WO2019041642A1 - 爬楼行走机构及具有该机构的平衡车 - Google Patents

爬楼行走机构及具有该机构的平衡车 Download PDF

Info

Publication number
WO2019041642A1
WO2019041642A1 PCT/CN2017/116340 CN2017116340W WO2019041642A1 WO 2019041642 A1 WO2019041642 A1 WO 2019041642A1 CN 2017116340 W CN2017116340 W CN 2017116340W WO 2019041642 A1 WO2019041642 A1 WO 2019041642A1
Authority
WO
WIPO (PCT)
Prior art keywords
climbing
wheel
axle
main
main load
Prior art date
Application number
PCT/CN2017/116340
Other languages
English (en)
French (fr)
Inventor
张戬杰
Original Assignee
上海岭先机器人科技股份有限公司
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 上海岭先机器人科技股份有限公司 filed Critical 上海岭先机器人科技股份有限公司
Publication of WO2019041642A1 publication Critical patent/WO2019041642A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Definitions

  • the present invention relates to the field of mobile device technologies, and in particular, to a climbing walking mechanism and a balancing vehicle having the same.
  • the wheel As an efficient carrying tool, the wheel has been widely used in daily life. However, it is very difficult to achieve a stairway with a moving device with wheels, especially a continuous and fast stair structure.
  • the technical problem solved by the present invention is that the existing mobile device with wheels has difficulty in going up the stairs.
  • the technical solution of the present invention provides a climbing walking mechanism, wherein
  • a walking portion comprising a main carrying wheel, a main carrying wheel axle, a frame and a driving device, wherein the main carrying wheel and the driving device are respectively fixed at two ends of the main carrying wheel axle, and the frame passes the main carrying wheel a bearing is mounted on the main load wheel axle;
  • a climbing portion comprising a climbing axle, a climbing wheel axle and a plurality of rollers, the climbing axle being mounted in the main load wheel axle by a climbing wheel bearing, the climbing wheel frame being fixed to the climbing axle, and the roller mounting On the climbing wheel frame;
  • the driving device controls the main carrier wheel by driving the main carrier wheel axle to rotate Rotating, a clutch device is mounted between the climbing wheel frame and the main load wheel axle, and the climbing wheel frame is coupled or separated from the main load wheel axle by the clutch device.
  • the main load wheel axle has a shoulder near an end of the climbing wheel frame, and the clutch device contacts or separates from the shoulder.
  • the driving device comprises a stator and a rotor, and the rotor is mounted with the main carrier wheel axle and drives the main carrier wheel axle to rotate.
  • the clutch device comprises a clutch member and a clutch plate, and the clutch plate is mounted on the climbing wheel frame by the clutch member.
  • the climbing wheel frame is oppositely coupled to the main carrier wheel axle, and the driving device drives the climbing wheel frame and the main bearing wheel axle Rotate together, climb the floor walking mechanism to climb mode;
  • the climbing wheel frame When the clutch piece is separated from the main load wheel axle, the climbing wheel frame is relatively separated from the main load wheel axle, the driving device drives the main load wheel axle to rotate, and the climbing wheel frame stops rotating, The climbing walking mechanism performs a flat walking mode.
  • a plurality of extension rods are uniformly disposed in a circumferential direction of the climbing wheel frame, and each of the extension rods is detachably mounted on the extension rod.
  • a diameter of a circle formed by the plurality of rollers around the climbing wheel frame is larger than a diameter of the main load bearing wheel.
  • the driving device is connected to an external power source.
  • the technical solution of the present invention further provides a balance vehicle having the climbing walking mechanism of any one of the above, wherein at least two of the climbing walking mechanism and the vehicle body are included, and the bottom of the vehicle body is two One side of the stair walking mechanism is installed on the side.
  • the technical solution of the invention increases the structure of the climbing portion on the common wheel walking structure, so that the walking structure has the function of climbing the stairs, so that the ability to climb the stairs when climbing the stairs is significantly enhanced; the running parts are more than the common climbing device. Less, only the drive device, the main load
  • the climbing stair can be realized by the wheel and the climbing wheel frame, the structure is simple, the weight is lighter, the use process is more energy-saving, and the manufacturing cost is low.
  • Figure 1 is a perspective view of a climbing walk mechanism in a first embodiment of the present invention
  • Figure 2 is a cross-sectional view showing a climbing walk mechanism of the first embodiment of the present invention
  • Figure 3 is a perspective view of a balance vehicle in a first embodiment of the present invention.
  • FIG. 4 is a schematic view showing the state of the climbing walking mechanism and the ground when walking on the ground in the first embodiment of the present invention
  • FIG. 5 is a schematic view showing the state of the landing gear walking mechanism and the ground in the first embodiment of the present invention
  • FIG. 6 is a schematic structural view showing a state in which a clutch piece and a main load wheel axle are coupled and separated in a first embodiment of the present invention
  • FIG. 12 are schematic diagrams showing the working steps of the climbing walking mechanism in the first embodiment of the present invention.
  • Figure 13 is a schematic structural view of a climbing walk mechanism in a second embodiment of the present invention.
  • Figure 14 is a schematic view showing the structure of a climbing walk mechanism in a third embodiment of the present invention.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or connected integrally; may be mechanical connection or electrical connection; may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • installation shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise.
  • , or connected integrally may be mechanical connection or electrical connection; may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the traveling portion includes a main load bearing wheel 11, a main load wheel axle 12, a frame 13 and a driving device 14.
