CN108024895A - Wheel and crawler belt mixed type moving mechanism - Google Patents

Abstract

A moving mechanism, comprising a first wheel unit that is operably connected to each other and moves synchronously, preferably for acting on a flat working surface, and preferably for operating on stairs including stairs with different gradients, rough roads and all-terrain. A second crawler unit cooperating with the first wheel unit on the changing working surface of the ground.

Description

Wheel and Track Hybrid Mobile Mechanism

technical field

The present invention relates to a moving mechanism, in particular to a wheel and crawler mixed type moving mechanism, which has a balance system. On flat roads, the walking direction is controlled by two wheels and the balance of the passenger's body, so that the walking mechanism It can easily slide on flat roads, and is small and flexible; when encountering rough roads, obstacles or stairs, the walking mechanism will use wheels and crawlers in combination, so that it can easily walk on rough mountain roads and across ordinary roads. Avoid obstacles and safely climb stairs with multiple steps and angles in succession.

Background technique

Most of the mechanical combination walking mechanisms are mainly for human use, and some of them are used for the disabled, so the comfort of the walking mechanism is the primary concern. And secondly, due to the physical defects of disabled people, they expect to be no different from ordinary people. For example, when they walk on the street, they don't want to take up more space than ordinary people, so most current wheelchair designers tend to reduce the size of wheelchairs to improve their inconvenience in life. It is a pity that the smaller the wheelchair, the less functional it is, especially when encountering rough roads, obstacles and stairs, small wheelchairs cannot pass through, so that they who hope to be no different from ordinary people, instead often They need ordinary people to help them. As a result, wheelchairs that can climb stairs and cross obstacles have emerged as the times require. However, to safely cross obstacles and climb stairs, its volume must also be relatively large. Moreover, people with disabilities also have a wish, that is, to be able to use both hands to do other things while walking like ordinary people. To meet the above requirements at the same time, including: high comfort, small size, can safely cross obstacles and climb stairs, and does not necessarily require passengers to control the walking mechanism with hands, there is absolutely no walking mechanism in the world at present. The slightly similar inventions or products are as follows:

1. Chinese Invention Patent No. 201510555652.6 discloses a crawler-type walking mechanism (see Figure 1a). Its invention uses the "drop-type crawler design" combined with large and small wheels, which can climb stairs with different angles and walk on smooth roads flexibly , and can safely walk on rough roads and cross obstacles. But because of its many functions, the seat needs to be lifted or swung back and forth frequently, and the forearm is often stretched forward or retracted. The complicated structure requires passengers to use both hands to control it, and it is bulky and difficult to control. And it must be noted that although the front wheels are designed to touch the ground with universal wheels on flat roads, the rear wheels are still on the track. No matter how the track shape is changed, the comfort level cannot be compared with that of tires. The conclusion is that its comfort is not good enough, its size is not small enough, and passengers must use their hands to control the direction.

2. Hong Kong Patent Application No. 16109224.1 discloses a crawler-type mobile mechanism (as shown in Figure 1b). Its invention uses the "lightning crawler design" to climb stairs with different angles and walk on smooth roads flexibly. The unique lightning shape allows the forearm to step firmly on the surface of the steps when climbing the ladder, greatly increasing safety. However, when walking on flat roads, the front and rear wheels are still on the track, and the comfort level is still not ideal. The conclusion is that its comfort is not good enough, its size is not small enough, and passengers must use their hands to control the direction.

3. There is a wheelchair on the market that uses four wheels to walk on flat roads (as shown in Figure 1c). When climbing ladders, the wheels are put away and climbed with full tracks (as shown in Figure 1d). The advantage is that it is relatively flexible and comfortable on flat ground, and it can also perform the function of climbing stairs. However, to implement the alternate action of the wheels and tracks, two different drive motors must be used, that is, a total of four motors, which also increases the cost and complexity of the product. In addition, it uses a pair of straight and flat crawlers to climb the ladder, so that the crawlers can only act on the corners of the steps, making the wheelchair very unstable and dangerous. The conclusion is that it is bulky, unable to safely cross obstacles and climb ladders, and passengers must use their hands to control the direction.

