WO2019218288A1

WO2019218288A1 - Balanced mobility device for disabled individuals

Info

Publication number: WO2019218288A1
Application number: PCT/CN2018/087192
Authority: WO
Inventors: 仲兆宏
Original assignee: Zhong Zhaohong
Priority date: 2018-05-17
Filing date: 2018-05-17
Publication date: 2019-11-21

Abstract

A balanced mobility device for disabled individuals, consisting mainly of four controllable rotating composite wheels (15) and a vertical vehicle body balancing frame. The composite wheels (15) comprise a traveling wheel (16), a belt (18), and a Mecanum wheel (17). The traveling wheel (16) is used for an ordinary road. A combination of the traveling wheel (16) and the belt (18) is used for an uneven road. A combination of the Mecanum wheel (17) and the belt (18) is used for stairs. The vehicle body frame maintains the balance of a vehicle body in a vertical direction by using a principle based on the varied interior angles of a parallelogram. The mobility device can be operated independently, and a suitable wheel combination of the composite wheels (15) and a corresponding inclination angle can be selected according to road conditions prior to travel. During travel, the mobility device is capable of maintaining balance automatically, and performing automatic adjustments based on the unevenness of a road, thereby ensuring stable and smooth travel; especially when climbing stairs. The invention is simple to operate, enables a quick direction change while climbing stairs, and accordingly achieves continuous, stable, and rapid stair climbing.

Description

Barrier-free traffic balance

Technical field

The invention patent relates to an obstacle-free traffic balancing vehicle adapted to various terrains such as a flat road, a stairway and a rugged road. The utility model is mainly applied to a sports machine such as a barrier-free traveling balance wheelchair, an off-road balance vehicle and a toy balance car, and the wheel set is transformed. And control the different tilt angles of the wheel set to adapt to various terrains to walk and crawl freely, especially when encountering stairs, the car can automatically control balance, slow down jitter and bumps, and realize 360-degree free walking in narrow staircase space. Quickly change the direction of climbing stairs.

Background technique

At present, the well-known barrier-free vehicles mainly include wheeled, flat track type and two-stage or three-section section crawler type. The wheeled walking process has large jitter and the stair grabbing ability is not strong; the flat track is often used by the combination of the track and the wheel, walking on the stairs or on the uneven road, walking on the flat ground, and between the flat and the stairs. Switching back and forth, and when crawling with a flat plate, it is necessary to solve the problem of large swing of the car body by means of manpower or balance auxiliary device, and the operation is complicated when the stair platform adjusts the direction of the seat climbing; the segmented crawler track is also used by the combination of the track and the wheel. It solves the problem of large swing of the flat track, but also needs to switch back and forth between the track and the wheel to solve the problem of inflexible walking and low walking efficiency, and adjust the delay of the seat climbing direction on the landing platform. Longer. Some of these vehicles require manual or auxiliary equipment. Some of them are not safe and comfortable to operate. Some need to switch back and forth between the tracks and the wheels to adjust the direction of the stairs. The operation is cumbersome and the crawling efficiency is low.

Summary of the invention

In order to overcome the deficiencies of the existing barrier-free traffic vehicles by means of external forces, insufficient operation, cumbersome operation, and low crawling efficiency, the present invention provides a barrier-free traffic balancing vehicle that can walk freely on the ground. Steering, and when walking up and down stairs or uneven roads, without the external manpower assistance, can automatically maintain balance, smooth and comfortable operation, especially on narrow roads or landings can easily and quickly change the direction of climbing stairs, eliminating the stairs On the need to transfer the direction of the stairs to the cumbersome operation.

The technical solution adopted by the patent of the present invention to solve the technical problem is that the barrier-free traffic balancing vehicle is composed of a vehicle body frame and four composite wheels.

The vehicle body frame is mainly composed of a composite wheel rotation control structure and a vehicle body balance control structure.