  • the main load bearing wheel 11 and the driving device 14 are respectively fixed at two ends of the main load bearing wheel axle 12, and the frame 13 passes the main load bearing wheel.
  • the bearing 15 is mounted on the main load wheel axle 12;
  • the climbing portion includes a climbing axle 21, a climbing wheel frame 22, and a plurality of rollers 23 mounted in the main carrier wheel axle 12 by a climbing wheel bearing 24, the climbing wheel carrier 22 being fixed to the climbing axle 21, and the plurality of rollers 23 being mounted on Climbing the wheel carrier 22;
  • the driving device 14 controls the rotation of the main carrier wheel 11 by driving the main carrier wheel axle 12 to rotate, and the clutch device 3 is mounted between the climbing wheel carrier 22 and the main carrier wheel axle 12, and the climbing wheel carrier 22 passes through the clutch device 3 and the main carrier wheel axle. 12 combined or separated.
  • the main load wheel axle 12 has a shoulder 121 near one end of the climbing wheel frame 22, and the clutch device 3 is in contact with or separated from the shoulder 121.
  • the drive unit 14 includes a stator 142 and a rotor 141 that is mounted with the main load wheel axle 12 and drives the main load wheel axle 12 to rotate.
  • the clutch device 3 includes a clutch member 31 and a clutch plate 32, and the clutch plate 32 is mounted on the climbing wheel frame 22 via the clutch member 31.
  • the driving device 14 drives the climbing wheel frame 22 to rotate together with the main load wheel axle 12, and the climbing walking mechanism 100 performs a climbing mode;
  • the clutch plate 32 is separated from the main carrier wheel axle 12, the climbing wheel carrier 22 is The main load wheel axle 12 is relatively separated, the drive device 14 drives the main load wheel axle 12 to rotate, the climb wheel carrier 22 stops rotating, and the climb walking mechanism 100 performs a flat walking mode.
  • a plurality of extension rods 221 are evenly disposed in the circumferential direction of the climbing wheel frame 22, and a roller 23 is detachably mounted on each of the extension rods 221.
  • the diameter of the circle formed by the plurality of rollers 23 around the climbing wheel frame 22 is larger than the diameter of the main load bearing wheel 11.
  • the driving device 14 is connected to an external power source (not shown), and the power source may be a power source, a motor, a hydraulic motor, or the like.
  • the technical solution of the present invention further provides a balance vehicle having a climbing walking mechanism, wherein at least two climbing walking mechanism 100 and a vehicle body 4 are installed, and a climbing walking mechanism is respectively installed on two sides of the bottom of the vehicle body 4. 100.
  • the body 4 further includes a footrest 41 and a handle 42.
  • the climbing wheel structure of the present invention comprises a novel wheeled traveling mechanism composed of a main carrying wheel and a climbing wheel, through the clutch device 3 and the main carrying wheel 11 (more specifically, the main Carrying the wheel axle 12) connection, if necessary, can freely switch whether to use the climbing mode.
  • the sensor on the running mechanism detects the signal and sends a signal.
  • the control system controls the clutch device 3 to be combined with the main load bearing wheel 11 (as shown in the left diagram of FIG.
  • the climbing wheels 22, 23 and the main load bearing wheel 11 work together; when walking on the ground, the clutch device 3 and the main load
  • the wheel 11 is separated (as shown in the right figure of Fig. 6), only the main load wheel 11 output (as shown in Fig. 4), the climbing mode and the walking mode are switched rapidly; only one wheel is used to walk under the parking condition
  • the organization can also stand stably (as shown in Figure 5).
  • the balance vehicle constructed with the climbing walk mechanism and the robot device with the balance vehicle as the mobile platform can be applied.
  • the wheeled traveling mechanism of the present invention is mainly composed of a small frame 13, a main carrying wheel 11, a climbing wheel 22, 23, and a driving device 14.
  • the small frame 13 is a trolley body connected to the vehicle body 4 (as shown in FIG. 3).
  • the main carrier wheel 11 directly contacts the ground 200, and is responsible for carrying the weight of the vehicle body transmitted through the small frame 13, and the climbing wheel is mainly the carrier wheel 11.
  • the auxiliary structure acts to extend the equivalent wheel radius of the running mechanism to improve its ability to pass the stair steps, and the driving device 14 is responsible for driving the traveling mechanism.
  • the main load-bearing wheel axle 12 is connected to the small frame 13 via a main load-bearing wheel bearing 15, and the main load-bearing wheel axle 12 is rotatable about the main load-bearing wheel bearing 15; the main load-bearing wheel 11 is fixed on the main load-bearing wheel axle 12, and rotates with the axle;
  • the load-bearing wheel axle 12 is a hollow structure in which a climbing axle 21 is disposed.
  • the climbing axle 21 is mounted in the main load-bearing wheel axle 12 by a climbing wheel bearing 24, coaxial with the primary load-bearing wheel axle 12, and the climbing axle 21 can be wound around the primary load-bearing axle 12 is rotated; the climbing wheel frame 22 is fixed to the end of the climbing wheel axle 21 and has a disk shape with a plurality of extending rods 221.
  • 1 and 2 show the form of three extension rods 221, in actual application, the number may not be three, the more the number of extension rods 221, the smaller the curvature change during climbing, the smoother the climbing process, and The corresponding climb ability is weaker.
  • a roller 23 is attached, which is fixed to the end of the extension rod 221 of the climbing wheel carrier 22, and may be cylindrical or other shape for increasing the grip; climbing the wheel carrier 22, A plurality of clutch devices 3 are mounted, and the clutch device 3 is fixed to the climbing wheel frame 22, and rotates with the climbing wheel frame 22, and the case where four clutch devices 3 are included in FIGS. 1 and 2; the clutch device 3 includes the clutch member 31.
