WO2020103158A1 - 行走代步车 - Google Patents

行走代步车

Info

Publication number
WO2020103158A1
WO2020103158A1 PCT/CN2018/117300 CN2018117300W WO2020103158A1 WO 2020103158 A1 WO2020103158 A1 WO 2020103158A1 CN 2018117300 W CN2018117300 W CN 2018117300W WO 2020103158 A1 WO2020103158 A1 WO 2020103158A1
Authority
WO
WIPO (PCT)
Prior art keywords
walking
frame
drive
rod
driving
Prior art date
Application number
PCT/CN2018/117300
Other languages
English (en)
French (fr)
Inventor
陆任行
Original Assignee
陆任行
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 陆任行 filed Critical 陆任行
Priority to PCT/CN2018/117300 priority Critical patent/WO2020103158A1/zh
Publication of WO2020103158A1 publication Critical patent/WO2020103158A1/zh

Links

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
    • B62D57/028—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 having wheels and mechanical legs
    • 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
    • B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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
    • B62K3/00—Bicycles

Definitions

  • the present application belongs to the technical field of carrying devices, and more specifically, relates to a walking scooter.
  • Scooters refer to vehicles and auxiliary tools for the purpose of mobility.
  • the scooter is only suitable for walking on flat ground or slopes, and does not have the functions of climbing stairs and crossing obstacles.
  • steps, stairs or ditches are often encountered, which greatly limits the scope of use of the scooter. Therefore, how to make the scooter have the functions of climbing and crossing obstacles has become an industry waiting. Solve technical problems.
  • the purpose of the present application is to provide a walking scooter, including but not limited to solving the technical problem that the scooter cannot climb stairs and cross obstacles.
  • This application provides a walking scooter, including:
  • At least two walking mechanisms are movably connected to the frame, and are arranged to drive the frame to translate and lift to overcome obstacles.
  • the walking mechanism includes:
  • a driving wheel set which is rotatably connected to the frame;
  • the walking assembly is connected with the vehicle frame and the driving wheel group, and is configured to drive the driving wheel group to drive the vehicle frame to lift.
  • the walking scooter includes two walking mechanisms disposed on opposite sides of the frame, and the walking scooter further includes:
  • the auxiliary wheel set is rotatably connected to the frame, and is located at three vertices of a triangle with the two walking mechanisms.
  • the driving wheel set includes:
  • the wheels are arranged around the outer periphery of the first driving member.
  • the walking component includes:
  • the support is set to resist the obstacle
  • a second drive member mounted on the first drive member, configured to drive the support member to rotate about the output shaft of the second drive member;
  • a transmission rod one end of the transmission rod is firmly connected to the output shaft of the second driving member, and the other end of the transmission rod is rotationally connected to the support member;
  • the connecting piece is tightly connected with the frame
  • a driven rod one end of the driven rod is rotatably connected to the supporting member, and the other end of the driven rod is rotatably connected to the connecting member;
  • a second connecting shaft connecting the supporting member and the driven rod A second connecting shaft connecting the supporting member and the driven rod
  • first connecting shaft, the second connecting shaft, and the third connecting shaft are parallel to the output shaft of the second driving member, and the central axis of the first connecting shaft and the second connecting shaft Is not on the same straight line.
  • the central axis of the output shaft of the second driving member and the central axis of the third connecting shaft are not on the same straight line on the same horizontal plane, and the central axis of the output shaft of the second driving member The distance from the central axis of the first connecting shaft is equal to the distance between the central axis of the second connecting shaft and the central axis of the third connecting shaft.
  • the walking assembly includes two support members and two follower rods spaced apart, two support members and two follower rods are located on the same side of the transmission rod , One of the support members is rotatably connected between the transmission rod and one of the driven rods, the other of the support members is rotatably connected between the two driven rods, and the connecting member is rotatably connected to Between the two driven rods.
  • the walking component includes:
  • a second drive member mounted on the frame, configured to drive the first drive member to rotate about the output shaft of the second drive member
  • a transmission rod one end of the transmission rod is firmly connected to the output shaft of the second driving member, and the other end of the transmission rod is connected to the wheel axle of the wheel.
  • the walking component includes:
  • a second driving member installed on the frame
  • a power transmission unit which is in drive connection with the second drive member, and is configured to drive the first drive member to rotate around the output shaft of the power transmission unit;
  • a transmission rod one end of the transmission rod is tightly connected to the output shaft of the power transmission unit, and the other end of the transmission rod is rotatably connected to the wheel axle of the wheel;
  • a connecting piece, one end of the connecting piece is tightly connected to the axle;
  • a driven rod, one end of the driven rod is rotationally connected to the output shaft of the second driving member, and the other end of the driven rod is rotationally connected to the other end of the connecting member;
  • the output shaft of the second driving member and the wheel shaft are parallel to the third connecting shaft.
  • the first driving member includes a stator
  • the second driving member is installed inside the stator
  • the first driving member includes a stator
  • the second driving member is installed beside the stator.
  • the walking scooter provided in this application adopts the cooperation of the walking mechanism and the frame, drives the frame to move through the driving wheel set, and drives the frame to lift up through the walking assembly, so as to overcome obstacles, thereby effectively solving the problem that the scooter cannot climb the stairs
  • the technical problems of overcoming obstacles have improved the user experience.