The rotation control structure is mainly composed of the main and auxiliary vertical rods and the upper and lower horizontal shafts. The inner side is the main vertical rod, the outer side is the auxiliary vertical rod, the upper horizontal axis is the fixed horizontal axis, and the lower horizontal axis is the intermediate installation differential. The differential horizontal axis. A rotary control gear and a differential tooth are mounted between the main vertical rods, and the axis is in the same plane as the vertical rod. A locking module is mounted on the rotary control gear, the locking module locking the angle of rotation of the differential relative to the vertical rod. An angle module and a spring ferrule are mounted on the outer casing of the differential, the angle module identifies the rotation angle of the differential relative to the horizontal plane, and the spring card sleeve opens two symmetrical slots and is fixedly mounted on the half shaft of the differential side Spring steel plate, the two ends of the spring steel plate are embedded in the notch of the spring ferrule.

The balance control structure consists of two equal-length connecting rods and a central vertical rod, and the upper and lower connecting rods are rotatably connected with the central vertical rod. The two ends of the two connecting rods are sleeved on the horizontal axis of the front and rear rotating control structure. The connecting rod can be rotated about the horizontal axis, and the connecting rod, the central vertical rod and the front and rear vertical rods form a parallelogram rotational connection. The center of the following connecting rod is the axial center, and the outer arc rack is fixedly mounted above the lower connecting rod, and the balance transmission gear is connected with the toothed rod on the central vertical rod above the outer arc rack, and the balanced transmission gear can be wound around the outer arc of the arc. The bar rotates. A balance module is installed on the center vertical rod, and the balance transmission gear is controlled according to the balance module, and the angle between the link and the center vertical rod is adjusted. According to the principle of parallelogram, when the balance module senses that the vertical rod is tilted and changes the angle between the connecting rod and the vertical rod, the vertical rod can be kept vertical, and the body frame is kept vertically balanced.

The composite wheel has a two-layer design with a track layer on one layer and a wheel stack on the other. The track layer is an isosceles triangle, the crawler drive gear is mounted at the top corner, and the track follower is mounted at the two bottom corners; the wheel set is composed of a Mecanum wheel and a walking wheel, and the Mecanum wheel is mounted on the top of the composite wheel, and the track is active. The gear is connected by two shaft teeth, the top of which protrudes from the crawler belt, the two sides are tangent to the base belt of the track, the walking wheel is installed at the bottom of the composite wheel, the crawler belt is protruded at the bottom of the walking wheel, and the two sides are tangent to the base belt of the track before walking. The wheel adopts the unpowered omnidirectional wheel, the rear wheel adopts the ordinary wheel, and as the walking power wheel, each composite wheel is driven by a separate power, and the rear wheel and the Mecanum wheel share the power with the track. The differential half shaft passes between the walking wheel and McNamm, and is fixedly mounted with the composite wheel.

When the balance car is actually used, the operation mode is first selected, and the differential is driven by the rotation control gear, and the differential half shaft drives the composite wheel to rotate, and according to different walking paths, the inclination angle of the appropriate wheel set and the composite wheel is selected. Lock the rotation control gear. Then, during the walking process, the balance car will automatically adjust, which will cause the left and right composite wheels to be unbalanced due to the uneven road or the wrong chair when climbing the stairs. Because the differential is locked by the rotation control gear, the spring steel plate is deformed. The left and right composite wheels will generate reverse rotation through the differential, fine-tune the inclination angle of the left and right composite wheels, so that the left and right composite wheels are kept at the same time; when the road tends to be flat, the left and right composite wheels are rotated by the spring force of the spring steel plate, so that the two wheels Restore to the original tilt angle. Since the rotary control gear and the differential transverse shaft are mounted on the vertical rod, the inclination angle of the composite wheel depends on the vertical condition of the balance vehicle vertical rod and the rotation angle of the rotation control gear and the reverse rotation angle of the left and right half shafts of the differential. The vertical condition is dynamically monitored by the balance module. When the balance car is tilted before and after, the balance gear is adjusted to keep the balance bar vertical balance. In this way, as long as the vertical rod is always vertical within the range of the tilt angle allowed by the balance car, the tilt angle of the composite wheel is mainly controlled by the rotary control gear, and the differential only fine-tunes the left and right composite wheels for the uneven road, so the composite wheel Basically walk at the same angle of inclination, the operation is relatively smooth and comfortable. Each composite wheel is driven by independent power. The walking wheel and track-driven balance car can move forward, backward and arbitrarily. The Mecanum wheel drive balance car can walk and steer 360 degrees.