  • the clutch member 32 is coupled to the clutch member 32.
  • the clutch member 32 is axially movable under the driving of the clutch member 31 and can be respectively engaged with the main carrier wheel axle 12 or the climbing wheel carrier 22.
  • the climbing wheel frame 22 can be rotated together with the main load wheel axle 12; when the clutch plate 32 is attached to the climbing wheel frame 22 When the clutch plate 32 is disengaged from the main carrier wheel axle 12, the climbing wheel carrier 22 can be freely rotated; the other end of the main carrier wheel axle 12 is connected to the driving device 14; the driving device 14 can be decomposed into the driving device stator 142 and the driving device.
  • the driving device rotor 141 is coaxial with the driving device stator 142, and can rotate and output torque; the driving device stator 142 is fixed to the small frame 13, and the driving device rotor 141 is fixed to the main carrying wheel shaft 12, Therefore, the main load bearing wheel axle 12 can be rotated relative to the small frame 13 and output torque according to a certain principle under the driving of the driving device 14.
  • the traveling mechanism in this embodiment has three typical working conditions, namely: flat walking working condition, climbing working condition and parking working condition, and working under each working condition.
  • the principle is expressed as follows:
  • the clutch piece 32 When walking on the ground, the clutch piece 32 is engaged with the climbing wheel frame 22, and the climbing wheel is in a free state. Since the center of gravity of the climbing wheel is lower, the climbing wheel is necessarily in the position shown in FIG. 7 or FIG. During the movement, the main load bearing wheel 11 rotates, and the climbing wheel carrier 22 remains in the position shown in the figure because it does not have a relationship with the driving device 14, and the traveling mechanism moves in the plane under the driving of the main load bearing wheel 11 without climbing.
  • the clutch plate 32 When climbing the building, the clutch plate 32 is engaged with the main load wheel axle 12, and the climbing mechanism rotates together with the main load wheel axle 12.
  • the starting position of the climb is as shown in Fig. 7.
  • the climbing roller 23 is placed against the stair 300, and the main load bearing wheel 11 is in contact with the ground 200.
  • the center of gravity of the vehicle falls between the ground carrying line of the main load bearing wheel 11 and the projection line of the roller 23. .
  • the ascending stage of the climb is as shown in Fig. 8.
  • the climbing roller 23 hits the ground, and the main wheel 11 is pushed forward to roll upward.
  • the center of gravity position is moved forward and falls before and after the projection of the climbing roller 23 on the ground (in When the ground is projected, the car climbs, otherwise the car descends.)
  • the highest position of the lifting phase is shown in Figure 9. At this time, the position of the center of gravity coincides with the previous stage.
  • the main load-bearing wheel 11 reaches the highest level. If the main load-bearing wheel 11 can be stepped up before reaching this state, the climb of the step is completed, and if not, the next stage is entered, as shown in Fig. 10, at this time, the climb roller 23 Clamping the ground, driving the walking mechanism to climb upwards, the center of gravity still needs to fall on the projection of the roller 23 on the ground or before, the walking mechanism can climb the stairs.
  • the clutch piece 32 can be attached to the climbing wheel frame 22, the main carrier wheel 11 can be driven separately, and the relative position of the traveling mechanism and the step can be adjusted to make the relative position reach a suitable position. .
  • the so-called parking condition that is, the traveling mechanism stops the vehicle.
  • the clutch piece 32 is engaged with the main load wheel axle 12, and the climbing wheel is relatively stationary with the main load wheel axle 12. Since the drive device 14 does not move, the main load wheel axle 12 does not move relative to the small frame 13.
  • the center of gravity of the cart falls between the main load bearing wheel 11 and the roller 23 between the ground projection positions, and the trolley remains stationary.
  • the output shaft of the drive unit 14 is a hollow shaft through which the main load wheel axle 12 passes.
  • the drive device 14 can be, but is not limited to, a direct drive motor, a hydraulic motor, a pneumatic motor, a motor with various types of reduction gearboxes, a motor, and the like.
  • the roller 23 used is a cylindrical roller and is the easiest to process.
  • the technical solution of the present invention increases the structure of the climbing portion on the common wheel walking structure, so that the walking structure has the function of climbing the stairs, so that the ability to climb the stairs when climbing the stairs is significantly enhanced; the running parts are more common than the common ones.
  • the structure of the climbing walk mechanism in this embodiment is basically the same as that of the first embodiment.
  • the output shaft of the driving device 14 is a solid shaft, and the main load wheel axle 12 is sleeved on the outer side of the driving device 14.
  • the drive device 14 can be, but is not limited to, a direct drive motor, a hydraulic motor, a pneumatic motor, a motor with various types of reduction gearboxes, a motor, and the like.
  • the roller 23' in this embodiment is a non-cylindrical roller, and when the shape of the roller is designed, there is no impact during the climbing process.
  • the structure of the climbing walk mechanism in this embodiment is basically the same as that of the first embodiment.
  • the output shaft of the driving device 14 is a solid shaft, and the main load wheel axle 12 is sleeved on the outer side of the driving device 14 .
  • the drive device 14 can be, but is not limited to, a direct drive motor, a hydraulic motor, a pneumatic motor, a motor with various types of reduction gearboxes, a motor, and the like.
  • the only difference is that there are five extension rods 221 and rollers 23" on the climbing wheel frame 22 in this embodiment, and the traveling mechanism is more stable during the climbing process.