  • FIG. 1 is a perspective schematic view of a walking scooter provided in Example 1 of the present application.
  • Example 2 is a three-dimensional schematic diagram of a walking mechanism in a walking scooter provided in Example 1 of the present application;
  • FIG. 3 is a schematic diagram of the working state of the walking assembly in the walking mechanism provided in Example 2 of the present application;
  • FIG. 4 is a perspective schematic view of a walking scooter provided in Embodiment 3 of the present application.
  • FIG. 5 is a three-dimensional schematic diagram of a walking scooter provided in Embodiment 5 of the present application.
  • Example 6 is a perspective schematic view of a walking mechanism in a walking scooter provided in Example 6 of the present application;
  • Example 7 is a schematic front view of a walking mechanism in a walking scooter provided in Example 7 of this application;
  • Example 8 is a schematic left side view of a walking mechanism in a walking scooter provided in Example 7 of the present application.
  • Example 9 is a schematic front view of a walking scooter provided in Example 8 of the present application.
  • Example 10 is a schematic front view of a walking scooter provided in Example 9 of the present application.
  • Example 11 is a perspective schematic view of a walking mechanism in a walking scooter provided in Example 9 of the present application.
  • 1 walking scooter, 10—frame, 20—walking mechanism, 30—auxiliary wheel set, 40—telescopic rod, 21—driving wheel set, 22—walking assembly, 211—first driving part, 212—wheel, 221 -Support, 222-second drive, 223-transmission rod, 224-driven rod, 225-connector, 226-first connection shaft, 227-second connection shaft, 228-third connection shaft, 229- Power transmission unit, 2110-stator, 2120-wheel shaft, 2220-output shaft of the second driving member, 2290-output shaft of the power transmission unit.
  • the walking scooter 1 includes a frame 10 and two walking mechanisms 20, wherein the two walking mechanisms 20 are movably connected to opposite sides of the frame 10 for driving the frame 10 to translate Lifted to cross obstacles, and the walking mechanism 20 includes a driving wheel group 21 and a walking assembly 22, the driving wheel group 21 is rotatably connected to the frame 10, the walking assembly 22 is connected to the frame 10 and the driving wheel group 21 for The driving wheel group 21 is driven to raise the frame 10.
  • obstacles refer to steps, ridges, etc.
  • the driving wheel group 21 includes a first driving member 211 and a wheel 212, wherein the wheel 212 is looped around the outer periphery of the first driving member 211, and the first driving member 211 drives the wheel 212 to rotate around the first driving member 211 to drive the vehicle
  • the rack 10 translates; meanwhile, the walking assembly 22 includes a support member 221, a second driving member 222, a transmission rod 223, a driven rod 224, a connecting member 225, a first connecting shaft 226, a second connecting shaft 227, and a third connecting shaft 228 Among them, the supporting member 221 is used to resist the obstacle, the second driving member 222 is installed on the first driving member 211, for driving the supporting member 221 to rotate around the output shaft 2220 of the second driving member, and one end of the transmission rod 223 It is firmly connected with the output shaft 2220 of the second driving member, the other end of the transmission rod 223 is rotationally connected with the support member 221, the connection member 225 is firmly connected with the frame 10,
  • the length of the transmission rod 223 is greater than half the length of the support rod 221.
  • the walking scooter 1 further includes a controller, a sensor and a mobile power supply that are commercially available for the electric scooter, the controller and the first driving part 211, the second driving part 222, and the sensor And the electrical connection of the mobile power supply is used to control the operation of the walking scooter 1, the sensor is used to sense the peripheral environment status of the walking scooter 1 and detect the operating state of the walking scooter 1, the mobile power supply is used to provide power for the running of the walking scooter 1 .
  • the working principle of the walking scooter 1 is described as follows: In the initial state, the support 221 is located on the top side of the wheel. When the walking scooter 1 encounters the step, the first driving member 211 stops running, and then the second The driving member 222 is activated, and the second driving member 222 drives the transmission rod 223 to drive the supporting member 221 to rotate clockwise.
  • the driven rod 224 limits the posture of the supporting member 221, preventing the supporting member 221 rotates arbitrarily around the first connecting shaft 226, the supporting member 221 will abut against the top surface of the step, at this time, the two walking assemblies 22 lift the entire frame 10 and the driving wheel set 21 by the reaction force of the step until the wheels 212 touches the top surface of the step to complete the climbing of a step.
  • the first driving member 211 includes a stator 2110, and at the same time, the second driving member 222 is installed inside the stator 2110.
  • the first driving member 211 may be a hub motor or an electric motor
  • the second driving member 222 may be a brushless variable speed motor
  • the stator 2110 of the first driving member 211 may also serve as the stator of the second driving member 222
  • the first driving member 211 and the second driving member 222 can be highly integrated, so that the structure of the entire walking mechanism 20 is more compact, which lays a foundation for the miniaturized design of the walking scooter.