The seat or the car is fixedly mounted with the central vertical rod of the body frame, and the utility model is combined into a barrier-free balance wheelchair or an off-road balance vehicle. The following is an example of an unobstructed and balanced wheelchair.

Ordinary road walking, select the walking wheel to drive the wheelchair, the composite wheel is tilted forward to a small angle, the walking wheel touches the ground, and the walking rear wheel drives the wheelchair to walk freely.

Obstructing the road to walk, choose the combination of the walking wheel and the crawler belt to drive the wheelchair. The composite wheel is tilted forward and at a large angle, crawling through the crawler and crossing the obstacle.

Rugged roads, select the track-driven wheelchair, the composite wheel rotates to the horizontal state, and keep the composite wheel free to rotate, the track is carried, and the four-wheel crawler drives the wheelchair to walk smoothly.

Stairs crawled, choose the combination of Mecanum wheel and track drive to drive the wheelchair, the composite wheel is inverted, and McNamm is on the ground.

Take the double running stairs as an example. When the wheelchair faces the stairs, turn the rotating control gear to make the composite wheel stand upside down. According to the angle module, the front side of the track is controlled to be consistent with the inclination of the stairs, and the rotation control gear is locked. The crawler drive is positive. To climb the building. After the entire wheelchair reaches the landing level, the wheelchair is not changed, the rotation control gear is rotated, and the composite wheel is tilted backwards. During the backward tilting of the composite wheel, when four McNamm wheels are on the ground, the Mecanum wheel drives the wheelchair. Lateral sliding, so that the wheelchair reaches the other side of the double-running stairs, when the rear side of the track is in line with the inclination of the stairs, the rotation control gear is locked, and the crawler-driven wheelchair is backed up. After the entire wheelchair reaches the landing level, the wheelchair is not changed, and the rotating control gear is rotated to make the composite wheel stand upside down. During the forward tilting of the composite wheel, when four McNamm wheels are on the ground, the Mecanum wheel drives the wheelchair. Lateral sliding, so that the wheelchair reaches the other side of the double-running stairs. When the front side of the track is in line with the inclination of the stairs, the rotation control gear is locked, and the crawler-driven wheelchair is climbing forward, repeating the previous upstairs action. Downstairs and the upper floor are the same. When the wheelchair is facing down the stairs, the composite wheel is tilted backwards and backwards. The crawler drives the wheelchair forward to the lower floor. After reaching the landing platform, the wheelchair is not changed, the composite wheel is tilted forward, and the wheelchair is sideways. Sliding, the crawler drives the wheelchair back downstairs. After reaching the landing platform, the wheelchair does not change direction. The composite wheel is tilted backwards and backwards, the wheelchair slides sideways, and the crawler drive wheelchair is going down the stairs, repeating the action of going down the front.

At the end of the climb, turn the rotary control gear so that the composite wheel is upright and the walking wheel is on the ground and walks freely on the ground.