Landscapes

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

Abstract

一种爬楼行走机构及具有该机构的平衡车，包括行走部和爬升部，主承载车轮（11）、驱动装置（14）分别固定于主承载车轮轴（12）的两端，爬升轮架（22）固定于爬升轮轴（21）上，若干辊子（23）安装于爬升轮架（22）上；驱动装置（14）通过驱动主承载车轮轴（12）旋转从而控制主承载车轮（11）转动，爬升轮架（22）与主承载车轮轴（12）之间安装有离合装置（3），爬升轮架（22）通过离合装置（3）与主承载车轮轴（12）结合或分离；通过在普通车轮行走结构上增加了爬升部结构，使得行走结构具有爬升楼梯的功能，令其在爬升楼梯时的翻越台阶能力得到显著的增强；运行部件相较于常见爬升装置更少，只需要驱动装置（14）、主承载车轮（11）以及爬升轮架（22）即可实现爬升楼梯，结构简单，重量更轻，使用过程中更节能，制造成本低。

Description

爬楼行走机构及具有该机构的平衡车 技术领域
本发明涉及移动装置技术领域，尤其是涉及一种爬楼行走机构及具有该机构的平衡车。
背景技术
轮子作为一种高效的承载工具，在日常生活中得到了广泛的应用。然而，如果需要具有车轮的移动装置上楼梯，尤其是连续快速的楼梯结构时，却非常难以实现。
发明内容
本发明解决的技术问题是现有的具有车轮的移动装置在上楼梯时存在困难。
为解决上述的技术问题，本发明技术方案提供一种爬楼行走机构，其中，包括，
行走部，包括主承载车轮、主承载车轮轴、车架以及驱动装置，所述主承载车轮、所述驱动装置分别固定于所述主承载车轮轴的两端，所述车架通过主承载车轮轴承安装于所述主承载车轮轴上；
爬升部，包括爬升轮轴、爬升轮架以及若干辊子，所述爬升轮轴通过爬升轮轴承安装于所述主承载车轮轴中，所述爬升轮架固定于所述爬升轮轴上，若干所述辊子安装于所述爬升轮架上；
所述驱动装置通过驱动所述主承载车轮轴旋转从而控制所述主承载车轮 转动，所述爬升轮架与所述主承载车轮轴之间安装有离合装置，所述爬升轮架通过所述离合装置与所述主承载车轮轴结合或分离。
可选的，所述主承载车轮轴靠近所述爬升轮架的一端具有轴肩，所述离合装置与所述轴肩接触或分离。
可选的，所述驱动装置包括定子和转子，所述转子与所述主承载车轮轴安装并驱动所述主承载车轮轴旋转。
可选的，所述离合装置包括离合件和离合片，所述离合片通过所述离合件安装于所述爬升轮架上。
可选的，当所述离合片与所述主承载车轮轴接触，所述爬升轮架与所述主承载车轮轴相对结合，所述驱动装置驱动所述爬升轮架与所述主承载车轮轴一起转动，爬楼行走机构进行爬升模式；
当所述离合片与所述主承载车轮轴分离，所述爬升轮架与所述主承载车轮轴相对分离，所述驱动装置驱动所述主承载车轮轴转动，所述爬升轮架停止转动，爬楼行走机构进行平地行走模式。
可选的，所述爬升轮架的圆周方向上均匀设置有若干延伸杆，每一所述延伸杆上可拆卸地安装一所述辊子。
可选的，若干所述辊子环绕所述爬升轮架所形成的圆的直径大于所述主承载车轮的直径。
可选的，所述驱动装置连接外接动力源。
为解决上述的技术问题，本发明技术方案还提供一种具有上述任一所述的爬楼行走机构的平衡车，其中，包括至少两个所述爬楼行走机构以及车身，所述车身底部两侧分别安装一所述爬楼行走机构。
本发明技术方案的有益效果是：
本发明技术方案通过在普通车轮行走结构上增加了爬升部结构，使得行走结构具有爬升楼梯的功能，令其在爬升楼梯时的翻越台阶能力得到显著的增强；运行部件相较于常见爬升装置更少，只需要驱动装置、主承载 车轮以及爬升轮架即可实现爬升楼梯，结构简单，重量更轻，使用过程中更节能，制造成本低。
附图说明
图1为本发明第一实施例中爬楼行走机构的立体图；
图2为本发明第一实施例中爬楼行走机构的剖视图；
图3为本发明第一实施例中平衡车的立体图；
图4为本发明第一实施例中爬楼行走机构平地行走时与地面的状态示意图；
图5为本发明第一实施例中爬楼行走机构驻车时与地面的状态示意图；
图6为本发明第一实施例中离合片与主承载车轮轴结合与分离状态时的结构示意图；
图7～图12为本发明第一实施例中爬楼行走机构的工作流程步骤示意图；
图13为本发明第二实施例中爬楼行走机构的结构示意图；
图14为本发明第三实施例中爬楼行走机构的结构示意图。
具体实施方式：
下面结合附图和具体实施例对本发明作进一步说明，但不作为本发明的限定。
实施例一
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所 指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