  • the walking scooter 1 provided by the present application adopts the walking mechanism 20 and the frame 10 to cooperate, the driving wheel group 21 drives the frame 10 to translate, and the walking assembly 22 drives the frame 10 to lift, thereby realizing the crossing of obstacles, thereby effectively
  • the technical problem that the scooter cannot climb the stairs and cross the obstacle is solved, and the user experience effect is improved.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in Embodiment 1, except that the central axis of the output shaft 2220 of the second driving member and the central axis of the third connecting shaft 228 are on the same On the horizontal plane, but not on the same straight line, and the distance between the central axis of the output shaft 2220 of the second driving member and the central axis of the first connecting shaft 226 is equal to the central axis of the second connecting shaft 227 and the third connecting shaft 228
  • the distance between the central axis of the support member 221, the transmission rod 223, the driven rod 224 and the connecting member 225 forms a parallelogram, so that the support member 221 always maintains a horizontal posture no matter where it turns As a result, the support 221 and the obstacle are always kept in surface contact, the contact area of the support 221 and the obstacle is increased, and the stability in the process of climbing stairs and crossing obstacles is improved.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in Embodiment 1, except that the walking scooter 1 further includes an auxiliary wheel set 30 that is rotatably connected to the frame 10 , And the auxiliary wheel set 30 and the two running mechanisms 20 oppositely located are respectively located on three vertices of a triangle.
  • the two walking mechanisms 20 are movably connected to opposite sides of the frame 10 respectively, and the auxiliary wheel set 30 is rotatably connected to the middle of the rear end of the frame 10 to play the role of the auxiliary walking mechanism 30 supporting the frame 10.
  • the auxiliary wheel set 30 and the two running mechanisms 20 that are oppositely located are respectively located at three vertices of an isosceles triangle, that is, the distance between the center of the auxiliary wheel set 30 and the centers of the two running mechanisms 20 is equal, so that Walking scooter 1 moves, turns, climbs stairs, and crosses obstacles more smoothly.
  • the auxiliary wheel set 30 may be connected to the frame 10 through a telescopic rod 40, one end of the telescopic rod 40 is rotationally connected to the auxiliary wheel set 30, and the other of the telescopic rod 40 One end is firmly connected to the frame 10, and the telescopic rod 40 can adjust its length according to the height of the obstacle, so that the frame 10 always maintains a horizontal posture, and improves the stability of the walking scooter 1 in climbing stairs and crossing obstacles.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in Embodiment 1, except that the walking scooter 1 includes three walking mechanisms 20, of which two walking mechanisms 20 are movably connected to opposite sides of the frame 10, respectively In addition, another walking mechanism 20 is movably connected to the middle of the rear end of the frame 10, and the three walking mechanisms 20 are respectively located at three vertices of an isosceles triangle.
  • the two running mechanisms 20 provided on opposite sides of the frame 10 are used to support and drive the frame 10 to translate and lift to overcome obstacles, and the running mechanism 20 provided in the middle of the rear end of the frame 10 is used to support the vehicle
  • the frame 10 also adjusts the posture of the frame 10 during climbing and obstacle crossing, so that the frame 10 always maintains a relatively stable state, and improves the stability of the walking scooter 1 in climbing and crossing obstacles.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in Embodiment 1, except that the walking scooter 1 includes an integer multiple of two walking mechanisms 20, and the integer is greater than 1, that is, the walking scooter 1 includes four, six, ... walking mechanisms 20, and the walking mechanisms 20 are symmetrically distributed on opposite sides of the frame 10, which is suitable for a walking scooter with a longer frame 1, when it is necessary to climb a building or cross an obstacle, First, the walking component 22 of the walking mechanism 20 that touches the obstacle runs, and then the walking component 22 of the second walking mechanism 20 that touches the obstacle runs, and so on, and so on, to complete the climb of the vehicle and the obstacle crossing.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in Embodiment 1, except that the second driving member 222 is installed beside the stator 2110.
  • the second drive member 222 may be an ordinary variable speed motor, which is independently installed on the outer side of the first drive member 211, which facilitates the installation and maintenance of the second drive member 222 and reduces the overall production of the walking mechanism 20 Cost, and the technical difficulty of installation is low, which is easy to implement and promote.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in the second embodiment, the difference is that the walking assembly 22 includes two support members 221 and two driven rods 224, wherein, two Two support members 221 are arranged at intervals, and two driven rods 224 are arranged at intervals, and two support members 221 and two driven rods 224 are located on the same side of the transmission rod 223, and one support member 221 is rotatably connected to the transmission rod 223 and Between one driven rod 224, the other supporting member 221 is rotationally connected between the two driven rods 224, and the connecting member 225 is rotationally connected between the two driven rods 224.
  • the two support members 221 are a first support member and a second support member, respectively.