The invention has the beneficial effects that walking between different roads such as flat land, rugged roads and stairs, as long as one operation mode is selected, there is no need to switch back and forth between each floor, thereby greatly reducing cumbersome operations and improving crawling efficiency; In the crawler crawler, the tilt angle of the control track is basically the same as the tilt angle of the stairs. At the same time, according to the road unevenness, the wheelchair is not correct, or the spiral staircase, the tilt angle of the left and right composite wheels is reversely adjusted to keep the four wheels on the ground and crawl. The process is stable and comfortable; the segmented track is used front and rear, without the need of external manpower or balance support device, the car body is always kept stable; the balance car automatically maintains vertical balance to ensure the balance of the wheelchair or the car; in narrow spaces such as stairs, It is necessary to tediously adjust the direction of the balance car. As long as the rotating composite wheel and the lateral sliding balance car can easily change the crawling direction of the car, the adjustment time required for changing the crawling direction is greatly saved, the climbing efficiency is high, the operation is simple and safe.

DRAWINGS

The invention will be further described below in conjunction with the accompanying drawings:

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a structural view showing the structure of a "罒" type of a barrier-free traffic balancing vehicle of the present invention.

2 is a structural view of the "work" type structure of the barrier-free traffic balancing vehicle of the present invention.

Figure 3 is a schematic view of the body frame of the barrier-free traffic balancing vehicle of the present invention.

4 is a schematic diagram of a parallelogram mechanism of the barrier-free traveling balance vehicle of the present invention.

Fig. 5 is a schematic view showing the working principle of the parallelogram mechanism of the barrier-free traveling balance vehicle of the present invention.

Figure 6 is a structural diagram of the balance structure of the barrier-free traffic balance vehicle of the present invention.

Figure 7 is a structural view of the composite wheel of the barrier-free traveling balance vehicle of the present invention.

Figure 8 is a schematic view showing the structure of the rotation control of the barrier-free traveling balance vehicle of the present invention.

Fig. 9 is a structural diagram showing the differential speed adjustment of the composite wheel of the barrier-free traffic balance vehicle of the present invention.

Fig. 10 is a view showing the rotation structure of the composite wheel of the barrier-free traveling balance vehicle of the present invention.

Figure 11 is a view showing the overall construction of the barrier-free traveling balance vehicle of the present invention.

Figure 12 is a schematic view of the application of the wheelchair accessible wheelchair of the present invention.

Figure 13 is a schematic view of the ordinary road walking of the barrier-free traffic balancing vehicle of the present invention.

Figure 14 is a schematic view of the road walking of the barrier-free traffic barrier vehicle of the present invention.

Fig. 15 is a schematic view showing the road travel of the unobstructed roadway of the present invention.

16-25 are schematic diagrams showing the stair crawling of the barrier-free traffic balancing vehicle of the present invention.

1. Main vertical rod; 2, auxiliary vertical rod; 3. Fixed horizontal axis; 4. Differential horizontal axis; 5. Differential; 6. Spring steel plate; 7. Spring ferrule; 8. Rotary control gear; Rotary drive shaft; 10, connecting rod; 11, with central vertical rod; 12, outer arc rack; 13, balanced transmission gear; 14, balance drive shaft; 15, composite wheel; 16, walking wheel; M wheel; 18, track; 19, travel motor; 20, balance motor; 21, rotating electric machine; 22, rotary reducer; 23, belt; 24, seat.

Detailed ways

In Fig. 1, the main vertical rod (1), the secondary vertical rod (2), the fixed horizontal axis (3), and the differential horizontal axis (4) are connected to form a "罒" type structure.

In Fig. 2, the center of the upper and lower links (10) is connected to the central vertical rod (11) by a rotating shaft to form a "work" type structure, so that the connecting rod (10) and the central vertical rod (11) can maintain an arbitrary angle. An arc outer rack (12) is fixedly mounted above the lower link (10), and the axis of the outer arc rack (12) coincides with the center of the lower link (10), above the outer rack (12) of the arc The center vertical rod (11) is mounted with a balance transmission gear (13) and a circular outer rack (12), and the balance transmission gear (13) is rotated to adjust the angle between the connecting rod (10) and the central vertical rod (11). .