请参见图1和图2所示，示出了一种实施例的爬楼行走装置，其中，包括，
行走部，包括主承载车轮11、主承载车轮轴12、车架13以及驱动装置14，主承载车轮11、驱动装置14分别固定于主承载车轮轴12的两端，车架13通过主承载车轮轴承15安装于主承载车轮轴12上；
爬升部，包括爬升轮轴21、爬升轮架22以及若干辊子23，爬升轮轴21通过爬升轮轴承24安装于主承载车轮轴12中，爬升轮架22固定于爬升轮轴21上，若干辊子23安装于爬升轮架22上；
驱动装置14通过驱动主承载车轮轴12旋转从而控制主承载车轮11转动，爬升轮架22与主承载车轮轴12之间安装有离合装置3，爬升轮架22通过离合装置3与主承载车轮轴12结合或分离。
本实施例中，主承载车轮轴12靠近爬升轮架22的一端具有轴肩121，离合装置3与轴肩121接触或分离。
本实施例中，驱动装置14包括定子142和转子141，转子141与主承载车轮轴12安装并驱动主承载车轮轴12旋转。
本实施例中，离合装置3包括离合件31和离合片32，离合片32通过离合件31安装于爬升轮架22上。
本实施例中，当离合片32与主承载车轮轴12接触，爬升轮架22与主承 载车轮轴12相对结合，驱动装置14驱动爬升轮架22与主承载车轮轴12一起转动，爬楼行走机构100进行爬升模式；当离合片32与主承载车轮轴12分离，爬升轮架22与主承载车轮轴12相对分离，驱动装置14驱动主承载车轮轴12转动，爬升轮架22停止转动，爬楼行走机构100进行平地行走模式。
本实施例中，爬升轮架22的圆周方向上均匀设置有若干延伸杆221，每一延伸杆221上可拆卸地安装一辊子23。
本实施例中，若干辊子23环绕爬升轮架22所形成的圆的直径大于主承载车轮11的直径。
本实施例中，驱动装置14连接外接动力源(未示出)，动力源可以是电源、电机、液压马达等。
参见图3所示，本发明技术方案还提供一种具有爬楼行走机构的平衡车，其中，包括至少两个爬楼行走机构100以及车身4，车身4底部两侧分别安装一爬楼行走机构100，车身4还包括有脚踏板41和手柄42。
通过以下说明进一步的认识本发明的特性及功能。
请参见图4、图5和图6所示，本发明中爬升轮结构形式包括主承载轮和爬升轮组成的新型轮式行走机构，通过离合装置3与主承载车轮11(更具体的是主承载车轮轴12)连接，随具体需要，可以自由切换是否使用爬升模式，采用爬升模式时，当行走机构接触到楼梯的第一层台阶时，行走机构上的感应器检测到信号，将信号发送至控制系统，控制系统控制离合装置3与主承载车轮11结合(如图6中左图所示)，爬升轮22、23和主承载车轮11共同出力；平地行走时，离合装置3与主承载车轮11分离(如图6中右图所示)，仅主承载车轮11出力(如图4所示)，爬升模式和平地行走模式间切换迅速；仅靠一个车轮，在驻车工况下行走机构也能稳定站立(如图5所示)。
本实施例中可应用于具有该爬楼行走机构构建的平衡车，以及以平衡车为移动平台的机器人设备。
本实施例中爬楼行走机构的机构组成说明如下：
如图1和图2所示，本发明中的轮式行走机构主要由小车架13，主承载车轮11，爬升车轮22、23，驱动装置14组成。小车架13为小车主体，连接到车身4上(如图3所示)，主承载车轮11直接接触地面200，负责承载通过小车架13传递的车身重量，爬升车轮为主承载车轮11的附属结构，作用为延伸行走机构的等效车轮半径，提高其通过楼梯台阶的能力，驱动装置14则负责驱动行走机构运动。
行走机构具体的内部结构如图1和图2所示，介绍如下：
主承载车轮轴12通过主承载车轮轴承15与小车架13相连，主承载车轮轴12可以绕主承载车轮轴承15转动；主承载车轮11固定在主承载车轮轴12上，随轮轴转动；主承载车轮轴12为中空结构，其中布置爬升轮轴21，爬升轮轴21通过爬升轮轴承24安装在主承载车轮轴12内，与主承载车轮轴12同轴，且爬升轮轴21可以绕主承载车轮轴12转动；爬升车轮架22固定在爬升车轮轴21端部，为圆盘状，带有多根延伸杆221的形状。图1和图2示中给出了三根延伸杆221的形式，实际应用时，数目可以不为三，延伸杆221的根数越多，则爬升时曲率变化越小，爬升过程越平稳，而其对应的爬升能力越弱。
在爬升车轮架22的端部，安装有辊子23，其固定在爬升车轮架22延伸杆221的端部，可以为圆柱形或其他形状，作用为增大抓地力；爬升车轮架22上，还安装有若干个离合装置3，离合装置3固定在爬升车轮架22上，随爬升车轮架22转动，图1和图2中为包含有四个离合装置3的情况；离合装置3包括离合件31和离合片32，离合件31与离合片32连接，离合片32在离合件31的驱动下，可以沿着轴向运动，可以分别与主承载车轮轴12或爬升车轮架22贴合。