  • the first support member is close to the transmission rod 223, the second support member is away from the transmission rod 223, and the two driven rods 224 are respectively
  • the first driven rod and the second driven rod the first driven rod is close to the transmission rod 223, and the second driven rod is far away from the transmission rod 223, where one end of the transmission rod 223 is tight to the output shaft 2220 of the second driving member Fixed connection, the first support member is rotatably connected to the other end of the transmission rod 223 through the first connection shaft 226, and one end of the first driven lever is rotatably connected to the first support member and the second support member through a second connection shaft 227,
  • the other end of the first follower rod is rotatably connected to the connecting member 225 through a third connecting shaft 228, and the second support member is rotatably connected to one end of the second follower rod through another second connecting shaft 227, and the second follower rod
  • the other end is rotatably
  • the two support members 221 can contact the obstacle at the same time, increasing the contact area between the support member 221 and the obstacle, and the two driven rods 224 better support the support member 221, thereby improving the walking scooter 1 climbing stairs 3. Stability of over obstacles.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in Embodiment 1, except that the walking assembly 22 includes a second driving member 222 and a transmission rod 223, wherein the second driving member 222 is installed at On the frame 10, it is used to drive the first driving member 211 to rotate around the output shaft 2220 of the second driving member, one end of the transmission rod 223 is tightly connected to the output shaft 2220 of the second driving member, and the other end of the transmission rod 223 is connected to the wheel 212 axle connection. Specifically, the other end of the transmission rod 223 and the axle of the wheel 212 may be tightly connected or rotationally connected.
  • the walking scooter 1 encounters a step, the first driving member 211 stops running, and then the second driving member 222 starts.
  • the second driving member 222 drives the transmission rod 223 to drive the driving wheel group 21 to rotate clockwise.
  • the driving wheel set 21 leaves the ground, and then The wheel 212 will abut the top surface of the first step, and then the two walking mechanisms 20 lift the entire frame 10 by the reaction force of the step until the bottom front end of the frame 10 abuts the top surface of the second step
  • the bottom rear end of the frame 10 abuts on the top surface of the first step to complete the climbing of the first step, and so on, and so on, to complete the climbing of all steps.
