and the most simple method is used to solve the problem of moving the rugged mountain road, crossing obstacles, and climbing angles. Stairs, etc., these often encountered and extremely complicated problems.

The universal wheel moving mechanism of the present invention utilizes an electric push rod and a simple mechanical structure, and transforms the moving mechanism from the full track to the ground with a minimum of the transformation range and the need to change the length of the vehicle body. The flexible state of the rear crawler belt touch and the front universal wheel touches the ground, and the overall volume of the moving mechanism is reduced as never before, which greatly improves the practicality of the present invention in the future.

The principle of stepping on the ladder surface of the present invention is different from the existing ladder mechanism. They all adopt the principle of "grasping the angle of the ladder" to climb the stairs. The advantage is that it seems to be stable, but the actual angle can only be climbed. Consistent stairs, and very dangerous because of insufficient grip. The "lightning crawler structure" used in the present invention allows the moving mechanism to always maintain a "stepping on the ladder" when climbing the stairs. In terms of mechanics, the "stepping on the ladder" is several times better than the support of "catching the corner", so the safety is greatly increased.

Referring to Figures 9a-9d, there is shown a comparison of the design of the track moving mechanism and other track-type structures of the present invention as it climbs the ladder and reaches the top of the step or the first step. As shown in the figure, when climbing a ladder, the design of the stairs is such that the human foot can walk step by step on the step surface to comply with the safety principle. However, all crawler designs of the prior art (such as the design shown in Figure 5%), the track can only "grab" the "corner" of the step (as indicated by the circle), which fundamentally violates the principle of the design of the step itself. . However, the unique "lightning crawler" design of the present invention is capable of climbing according to the angle of the steps (as shown in Fig. 9a), and the crawler can also be kept "stepping" or supporting the steps. The surface / step (as indicated by the corner line), which is completely in line with the design of the step itself. Therefore, the safety of the walking mechanism of the present invention when climbing stairs is undoubtedly superior to the prior art. Surgery.

When reaching the top of the step or the first step, all the crawler designs of the prior art (such as the one shown in Figure 9d) will suddenly fall when climbing to the last level of stairs or the first level of stairs. Or the condition of the track "hanging" (as indicated by the circle), which is the main cause of the frequent accidents of existing climbing tools. The unique "lightning track" design of the present invention, whether climbing to the last level of stairs or the first level of stairs (as shown in Figure 9c), the front end of the track will appear "stepping" or supporting the steps. The condition of the surface/tower (as indicated by the corner line), thus avoiding the occurrence of similar accidents.

Specifically, all crawler designs of the prior art (such as the design shown in FIG. %) are configured to have a working portion that is parallel or in contact with the ground during the climbing of the ladder, the length of the active portion. Both are configured to be greater than the length of the horizontal step of each step and/or the height of the vertical step of the step, that is, each step is difficult to accommodate or support the entire active portion, so that the active portion can only Partially in contact with a portion of the step (usually the angle shown in the figure), such incomplete contact or engagement/grabbing can cause various problems as described above, including crawler "hanging", moving mechanism as a whole or in part Suddenly falling, slipping or tipping over, etc.

In contrast, the track-type design of the present invention (i.e., the lightning-fast design shown in Figures 9a/9c), when the ladder is being climbed, the first track includes a slanted extension of the first angle with respect to the work surface. The first contact/acting bottom portion is shaped and dimensioned to be fully received or supported on a horizontal step of each step. In other words, the dimension/length of the direct acting portion of the active bottom surface portion of the first track that is in contact with the ground is configured to be less than the length of the horizontal step of each step and/or the vertical step of the step The height, that is, each step can accommodate or support the entire active portion.

Similarly, the second track includes a second contact/action bottom surface portion and a third contact/action bottom surface portion that extend obliquely with respect to the work surface at a configurable second angle and a configurable third angle, respectively Shape and rule of the contact/acting bottom portion of the V-shaped extension that is formed together The inch is also configured to be fully received or supported on the horizontal step of each step. Thereby, during the entire climbing process, at least one of the fulcrums formed by the first crawler belt and the second crawler belt can accommodate or support on the horizontal step surface of each step, thereby simulating the human foot. It can be driven step by step on the step surface to meet the safety principle and design that fully conforms to the step itself. Since the active portion of both the first track and/or the second track can remain in full contact or engagement with the stepped portion of the step during operation, such more complete contact or engagement/grab can be avoided The above various problems caused by the prior art include the "hanging" of the crawler, the sudden drop of the moving mechanism in whole or in part, the slipping or tipping over, and the like.

While the advantages and preferred embodiments of the present invention have been described herein, it will be understood by those skilled in the art The described implementation details may be replaced with any other equivalents, or modifications or variations may be made without departing from the scope of the invention.