如图6所示，当离合片32与主承载车轮轴12贴合时，可以令爬升车轮架22与主承载车轮轴12一同转动；当离合片32与爬升车轮架22贴合 时，则离合片32与主承载车轮轴12脱开，爬升车轮架22可以自由转动；主承载车轮轴12的另一端则与驱动装置14连接；驱动装置14可以分解为驱动装置定子142和驱动装置转子141两个部分，驱动装置转子141与驱动装置定子142同轴，且可以相互转动且输出力矩；驱动装置定子142与小车架13固定，驱动装置转子141与主承载车轮轴12固定，因此，主承载车轮轴12可以在驱动装置14的驱动下，依据一定原则相对小车架13转动并输出扭矩。
请参见图7～图12所示，本实施例中的行走机构有三类典型工况，分别为：平地行走工况、爬楼工况和驻车工况，在每种工况下，其工作原理表述如下：
(a)平地行走工况
当平地行走时，离合片32与爬升车轮架22贴合，爬升车轮处于自由状态，由于爬升车轮重心靠下，因此爬升车轮必然处于图7或图4所示的位置。运动时，主承载车轮11转动，而爬升车轮架22由于不与驱动装置14发生关系，保持在图示位置不变，行走机构在主承载车轮11的驱动下在平面内移动，并不爬升。
(b)爬楼工况
当爬楼时，离合片32与主承载车轮轴12贴合，爬升机构随主承载车轮轴12一起转动。
爬升的起始位置如图7所示，爬升辊子23抵住楼梯300立面，主承载车轮11与地面200接触，整车重心落在主承载车轮11在地面投影线与辊子23投影线之间。
爬升的抬升阶段如图8所示，此时，爬升辊子23扒住地面，顶推主车轮11向前上滚动，此时，重心位置前移，落在爬升辊子23在地面的投影前后(在地面投影前时，则小车爬升，反之则小车下降).
抬升阶段的最高位置如图9所示，此时，重心位置与前一阶段一致， 主承载车轮11到达最高，若在到达此状态前主承载车轮11可以驶上台阶，则完成本级台阶的爬升，若不能，则进入下一个阶段，如图10所示，此时爬升辊子23扒住地面，带动行走机构向上爬升，此时的重心仍需落在辊子23在地面的投影上或之前，则行走机构可以爬上台阶.
如图11所示，为行走机构爬上了一级台阶后，准备爬升下一级台阶的状态；如图12所示，为行走机构爬上了所有台阶后的状态。
在爬升过程中，如果爬升车轮的位置不合适，则可以将离合片32与爬升车轮架22贴合，单独驱动主承载车轮11，调整行走机构与台阶的相对位置，使其相对位置达到合适位置。
(c)驻车工况
如图5所示，所谓驻车工况，即行走机构令车辆停止不动。此时，离合片32与主承载车轮轴12贴合，爬升车轮与主承载车轮轴12保持相对静止，由于驱动装置14之间不运动，则主承载车轮轴12相对小车架13不运动，小车重心落在主承载车轮11和辊子23在地面投影位置之间，小车保持不动。
驱动装置14的输出轴为空心轴，主承载车轮轴12从驱动装置14中间穿过。驱动装置14可以但不限于直驱电机、液压马达、气动马达、带各类减速箱的电机、马达等装置。采用的辊子23为圆柱形辊子，最容易加工。
综上，本发明技术方案通过在普通车轮行走结构上增加了爬升部结构，使得行走结构具有爬升楼梯的功能，令其在爬升楼梯时的翻越台阶能力得到显著的增强；运行部件相较于常见爬升装置更少，只需要驱动装置、主承载车轮以及爬升轮架即可实现爬升楼梯，结构简单，重量更轻，使用过程中更节能，制造成本低。
实施例二
参见图13所示，本实施例中的爬楼行走机构的结构与实施例一基本相同，其驱动装置14的输出轴为实心轴，主承载车轮轴12套在驱动装置14的外侧。驱动装置14可以但不限于直驱电机、液压马达、气动马达、带各类减速箱的电机、马达等装置。唯一不同之处在于，本实施例中的辊子23′为非圆柱形辊子，当辊子外形设计得当时，此时爬升过程中，不会出现冲击。
实施例三
参见图14所示，本实施例中的爬楼行走机构的结构与实施例一基本相同，其驱动装置14的输出轴为实心轴，主承载车轮轴12套在驱动装置14的外侧。驱动装置14可以但不限于直驱电机、液压马达、气动马达、带各类减速箱的电机、马达等装置。唯一不同之处在于，本实施例中的爬升车轮架22上的延伸杆221和辊子23″有五根，行走机构在爬楼过程中更加平稳。
以上仅为本发明较佳的实施例，并非因此限制本发明的实施方式及保护范围，对于本领域技术人员而言，应当能够意识到凡运用本发明说明书及图示内容所作出的等同替换和显而易见的变化所得到的方案，均应当包含在本发明的保护范围内。