  • the embodiment of the present application is basically the same as the walking scooter disclosed in the third embodiment, the difference is that: the walking assembly 22 includes a second driving member 222, a transmission rod 223, a driven rod 224, connection 225 and a power transmission unit 229, wherein the second drive member 222 is connected to the frame 10, and the power transmission unit 229 is drivingly connected to the second drive member 222 for driving the first drive member 211 around the output shaft of the power transmission unit 2290 rotates, one end of the transmission rod 223 is tightly connected to the output shaft 2290 of the power transmission unit, the other end of the transmission rod 223 is rotationally connected to the axle 2120 of the wheel 212, one end of the connecting member 225 is tightly connected to the axle 2120, the driven rod One end of 224 is rotatably connected to the output shaft 2220 of the second driving member, the other end of the driven rod 224 is rotatably connected to the other end of the connecting member 225, and the output shaft 2220, the wheel shaft 2120 of the second driving member
  • the power transmission unit 229 includes a housing and a transmission structure, such as a gear set, a synchronous wheel, and a synchronous belt.
  • the transmission structure is provided in the housing, and can transmit the power of the second driving member 222 to the transmission rod 223 .
  • the first driving member 211 includes a stator 2110, the wheel shaft 2120 passes through the central axis of the stator 2110, and the central axis of the output shaft 2220 of the second driving member and the central axis of the output shaft 2290 of the power transmission unit are not on the same straight line
  • the central axis of the axle 2120 and the central axis of the third connecting shaft 228 are not on the same straight line.
  • the walking assembly 22 may include two or more power transmission units 229, two or more driven rods 224, and two or more connecting members 225
  • the number of the power transmission unit 229, the driven rod 224, and the connecting member 225 is not uniquely limited.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种行走代步车(1)，包括车架(10)；以及至少两行走机构(20)，活动连接于车架(10)上，设置为驱使车架(10)平移和抬升以越过障碍物，行走机构（20）包括驱动轮组(21)，转动连接于车架（10）上；以及行走组件(22)，与车架（10）和驱动轮组（21）连接，设置为驱使驱动轮组（21）带动车架（10）抬升。其采用了行走机构与车架配合，通过驱动轮组驱使车架平移，通过行走组件驱使车架抬升，进而实现越过障碍物，从而有效地解决了代步车无法爬楼、越障的技术问题。

Description

行走代步车 技术领域
本申请属于运载装置技术领域，更具体地说，是涉及一种行走代步车。
 背景技术
代步车是指以代步为目的的交通工具和辅助工具。
目前，代步车只适合在平地或斜坡上行走，不具备爬楼、越障功能。然而，在现实的生活环境中，经常会遇到台阶、楼梯或沟坎等，这样大大限制了代步车的使用范围，因此，如何能让代步车具有爬楼、越障功能成了行业内有待解决的技术问题。
 技术问题
本申请的目的在于提供一种行走代步车，包括但不限于解决代步车无法爬楼、越障的技术问题。
 技术解决方案
本申请提供了一种行走代步车，包括：
车架；以及
至少两行走机构，活动连接于所述车架上，设置为驱使所述车架平移和抬升以越过障碍物，所述行走机构包括：
驱动轮组，转动连接于所述车架上；以及
行走组件，与所述车架和所述驱动轮组连接，设置为驱使所述驱动轮组带动车架抬升。
在一个实施例中，包括设置于所述车架相对两侧的两所述行走机构，所述行走代步车还包括：