In Fig. 3, the two ends of the upper and lower links (10) of the "work" type structure are respectively sleeved on the fixed horizontal axis (3) and the differential horizontal axis (4) of the "罒" type structure, and the connecting rod (10) can be Rotating around the fixed horizontal axis (3) and the differential horizontal axis (4), the main vertical rod (1), the central vertical rod (11) and the connecting rod (10) form a parallelogram connection.

In Fig. 4 and Fig. 5, the main vertical rod (1), the central vertical rod (11) and the connecting rod (10) form a parallelogram connection, according to the principle of parallelogram, when the main vertical rod (1), and the connecting rod (10) Tilting, changing the internal angles α to β of the parallelogram, can maintain the vertical balance of the main vertical rod (1) and the central vertical rod (11).

In FIG. 6, in conjunction with FIG. 3, FIG. 4, FIG. 5, when the center vertical rod (11) of the vehicle body frame is inclined, the balance motor (20) drives the balance transmission shaft (14) to rotate the balance transmission gear (13). The balance transmission gear (13) is rotated about the outer arc rack (12), and the angle of the connecting rod (10) and the center vertical rod (11) is adjusted to keep the center vertical rod (11) of the vehicle body frame vertical.

In Fig. 7, the composite wheel (15) has a two-layer structure, one layer being a track layer and the other layer being a wheel layer. The track layer is an isosceles triangle, the top corner is equipped with a crawler belt (18) drive gear, and the two bottom corners are mounted with a track (18) driven wheel; the wheel set is composed of a Mecanum wheel (17) and a walking wheel (16), Mike The NAMM wheel (17) is mounted on the top of the composite wheel (15), and the crawler belt (18) drive gear is driven by two shaft teeth. The top part protrudes from the track (18), and the two sides are tangent to the base belt of the track (18). The traveling wheel (16) is installed at the bottom of the composite wheel (15), and the crawler belt (18) protrudes from the bottom of the traveling wheel (16), the two sides are tangent to the base belt of the crawler belt (18), and the front wheel of the walking adopts an unpowered omnidirectional wheel. The rear wheel of the walking adopts an ordinary wheel and serves as a walking power wheel. The walking rear wheel and the Mecanum wheel (17) share power with the crawler belt (18), and the power is provided by a traveling motor (19) mounted on the main vertical rod (1). .

In Fig. 8, in conjunction with Fig. 1, a differential (5) is mounted on a differential transverse axis (4) between the main vertical rods (1), and a rotary control gear (8) is mounted between the main vertical rods (1). ) It is toothed with the differential (5), and its axis is in the same plane as the main vertical rod (1). An angle module and a spring ferrule (7) are mounted on the outer casing of the differential (5), the angle module identifies the rotation angle of the differential (5) relative to the main vertical rod (1), and the spring ferrule (7) opens two The symmetrical notches are fixedly mounted on the half shaft of one side of the differential (5), and the two ends of the spring steel plate (6) are respectively embedded in the notches of the spring ferrule (7). The rotation control gear (8) controls the rotation of the differential (5) to drive the differential horizontal axis (4) to rotate.

In Fig. 9, in combination with Fig. 8, the composite wheel (15) is mounted on both ends of the differential horizontal axis (4), and the differential (5) rotates to drive the left and right composite wheels (15) to rotate to a certain angle and lock. . When walking, the left and right composite wheels (15) are unbalanced because the road is not flat or the stairs are not upright. The differential (5) is locked, the spring steel plate (6) is deformed, and the left and right composite wheels (15) The reverse rotation is generated by the differential (5), and the inclination angle of the left and right composite wheels (15) is finely adjusted, so that the left and right composite wheels (15) are simultaneously landed. When the road tends to be flat, the left and right composite wheels (15) are rotated by the spring force of the spring steel plate (6), so that the two wheels return to the same inclination angle.