4. A Swiss university announced a prototype of an electric wheelchair product (Fig. 1e and 1f). When walking on a flat road, it uses two wheels to touch the ground and uses a somatosensory balance system to control the direction of the wheelchair. However, when the prototype of this product climbs the stairs, it will use the full track to contact the steps (as shown in Figure 1h), so the track combination must have a certain length. Considerable space (as shown in Figure 1f). The prototype of this product is the same as the general ladder climbing tools. It uses a long and straight track on each side to climb the ladder. The track can only "act on the corner of the ladder" (as shown in the circle in Figure 1h), and its safety Absolutely not enough. And it must be noted that its big wheels are completely off the ground at this moment, but the wheels are because the same group of drive motors are adopted as the crawler tracks, so although the wheels do not assist in climbing the ladder, they keep running and waste energy in vain. In addition, when the product prototype reaches the top of the ladder, the supporting wheels must be lowered at an appropriate time (as shown in the circle in Figure 1j). If the supporting wheels are placed too early, the supporting wheels will be stuck on the steps, and if the supporting wheels are placed too late, the wheelchair will suddenly fall , will also pose a danger to passengers. In order for the supporting wheels to be in the right place at the right time, it is necessary to make the perfect cooperation between the sensor and the control system, and ensure that there is no error. It is a pity that existing sensors are prone to error due to external interference. If zero error is to be achieved, even if it can be achieved, it will require a huge investment of resources and money, which greatly increases the time and cost of product development.

Contents of the invention

In order to solve the shortcomings and problems of the prior art, the present invention provides a "wheel and crawler hybrid mobile mechanism". When walking on flat roads, it can use the two-wheel balance mode, using the center of gravity of the passenger's body to control the direction of the running mechanism, so that the hands of passengers can be free to do other things; when walking on rough roads or stairs, it can use the available The track is extended to form a mixed structure of wheels and tracks, in which the bottom of the running gear forms a roughly "︿" shape to perfectly and safely climb stairs with different angles, cross-country and obstacle crossing. This mechanical structure mainly includes or is composed of three parts, including: a wheel balance walking mechanism, an extendable crawler mechanism and a support bracket balance mechanism.

A moving mechanism according to the present invention, comprising an operatively interconnected and synchronously moving/driven first wheel unit preferably acting on a flat working surface and fixed in position as the active unit and preferably for Cooperating with and movably connected with the first runner unit on a variable working surface including stairs with different slopes, rough roads and all-terrain ground, the position of the first runner unit is variable relative to the first runner unit A second crawler unit as a driven unit, wherein:

The moving mechanism is configured to switch between a wheel drive mode suitable for moving on a flat working surface and a combined wheel and track drive mode suitable for moving on a variable working surface;

In the runner drive mode, the moving mechanism is configured to be operated preferably by a somatosensory control system and the second crawler unit is configured to be parallel or substantially parallel to the first runner unit in length or direction of travel ground settings; and

In the combined wheel and track drive mode, the movement mechanism is configured to be operated preferably by a manual control system and the second track unit is configured to intersect the first wheel unit and preferably form a The shape of the contact/acting bottom surface or the bottom contour that is in contact with the working surface can adapt to and be close to different variable working surfaces or can move arbitrarily on the variable working surface.

In some embodiments of the movement mechanism according to the invention, said second crawler unit is switchably and/or rotatably convertible between a standby position and a working position, in which said second crawler unit The unit extends towards the direction of the working surface and preferably pivots downwards until its front end abuts the working surface and together with the first wheel unit forms a contact/acting bottom surface portion having the shape of a "︿" or Bottom profile, and thus the moving mechanism is switched from the rotary wheel drive structure to the rotary wheel and crawler combined drive structure; and in the standby position, the second crawler unit is turned back toward the direction away from the working surface. shrinks and preferably pivots upwards until separated from the working surface and integrally in a position parallel to and above the first runner unit, and thus the moving mechanism is driven by a combination of runners and tracks The structure is switched to a rotary drive structure.