辅助轮组，转动连接于所述车架上，并与两所述行走机构分别位于一三角形的三个顶点上。
在一个实施例中，所述驱动轮组包括：
第一驱动件；以及
车轮，环设于所述第一驱动件的外周。
在一个实施例中，所述行走组件包括：
支撑件，设置为与所述障碍物抵顶；
第二驱动件，安装于所述第一驱动件上，设置为驱使所述支撑件绕所述第二驱动件的输出轴转动；
传动杆，所述传动杆的一端与所述第二驱动件的输出轴紧固连接，所述传动杆的另一端与所述支撑件转动连接；
连接件，与所述车架紧固连接；
从动杆，所述从动杆的一端与所述支撑件转动连接，所述从动杆的另一端与所述连接件转动连接；
第一连接轴，连接所述支撑件和所述传动杆；
第二连接轴，连接所述支撑件和所述从动杆；以及
第三连接轴，连接所述连接件和所述从动杆；
其中，所述第一连接轴、所述第二连接轴、所述第三连接轴与所述第二驱动件的输出轴平行，所述第一连接轴的中轴线与所述第二连接轴的中轴线不在同一直线上。
在一个实施例中，所述第二驱动件的输出轴的中轴线与所述第三连接轴的中轴线在同一水平面上并不在同一直线上，所述第二驱动件的输出轴的中轴线与所述第一连接轴的中轴线之间的距离等于所述第二连接轴的中轴线与所述第三连接轴的中轴线之间的距离。
在一个实施例中，所述行走组件包括间隔设置的两所述支撑件和间隔设置的两所述从动杆，两所述支撑件和两所述从动杆位于所述传动杆的同一侧，其一所述支撑件转动连接于所述传动杆和其一所述从动杆之间，另一所述支撑件转动连接于两所述从动杆之间，所述连接件转动连接于两所述从动杆之间。
在一个实施例中，所述行走组件包括：
第二驱动件，安装于所述车架上，设置为驱使所述第一驱动件绕所述第二驱动件的输出轴转动；以及
传动杆，所述传动杆的一端与所述第二驱动件的输出轴紧固连接，所述传动杆的另一端与所述车轮的轮轴连接。
在一个实施例中，所述行走组件包括：
第二驱动件，安装于所述车架上；
动力传输单元，与所述第二驱动件传动连接，设置为驱使所述第一驱动件绕所述动力传输单元的输出轴转动；
传动杆，所述传动杆的一端与所述动力传输单元的输出轴紧固连接，所述传动杆的另一端与所述车轮的轮轴转动连接；
连接件，所述连接件的一端与所述轮轴紧固连接；
从动杆，所述从动杆的一端与所述第二驱动件的输出轴转动连接，所述从动杆的另一端与所述连接件的另一端转动连接；以及
第三连接轴，连接所述连接件和所述从动杆；
其中，所述第二驱动件的输出轴、所述轮轴与所述第三连接轴平行。
在一个实施例中，所述第一驱动件包括定子，所述第二驱动件安装于所述定子的内部。
在一个实施例中，所述第一驱动件包括定子，所述第二驱动件安装于所述定子的旁侧。
 有益效果
本申请提供的行走代步车，采用了行走机构与车架配合，通过驱动轮组驱使车架平移，通过行走组件驱使车架抬升，进而实现越过障碍物，从而有效地解决了代步车无法爬楼、越障的技术问题，提升了用户的使用体验效果。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。
图1为本申请实施例一提供的行走代步车的立体示意图；
图2为本申请实施例一提供的行走代步车中行走机构的立体示意图；
图3为本申请实施例二提供的行走机构中行走组件的工作状态示意图；
图4为本申请实施例三提供的行走代步车的立体示意图；
图5为本申请实施例五提供的行走代步车的立体示意图；
图6为本申请实施例六提供的行走代步车中行走机构的立体示意图；
图7为本申请实施例七提供的行走代步车中行走机构的主视示意图；
图8为本申请实施例七提供的行走代步车中行走机构的左视示意图；
图9为本申请实施例八提供的行走代步车的主视示意图；
图10为本申请实施例九提供的行走代步车的主视示意图；
图11为本申请实施例九提供的行走代步车中行走机构的立体示意图。
其中，图中各附图标记：
1—行走代步车、10—车架、20—行走机构、30—辅助轮组、40—伸缩杆、21—驱动轮组、22—行走组件、211—第一驱动件、212—车轮、221—支撑件、222—第二驱动件、223—传动杆、224—从动杆、225—连接件、226—第一连接轴、227—第二连接轴、228—第三连接轴、229—动力传输单元、2110—定子、2120—轮轴、2220—第二驱动件的输出轴、2290—动力传输单元的输出轴。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用于解释本申请，并不用于限定本申请。
需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”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，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专利的限制，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的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体的限定。
现对本申请提供的行走机构进行说明。
实施例一：
请参阅图1至图3，该行走代步车1包括车架10和两个行走机构20，其中，两个行走机构20活动连接在车架10的相对两侧，用于驱使车架10平移和抬升以越过障碍物，并且行走机构20包括驱动轮组21和行走组件22，该驱动轮组21转动连接在车架10上，该行走组件22与车架10和驱动轮组21连接，用于驱使驱动轮组21带动车架10抬升。此处，障碍物是指台阶、沟坎等。
具体地，驱动轮组21包括第一驱动件211和车轮212，其中，车轮212环设在第一驱动件211的外周，第一驱动件211驱使车轮212绕第一驱动件211转动以带动车架10平移；同时，行走组件22包括支撑件221、第二驱动件222、传动杆223、从动杆224、连接件225、第一连接轴226、第二连接轴227以及第三连接轴228，其中，支撑件221用于与障碍物抵顶，第二驱动件222安装在第一驱动件211上，用于驱使支撑件221绕第二驱动件的输出轴2220转动，传动杆223的一端与第二驱动件的输出轴2220紧固连接，传动杆223的另一端与支撑件221转动连接，连接件225与车架10紧固连接，从动杆224的一端与支撑件221转动连接，从动杆224的另一端与连接件225转动连接，第一连接轴226连接支撑件221和传动杆223；第二连接轴227连接支撑件221和从动杆224，第三连接轴228连接连接件225和从动杆224，并且第一连接轴226、第二连接轴227、第三连接轴228与第二驱动件的输出轴2220平行，第一连接轴226的中轴线与第二连接轴227的中轴线不在同一条直线上。此处，为了避免支撑件221、传动杆223、从动杆224与连接件225的相互运动之间产生干涉，支撑件221的转动平面、传动杆223的转动平面与从动杆224的转动平面相互平行，传动杆223的长度大于支撑杆221的长度的二分之一。可以理解的是，行走代步车1还包括现有市面上能够购买到的适用于电动代步车的控制器、传感器以及移动电源，该控制器与第一驱动件211、第二驱动件222、传感器以及移动电源电性连接，用于控制行走代步车1运行，传感器用于感应行走代步车1的外围环境状态以及检测行走代步车1的运行状态，移动电源用于为行走代步车1运行提供电量。