[Main component symbol description]

Track moving mechanism 1

101 body main bracket

102 drive geared motor bracket

110 drive geared motor

111 drive geared motor drive shaft (connected to 110)

121 internal synchronous wheel (connected to 111)

122 external sync wheel (connected to 111)

123 lower synchronous wheel (driven by 142)

124 rear sync wheel (driven by 142)

125 front sync wheel (driven by 142)

131 Rear Synchronous Track (Connecting the Synchronous Wheels 122, 123, 124)

132 Front Synchronous Track (Connecting Synchronous Wheels 121, 125)

141 Rear inner fixing plate (fixed synchronous wheel 122, 123, 124)

142 Rear outer fixing plate (fixed synchronous wheel 122, 123, 124)

143 front inner fixing plate (fixed synchronous wheel 121, 125)

144 Front outer fixing plate (fixed synchronous wheel 121, 125) Universal wheel moving mechanism 2

201 universal wheel rotation shaft (connected to 143 active)

202 connectors (fixed connection to 201, 210)

203 connector (fixed connection to 201)

204 connection bracket (one end is fixed at 101, one end is connected to 220)

210 universal wheel (fixed connection to 202)

220 universal wheel telescopic electric push rod (one end is connected to 204 and one end is connected to 203) Support bracket balance mechanism 3

301 push rod connection bracket (one end is fixed at 101, one end is connected to 310)

310 Support bracket balance electric push rod (one end is connected to 301 and one end is connected to 330)

320 gyroscope (fixed connection to 330)

330 support mechanism (one end is connected to 101 active, one end is connected to 310 active)

Claims

Claim

CLAIMS 1. A moving mechanism comprising fixedly disposed first and second tracks operatively coupled to each other and moving synchronously to move on a work surface, wherein: said first track comprises a face relative to said work surface a first contact/acting bottom surface portion extending obliquely at a configurable first angle; the first contact/active bottom surface portion is in contact with the working surface substantially in a single point contact or a face contact and a a contact point configured as a first fulcrum of the moving mechanism; the second track includes a second contact/action extending obliquely with respect to the working surface at a configurable second angle and a configurable third angle, respectively a bottom surface portion and a third contact/acting bottom surface portion, the second contact/acting bottom surface portion and the third contact/active bottom surface portion intersecting to form a substantially V-shaped extended contact/acting bottom surface portion; a portion of the contact with the work surface is substantially a single point contact or a face contact and a second contact point or contact surface therebetween is configured as a second branch of the moving mechanism Point; the first track and the second track are configured to form a meandering and preferably lightning-shaped contact/acting bottom portion or bottom profile to accommodate and abut different working faces or may have different slopes Stairs, rugged pavements and all-terrain ground movements.

2. The moving mechanism according to claim 1, wherein: a bottom profile formed by the first crawler belt and the second crawler belt and the first fulcrum and the second fulcrum form a substantially triangular space to accommodate And facilitating the traversing of the raised portion of the work surface encountered during the movement.

3. The moving mechanism according to claim 1, wherein a bottom profile formed by the first crawler belt and the second crawler belt and the first fulcrum and the second fulcrum form a substantially triangular space, The height of the triangular space is approximately 60% - 180% and preferably 120% of the height of the first track or the second track to accommodate and facilitate crossing across during movement a raised portion of the work surface.

4. The moving mechanism according to claim 1, wherein: the length of the first contact/acting bottom portion is about twice the length of the second contact/acting bottom portion; and/or the 5倍。 The length of the first contact / action of the bottom portion of the length of 1.5 times.

5. The moving mechanism of claim 1, wherein: the first crawler and/or the second crawler configuration, the first angle, the second angle, and/or the The third angle is configured to facilitate allowing another fulcrum to be in or supported by the at least one of the first fulcrum and the second fulcrum when the at least one point of the first fulcrum and the second fulcrum is at or supported by the tip end portion or corner of the working surface A flat portion of the work surface or above another plane near the work surface.

6. The moving mechanism according to claim 1, wherein the first crawler belt and the second crawler belt are configured to cause the first fulcrum and the second constituting the lightning-shaped bottom surface portion when moving on a staircase At least one of the fulcrum points always abuts a step plane providing a greater bearing force for one of the steps, such that when the other fulcrum is at and supported over another step of providing a smaller supporting force, the step The surface acts as the main bearing surface of the moving mechanism to prevent tipping over.

7. The moving mechanism of claim 1 wherein said first angle, said second angle and/or said third angle are predictable or measured relative to a stair in a predetermined use area The slope range, the estimate of the rugged road surface or the legal ruggedness are configured accordingly; 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°, preferably 126°.

8. The moving mechanism according to claim 1, wherein: said first crawler is a substantially long crawler; and/or said second crawler is a substantially triangular crawler; said first crawler and said The second track is configured to be driven coaxially.

9. The mobile mechanism of claim 1 further comprising: at least one universal wheel, said universal wheel being configured to be operatively coupled to said first track and/or said second track, The universal wheel is configured to be rotatably switchable between a standby position and a working position independently of the first track and the second track, in the working position, the universal wheel is oriented The direction of the work surface pivots until it abuts the work surface and further lifts the first track or the second track operatively coupled thereto, such that the first track or the second track The working surface is separated, the contact of the universal wheel with the working surface is substantially in line contact, and a third contact point between the two is disposed as a third fulcrum of the moving mechanism to replace the first fulcrum Or the second fulcrum, and thereby the moving mechanism is converted from a dual track structure to a single track plus universal wheel structure; and in the standby position, the universal wheel is oriented away from the working surface Turn until the work Surface separating and further lowering the first track or the second track operatively coupled thereto until it abuts against the work surface, the third fulcrum being taken by the first fulcrum or the second fulcrum Alternatively, and thereby the moving mechanism is converted from a single track plus caster structure to a dual track structure.

10. The moving mechanism according to claim 7, wherein: in the working position, a center line of the universal wheel extends obliquely with respect to the work surface and with the first track or the first The length direction of the two tracks is substantially orthogonal; and/or in the standby position, the centerline of the universal wheel extends obliquely relative to the work surface and with the length of the first track or the second track The directions are roughly parallel.