Claims (9)

  1. 一种爬楼行走机构，其特征在于，包括：
    行走部，包括主承载车轮、主承载车轮轴、车架以及驱动装置，所述主承载车轮、所述驱动装置分别固定于所述主承载车轮轴的两端，所述车架通过主承载车轮轴承安装于所述主承载车轮轴上；
    爬升部，包括爬升轮轴、爬升轮架以及若干辊子，所述爬升轮轴通过爬升轮轴承安装于所述主承载车轮轴中，所述爬升轮架固定于所述爬升轮轴上，若干所述辊子安装于所述爬升轮架上；
    所述驱动装置通过驱动所述主承载车轮轴旋转从而控制所述主承载车轮转动，所述爬升轮架与所述主承载车轮轴之间安装有离合装置，所述爬升轮架通过所述离合装置与所述主承载车轮轴结合或分离。
  2. 根据权利要求1所述的爬楼行走机构，其特征在于，所述主承载车轮轴靠近所述爬升轮架的一端设有轴肩，所述离合装置与所述轴肩接触或分离。
  3. 根据权利要求1所述的爬楼行走机构，其特征在于，所述驱动装置包括定子和转子，所述转子与所述主承载车轮轴安装并驱动所述主承载车轮轴旋转。
  4. 根据权利要求1所述的爬楼行走机构，其特征在于，所述离合装置包括离合件和离合片，所述离合片通过所述离合件安装于所述爬升轮架上。
  5. 根据权利要求4所述的爬楼行走机构，其特征在于，
    当所述离合片与所述主承载车轮轴接触，所述爬升轮架与所述主承载车轮轴相对结合，所述驱动装置驱动所述爬升轮架与所述主承载车轮轴一起转动，爬楼行走机构进行爬升模式；
    当所述离合片与所述主承载车轮轴分离，所述爬升轮架与所述主承载车轮轴相对分离，所述驱动装置驱动所述主承载车轮轴转动，所述爬升轮架停 止转动，爬楼行走机构进入平地行走模式。
  6. 根据权利要求1所述的爬楼行走机构，其特征在于，所述爬升轮架的圆周方向上均匀设置有若干延伸杆，每一所述延伸杆上可拆卸地安装一所述辊子。
  7. 根据权利要求6所述的爬楼行走机构，其特征在于，若干所述辊子环绕所述爬升轮架所形成的圆的直径大于所述主承载车轮的直径。
  8. 根据权利要求1所述的爬楼行走机构，其特征在于，所述驱动装置连接外接动力源。
  9. 一种具有如权利要求1-8中任一所述的爬楼行走机构的平衡车，其特征在于，包括至少两个所述爬楼行走机构以及车身，所述车身底部两侧分别安装一所述爬楼行走机构。
PCT/CN2017/116340 2017-08-30 2017-12-15 爬楼行走机构及具有该机构的平衡车 WO2019041642A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710764447.XA CN107499406B (zh) 2017-08-30 2017-08-30 爬楼行走机构及具有该机构的平衡车
CN201710764447.X 2017-08-30