现以攀爬台阶为例说明行走代步车1的工作原理：初始状态下，支撑件221位于车轮的顶侧，当行走代步车1遇到台阶时，第一驱动件211停止运行，接着第二驱动件222启动，第二驱动件222驱使传动杆223带动支撑件221向前顺时针转动，在支撑件221顺时针转动的过程中，从动杆224会限定支撑件221的姿态，防止支撑件221绕第一连接轴226随意转动，支撑件221会抵顶在台阶的顶面上，此时，两个行走组件22借助台阶的反作用力将整个车架10和驱动轮组21抬升，直至车轮212接触台阶的顶面，完成一个台阶的攀爬。
请参阅图2，在本申请提供的行走代步车的一个实施例中，第一驱动件211包括定子2110，同时，第二驱动件222安装在定子2110的内部。具体地，第一驱动件211可选为轮毂电机或电摩电机，第二驱动件222可选为无刷变速电机，第一驱动件211的定子2110同时也可作为第二驱动件222的定子，这样第一驱动件211与第二驱动件222可高度集成在一起，使得整个行走机构20的结构更加紧凑，为行走代步车的小型化设计奠定了基础。
本申请提供的行走代步车1，采用了行走机构20与车架10配合，通过驱动轮组21驱使车架10平移，通过行走组件22驱使车架10抬升，进而实现越过障碍物，从而有效地解决了代步车无法爬楼、越障的技术问题，提升了用户的使用体验效果。
实施例二：
请参阅图3，本申请实施例与实施例一中公开的行走代步车基本相同，不同之处在于：第二驱动件的输出轴2220的中轴线与第三连接轴228的中轴线在同一个水平面上，但是不在同一条直线上，并且第二驱动件的输出轴2220的中轴线与第一连接轴226的中轴线之间的距离等于第二连接轴227的中轴线与第三连接轴228的中轴线之间的距离，即支撑件221、传动杆223、从动杆224与连接件225围合形成了一个平行四边形，这样支撑件221无论转动到那一个位置都始终保持着水平姿态，使得支撑件221与障碍物始终保持面接触，增大了支撑件221与障碍物的接触面积，提升了爬楼、越障过程的稳定性。
实施例三：
请参阅图4，本申请实施例与实施例一中公开的行走代步车基本相同，不同之处在于：行走代步车1还包括辅助轮组30，该辅助轮组30转动连接在车架10上，并且辅助轮组30与相对设置的两个行走机构20分别位于一个三角形的三个顶点上。具体地，两个行走机构20分别活动连接在车架10的相对两侧，辅助轮组30转动连接在车架10后端的中部，起到辅助行走机构30支撑车架10的作用，此处，可选地，辅助轮组30与相对设置的两个行走机构20分别位于一个等腰三角形的三个顶点上，即辅助轮组30的中心与两个行走机构20的中心的距离相等，这样使得行走代步车1移动、转向、爬楼、越障更加平稳。另外，根据具体情况和需求，在本申请的其它实施例中，辅助轮组30可通过伸缩杆40与车架10连接，伸缩杆40的一端与辅助轮组30转动连接，伸缩杆40的另一端与车架10紧固连接，伸缩杆40可根据障碍物的高度调整自身的长度，使得车架10始终保持水平姿态，提升了行走代步车1爬楼、越障的稳定性。
实施例四：
本申请实施例与实施例一中公开的行走代步车基本相同，不同之处在于：行走代步车1包括三个行走机构20，其中两个行走机构20分别活动连接在车架10的相对两侧，另外一个行走机构20活动连接在车架10后端的中部，三个行走机构20分别位于一个等腰三角形的三个顶点上。具体地，设置在车架10相对两侧的两个行走机构20用于支撑并且驱使车架10平移和抬升以越过障碍物，设置在车架10后端中部的行走机构20则用于支撑车架10并且在爬楼、越障过程中调整车架10的姿态，使得车架10始终保持相对稳定的状态，提升了行走代步车1爬楼、越障的稳定性。
实施例五：
请参阅图5，本申请实施例与实施例一中公开的行走代步车基本相同，不同之处在于：行走代步车1包括二的整数倍个行走机构20，该整数大于1，即行走代步车1包括四个、六个、……行走机构20，并且行走机构20对称分布在车架10的相对两侧，适用于车架较长的行走代步车1，当需要爬楼、越障时，先触碰到障碍物的行走机构20中行走组件22运行，接着第二位触碰到障碍物的行走机构20中行走组件22运行，如此依次类推，完成整车爬楼、越障。
实施例六：
请参阅图6，本申请实施例与实施例一中公开的行走代步车基本相同，不同之处在于：第二驱动件222安装在定子2110的旁侧。具体地，第二驱动件222可选为普通的变速电机，其独立地安装在第一驱动件211的外侧，这样便于第二驱动件222的安装和维养，降低了行走机构20整体的生产成本，而且安装的技术难度较低，便于实现和推广。
实施例七：
请参阅图7和图8，本申请实施例与实施例二中公开的行走代步车基本相同，不同之处在于：行走组件22包括两个支撑件221和两个从动杆224，其中，两个支撑件221间隔设置，两个从动杆224间隔设置，并且两个支撑件221和两个从动杆224位于传动杆223的同一侧，其中一个支撑件221转动连接在传动杆223和其中一个从动杆224之间，另一个支撑件221转动连接在两个从动杆224之间，连接件225转动连接在两个从动杆224之间。具体地，为了便于说明，两个支撑件221分别为第一支撑件和第二支撑件，第一支撑件靠近传动杆223，第二支撑件远离传动杆223，两个从动杆224分别为第一从动杆和第二从动杆，第一从动杆靠近传动杆223，第二从动杆远离传动杆223，此处，传动杆223的一端与第二驱动件的输出轴2220紧固连接，第一支撑件通过第一连接轴226与传动杆223的另一端转动连接，第一从动杆的一端通过一个第二连接轴227与第一支撑件和第二支撑件转动连接，第一从动杆的另一端通过一个第三连接轴228与连接件225转动连接，第二支撑件通过另一个第二连接轴227与第二从动杆的一端转动连接，第二从动杆的另一端通过另一个第三连接轴228与连接件225转动连接，两个第二连接轴227平行分布在第一连接轴226的中轴线的相对两侧，两个第三连接轴228平行分布在轮轴2120的中轴线的相对两侧。这样两个支撑件221可同时与障碍物接触，增大了支撑件221与障碍物的接触面积，并且两个从动杆224更好地支撑支撑件221，从而提升了行走代步车1爬楼、越障的稳定性。
实施例八：