In Fig. 10, in conjunction with Fig. 8, a rotary control gear (8) is mounted between the main vertical bars (1) of the front and rear two rotary control structures, and is coupled to the differential (5) by a rotary reducer (22). Two rotary reducers (22) are connected to a rotary drive shaft (9) mounted on the central vertical rod (11) via a belt (23), and a gear shaft and a rotary drive shaft of the two rotary control gears (8) ) on the same plane and parallel to the plane formed by the two upper links (10). The rotary motor (21) drives the rotary drive shaft (9), and the belt (23) drives the rotary control gear (8) to drive the rotation of the composite wheel (15) through the differential (5).

In the embodiment of Fig. 11, in combination with Fig. 6, the "罒" type structure and the "work" type structure constitute a vehicle body frame, and the balance motor (20) controls the connecting rod (10) and the center vertical rod through the balance transmission gear (13) ( 11) The angle between the main frame of the car body frame (1) and the center vertical bar (11) is always balanced; in combination with Figure 8, Figure 9, Figure 10, according to the actual situation of the road, the rotating motor (21) Rotating the transmission shaft (9), the belt (23), the rotation control gear (8), and the differential (5) to drive the rotation of the composite wheel (15); in combination with Figures 7, 9, and 10, four composite wheels ( 15) Installed between the main vertical rod (1) and the auxiliary vertical rod (2) of the differential horizontal axis (4) of the body frame, and the four traveling motors (19) drive the composite wheel (15) to travel.

In Fig. 12, in conjunction with Fig. 11, the seat (24) is fixedly mounted to the center vertical rod (11) of the balance vehicle, and is configured to be unobstructed to balance the wheelchair.

Take the wheelchair-free and double-running stairs as an example: When the wheelchair faces the stairs, turn the rotary control gear (8) so that the composite wheel (15) is tilted upside down, and the front side of the track (18) is controlled according to the angle module. Consistent with the inclination of the stairs, the rotation control gear (8) is locked, and the crawler belt (18) drives the wheelchair to climb the building. After the entire wheelchair reaches the landing level, the wheelchair control direction is not changed, and the rotation control gear (8) is rotated to make the composite wheel (15) stand upside down, and during the backward tilting of the composite wheel (15), when four Mecanum wheels are turned (17) When landing, the Mecanum wheel (17) drives the wheelchair to slide sideways, so that the wheelchair reaches the other side of the double-running staircase. When the rear side of the track (18) is inclined with the stairs, the rotation control gear is locked. ), the track (18) drives the wheelchair back to the stairs. After the entire wheelchair reaches the landing level, the wheelchair control direction (8) is turned without changing the seat orientation of the wheelchair, so that the composite wheel (15) is tilted forward and forward, and during the forward tilting of the composite wheel (15), when four Mecanum wheels are turned forward (17) When landing, the Mecanum wheel (17) drives the wheelchair to slide sideways, so that the wheelchair reaches the other side of the double-running staircase. When the front side of the track (18) is inclined with the stairs, the rotation control gear is locked. ), the track (18) drives the wheelchair to climb the building forward, repeating the previous upstairs action. Downstairs is the same as going upstairs. When the wheelchair is facing down the stairs, the composite wheel (15) is tilted backwards and the track (18) drives the wheelchair forward to the lower floor. After reaching the landing platform, the wheelchair is not changed, the composite wheel ( 15) Inverted forward, the wheelchair slides sideways, and the track (18) drives the wheelchair back downstairs. After reaching the landing, the wheelchair is not changed. The composite wheel (15) is tilted backwards, the wheelchair slides sideways, and the track (18) Drive the wheelchair forward down the stairs and repeat the previous downstairs action.

At the end of the climb, turn the rotary control gear (8) so that the composite wheel (15) stands upright and the walking wheel (16) touches the ground and walks freely on the ground.