Publications (1)

Publication Number Publication Date
WO2019041642A1 true WO2019041642A1 (zh) 2019-03-07

Family

ID=60694326

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/116340 WO2019041642A1 (zh) 2017-08-30 2017-12-15 爬楼行走机构及具有该机构的平衡车

Country Status (2)

Country Link
CN (1) CN107499406B (zh)
WO (1) WO2019041642A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602406A (zh) * 2021-09-02 2021-11-05 齐鲁工业大学 一种面向山地梯子路的谐波齿轮式平衡运输车

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5701965A (en) * 1993-02-24 1997-12-30 Deka Products Limited Partnership Human transporter
JP2002362374A (ja) * 2001-06-01 2002-12-18 Shiro Yasuda 階段昇降車両
CN2686963Y (zh) * 2004-02-26 2005-03-23 陈正敖 多功能爬楼车
US20080265529A1 (en) * 2007-04-27 2008-10-30 Steven Kamara Foldable spider wheel for ascending and descending stairs
CN103932849A (zh) * 2014-04-25 2014-07-23 东北大学 一种欠驱动自适应式爬楼梯轮椅
CN205836847U (zh) * 2016-07-22 2016-12-28 常州工学院 一种新型爬楼手拉车
CN207225506U (zh) * 2017-08-30 2018-04-13 上海岭先机器人科技股份有限公司 爬楼行走机构及具有该机构的平衡车

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5701965A (en) * 1993-02-24 1997-12-30 Deka Products Limited Partnership Human transporter
JP2002362374A (ja) * 2001-06-01 2002-12-18 Shiro Yasuda 階段昇降車両
CN2686963Y (zh) * 2004-02-26 2005-03-23 陈正敖 多功能爬楼车
US20080265529A1 (en) * 2007-04-27 2008-10-30 Steven Kamara Foldable spider wheel for ascending and descending stairs
CN103932849A (zh) * 2014-04-25 2014-07-23 东北大学 一种欠驱动自适应式爬楼梯轮椅
CN205836847U (zh) * 2016-07-22 2016-12-28 常州工学院 一种新型爬楼手拉车
CN207225506U (zh) * 2017-08-30 2018-04-13 上海岭先机器人科技股份有限公司 爬楼行走机构及具有该机构的平衡车

Also Published As

Publication number Publication date
CN107499406B (zh) 2020-03-17
CN107499406A (zh) 2017-12-22

Similar Documents

Publication Publication Date Title
CN202345805U (zh) 一种星轮行星轮式楼梯平地两用搬运车
CN111000685B (zh) 智能啮合式爬楼轮椅
CN104382704A (zh) 可变轮式爬楼梯轮椅
WO2016078619A1 (zh) 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
CN202641747U (zh) 电动助力爬楼车
CN105748217A (zh) 基于行走轮摆动的双节四履带爬楼轮椅及上下楼方法
CN101432181A (zh) 上下楼梯的手推车
CN105434121A (zh) 一种电动爬楼轮椅
CN106218690A (zh) 爬楼堆高机器人
CN105946912A (zh) 便携式的装卸搬运一体化越障小车
JP2005335681A (ja) 走行装置
CN110143242B (zh) 搬运装置
WO2019041642A1 (zh) 爬楼行走机构及具有该机构的平衡车
CN105818849B (zh) 载重爬楼运输机
KR20170036299A (ko) 계단 및 언덕용 전동카트
CN102626359B (zh) 自助式可上下楼梯的电动轮椅
CN205971425U (zh) 爬楼堆高机器人
CN110435780B (zh) 一种轮履复合型可爬楼运货机
CN109367638B (zh) 一种上下楼搬运装置
CN111559686A (zh) 一种可沿楼梯扶手攀升的轨道式座椅电梯
CN104367425B (zh) 一种爬楼梯轻便轮椅
CN202821884U (zh) 自助式可上下楼梯的电动轮椅
CN207985061U (zh) 一种简易便捷式新型楼梯行走装置
CN110816699A (zh) 能变形自平衡的双电驱履带式多功能移动平台
CN207225506U (zh) 爬楼行走机构及具有该机构的平衡车

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: 17923514

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: 17923514

Country of ref document: EP

Kind code of ref document: A1