请参阅图9，本申请实施例与实施例一中公开的行走代步车基本相同，不同之处在于：行走组件22包括第二驱动件222和传动杆223，其中，第二驱动件222安装在车架10上，用于驱使第一驱动件211绕第二驱动件的输出轴2220转动，传动杆223的一端与第二驱动件的输出轴2220紧固连接，传动杆223的另一端与车轮212的轮轴连接。具体地，传动杆223的另一端与车轮212的轮轴可以是紧固连接或者转动连接。当行走代步车1遇到台阶时，第一驱动件211停止运行，接着第二驱动件222启动，第二驱动件222驱使传动杆223带动驱动轮组21顺时针转动，在驱动轮组21顺时针转动的过程中，首先车架10的底部前端会抵顶在第一级台阶的顶面上，车架10的底部后端会抵顶在地面上，此时驱动轮组21离开地面，接着车轮212会抵顶在第一级台阶的顶面上，接着两个行走机构20借助台阶的反作用力将整个车架10抬升，直至车架10的底部前端抵顶在第二级台阶的顶面上，车架10的底部后端抵顶在第一级台阶的顶面上，完成第一级台阶的攀爬，然后如此依次类推，完成所有台阶的攀爬。
实施例九：
请参阅图10和图11，本申请实施例与实施例三中公开的行走代步车基本相同，不同之处在于：行走组件22包括第二驱动件222、传动杆223、从动杆224、连接件225以及动力传输单元229，其中，第二驱动件222连接在车架10上，动力传输单元229与第二驱动件222传动连接，用于驱使第一驱动件211绕动力传输单元的输出轴2290转动，传动杆223的一端与动力传输单元的输出轴2290紧固连接，传动杆223的另一端与车轮212的轮轴2120转动连接，连接件225的一端与轮轴2120紧固连接，从动杆224的一端与第二驱动件的输出轴2220转动连接，从动杆224的另一端与连接件225的另一端转动连接，并且第二驱动件的输出轴2220、轮轴2120与第三连接轴228平行。具体地，动力传输单元229包括壳体和传动结构，如；齿轮组、同步轮和同步带等，该传动结构设置在该壳体内，并且可以将第二驱动件222的动力传输给传动杆223，第一驱动件211包括定子2110，轮轴2120穿设在定子2110的中轴线上，并且第二驱动件的输出轴2220的中轴线与动力传输单元的输出轴2290的中轴线不在同一条直线上，轮轴2120的中轴线与第三连接轴228的中轴线不在同一条直线上。这样在从动杆224的限位作用下，驱动轮组21绕动力传输单元的输出轴2290转动更加平稳和可控。当然，根据具体情况和需求，在本申请的其它实施例中，行走组件22可包括两个或多个动力传输单元229、两个或多个从动杆224以及两个或多个连接件225，此处不对动力传输单元229、从动杆224及连接件225的数量作唯一限定。
以上所述仅为本申请的可选实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 行走代步车，其特征在于，包括：
    车架；以及
    至少两行走机构，活动连接于所述车架上，设置为驱使所述车架平移和抬升以越过障碍物，所述行走机构包括：
    驱动轮组，转动连接于所述车架上；以及
    行走组件，与所述车架和所述驱动轮组连接，设置为驱使所述驱动轮组带动车架抬升。
  2. 如权利要求1所述的行走代步车，其特征在于，包括设置于所述车架相对两侧的两所述行走机构，所述行走代步车还包括：
    辅助轮组，转动连接于所述车架上，并与两所述行走机构分别位于一三角形的三个顶点上。
  3. 如权利要求1或2所述的行走代步车，其特征在于，所述驱动轮组包括：
    第一驱动件；以及
    车轮，环设于所述第一驱动件的外周。
  4. 如权利要求3所述的行走代步车，其特征在于，所述行走组件包括：
    支撑件，设置为与所述障碍物抵顶；
    第二驱动件，安装于所述第一驱动件上，设置为驱使所述支撑件绕所述第二驱动件的输出轴转动；
    传动杆，所述传动杆的一端与所述第二驱动件的输出轴紧固连接，所述传动杆的另一端与所述支撑件转动连接；
    连接件，与所述车架紧固连接；
    从动杆，所述从动杆的一端与所述支撑件转动连接，所述从动杆的另一端与所述连接件转动连接；
    第一连接轴，连接所述支撑件和所述传动杆；
    第二连接轴，连接所述支撑件和所述从动杆；以及
    第三连接轴，连接所述连接件和所述从动杆；
    其中，所述第一连接轴、所述第二连接轴、所述第三连接轴与所述第二驱动件的输出轴平行，所述第一连接轴的中轴线与所述第二连接轴的中轴线不在同一直线上。
  5. 如权利要求4所述的行走代步车，其特征在于，所述第二驱动件的输出轴的中轴线与所述第三连接轴的中轴线在同一水平面上并不在同一直线上，所述第二驱动件的输出轴的中轴线与所述第一连接轴的中轴线之间的距离等于所述第二连接轴的中轴线与所述第三连接轴的中轴线之间的距离。
  6. 如权利要求5所述的行走代步车，其特征在于，所述行走组件包括间隔设置的两所述支撑件和间隔设置的两所述从动杆，两所述支撑件和两所述从动杆位于所述传动杆的同一侧，其一所述支撑件转动连接于所述传动杆和其一所述从动杆之间，另一所述支撑件转动连接于两所述从动杆之间，所述连接件转动连接于两所述从动杆之间。
  7. 如权利要求3所述的行走代步车，其特征在于，所述行走组件包括：
    第二驱动件，安装于所述车架上，设置为驱使所述第一驱动件绕所述第二驱动件的输出轴转动；以及
    传动杆，所述传动杆的一端与所述第二驱动件的输出轴紧固连接，所述传动杆的另一端与所述车轮的轮轴连接。
  8. 如权利要求3所述的行走代步车，其特征在于，所述行走组件包括：
    第二驱动件，安装于所述车架上；
    动力传输单元，与所述第二驱动件传动连接，设置为驱使所述第一驱动件绕所述动力传输单元的输出轴转动；
    传动杆，所述传动杆的一端与所述动力传输单元的输出轴紧固连接，所述传动杆的另一端与所述车轮的轮轴转动连接；
    连接件，所述连接件的一端与所述轮轴紧固连接；
    从动杆，所述从动杆的一端与所述第二驱动件的输出轴转动连接，所述从动杆的另一端与所述连接件的另一端转动连接；以及
    第三连接轴，连接所述连接件和所述从动杆；
    其中，所述第二驱动件的输出轴、所述轮轴与所述第三连接轴平行。
  9. 如权利要求4至8所述的行走代步车，其特征在于，所述第一驱动件包括定子，所述第二驱动件安装于所述定子的内部。
  10. 如权利要求4至8所述的行走代步车，其特征在于，所述第一驱动件包括定子，所述第二驱动件安装于所述定子的旁侧。
PCT/CN2018/117300 2018-11-23 2018-11-23 行走代步车 WO2020103158A1 (zh)

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