Claims

The utility model relates to an unobstructed traffic balancing vehicle, which is driven by electric power and adapts to terrain walking such as a flat road, a stairway and a rugged road. The utility model is characterized in that: the balance car is composed of a vehicle body frame and four rotatable rotating composite wheels.
The barrier-free traveling balance vehicle according to claim 1, wherein the vehicle body frame is composed of a vertical rod, a horizontal shaft, a connecting rod and a central vertical rod, and the vertical rod and the horizontal shaft are configured in a "罒" type structure, and the inner side is The main vertical rod, the outer side is the secondary vertical rod, the upper horizontal axis is the fixed horizontal axis, the lower horizontal axis is the differential horizontal axis of the intermediate mounted differential, the connecting rod and the central vertical rod are constructed into a "work" type structure, two upper and lower The connecting rods are of equal length and are pivotally connected at the center of the two connecting rods by a central vertical rod.
The barrier-free traveling balance vehicle according to claim 2, wherein the vehicle body frame is constructed by two front and rear "罒" type structures and two left and right "work" type structures, and the "work" type structure has two upper and lower connecting rods. The two ends are sleeved on two horizontal axes of the front and rear "罒" type structure, the connecting rod can be rotated about the horizontal axis, and the vertical rod forms a parallelogram rotation connection with the connecting rod and the central vertical rod.
The barrier-free traveling balance vehicle according to claim 3, wherein: the arc outer rack is fixedly mounted above the connecting rod under the "work" type structure, and the axis of the outer arc rack overlaps with the center of the lower link. The balance transmission gear and the outer arc rack of the arc are mounted on the central vertical rod, and the balance transmission gear can rotate around the fixed outer arc rack to control the angle between the connecting rod and the central vertical rod.
The barrier-free traveling balance vehicle according to claim 4, wherein a balance module is installed on the central vertical rod, and when the central vertical rod is tilted forward and backward, the balance transmission gear is dynamically adjusted, and the control link and the central vertical rod are Angled, keeping the center vertical bar vertical.
The barrier-free traveling balance vehicle according to claim 1, wherein the composite wheel adopts a two-layer structure, one layer is a crawler layer, and the other layer is a wheel set layer. The track layer is an isosceles triangle, the crawler drive gear is mounted at the top corner, and the track follower is mounted at the two bottom corners; the wheel set is composed of a Mecanum wheel and a walking wheel, and the Mecanum wheel is mounted on the top of the composite wheel, and the track is active. The gear is connected by two shaft teeth, the top of which protrudes from the crawler belt, the two sides are tangent to the base belt of the track, the walking wheel is installed at the bottom of the composite wheel, the crawler belt is protruded at the bottom of the walking wheel, and the two sides are tangent to the base belt of the track before walking. The wheel adopts an unpowered omnidirectional wheel, the rear wheel adopts an ordinary wheel, and serves as a walking power wheel, and the rear wheel and the Mecanum wheel share power with the track.
The barrier-free traveling balance vehicle according to claim 6, wherein the differential horizontal axis passes between the traveling wheel and the Mecanum wheel, and the composite wheel is fixedly mounted on the differential horizontal axis between the main and auxiliary vertical rods. The rotary control gear and the differential gear are connected between the main vertical rods, the axial center and the vertical rod are in the same plane, and the rotary control gear drives the two composite wheels to rotate through the differential.
The barrier-free traveling balance vehicle according to claim 7, wherein the rotation control gear is provided with a locking module, and the locking module locks the rotation angle of the differential with respect to the vertical rod, and installs an angle on the outer casing of the differential. The module and the spring ferrule, the angle module identifies the rotation angle of the differential relative to the horizontal plane, the spring card sleeve opens two symmetrical slots, and the spring steel plate is fixedly mounted on the half shaft of the differential side, and the two ends of the spring steel plate are embedded Into the notch of the spring ferrule.
The barrier-free traveling balance vehicle according to claim 7, wherein the vehicle body frame is mounted with four composite wheels of the same posture, and the four composite wheels rotate synchronously in the same direction, and each of the composite wheels is independently driven, and can be driven at any speed. Any steering is driven by the track, the walking wheel or the Mecanum wheel to drive the balance car.