In some embodiments, the first runner unit and the second crawler unit are configured to be operatively connected to each other through a gear transmission assembly that makes the two speed ratios the same and/or makes the two run at the same speed and move synchronously, the gear transmission assembly includes a large gear set on the first wheel unit and a pinion set on the second crawler unit, and is preferably set between the two so that the two move synchronously The connection or transmission member is preferably a chain; wherein the ratio of the rotation radius or outer diameter of the large gear to the first wheel unit and the ratio of rotation radius or outer diameter of the pinion to the second crawler unit The ratio is the same.

In some other embodiments, it also includes a seat or supporting unit for accommodating the operating unit of the mobile mechanism and/or the operator, and a device operatively connected with it for measuring and controlling the balance and walking state of the mobile mechanism and preferably The first balance and drive unit for the runner drive mode and the second balance and drive unit for the runner and crawler combined drive mode are separate and alternately used; in the runner drive mode , the first balance and drive unit is activated to maintain the balance of the seat or support unit and determine the walking direction corresponding to the balance state of the moving mechanism and to keep the second balance and drive unit closed; and in the When the wheel and track combination drive mode, the second balance and drive unit is activated to maintain the balance of the seat or support unit and make its support surface always roughly parallel to the horizontal plane corresponding to the balance state of the moving mechanism and determine the direction of travel and keep the first balancing and drive unit closed.

In some embodiments, the length of the second crawler unit is approximately the same as the length of the seat or support unit so as to be substantially integrally received under the seat or support unit in the wheel drive mode . The length can be shortened by more than 20% compared with the prior art, thus advantageously saving space.

In some embodiments, the first wheel unit includes an in-wheel motor coaxially arranged on the main shaft of the in-wheel motor and a wheel and a bull gear driven by the main shaft; and the second crawler unit includes A substantially elongated crawler belt comprising first and second driving pulleys disposed at opposite ends thereof and a pinion coaxially disposed with the first driving pulley; the large gear and the pinion direct engagement or drive connection through a linkage or transmission member, so as to move and drive the moving mechanism in a synchronized manner in the combined drive mode of the runner and track; and the track includes a retractable A push rod, the telescopic operation of the push rod can make the crawler belt move back and forth along the predetermined track relative to the first wheel unit accordingly so that the second crawler belt unit can be switched between the standby position and the working position and/or enable the moving mechanism to switch between the runner drive mode and the runner and crawler belt combined drive mode and form the shape of the moving mechanism roughly "︿" The bottom contour of the bottom profile to perform the intended operation.

In some other embodiments, the bottom profile forms a substantially triangular space, the height of the triangular space is substantially 80%-120% and preferably 90% of the height of the second crawler unit, so that Accommodates and facilitates riding over raised portions of the work surface encountered during movement, reducing the likelihood of the moving mechanism tipping over.

In other embodiments, said second crawler unit and/or said first runner unit are configured to facilitate at least a portion of one of them on or supported by said modified working surface sloping/uneven/tip portions or corners such that at least a portion of another element of them may lie or be supported on the plane of one of the generally flat portions of the variant work surface or on the variant work surface Near the flat portion of or adjacent to the plane of another substantially flat portion.

In some other embodiments, when moving on the stairs, the second crawler unit and the first wheel unit are configured so that at least a part/fulcrum of the bottom surface portion having the shape of "︿" is always in contact with The rung planes of one rung that provide the greater support force counteract so that the rung planes act to account for the movement when the other part/fulcrum thereof is located and supported over the rung corners of the other rung that provide the lesser support force The main bearing surface of the mechanism to prevent tipping.

In other embodiments, the second crawler unit is configured such that the angle of intersection with the first runner unit in the length or direction of travel may be relative to the estimated or measured gradient of the stairs in the intended use area Range, Roughness Estimated or Legal Roughness to configure accordingly.

The advantage of the present invention is that the mixed design of wheels and crawlers is used to climb stairs (as shown in Figure 1g). Because the principle and mechanism of climbing ladders are not entirely dependent on the crawler combination/unit, the length of the crawler combination can also be shortened accordingly, and can It is hidden between the bottom of the seat and the big wheels through an appropriate mechanical structure (as shown in Figure 1g), so that the overall volume can be further reduced. Secondly, because the present invention adopts the hybrid design of wheels and crawlers, it does not waste energy in vain like the prior art, and forms a bottom with a "︿" shape, so that the walking mechanism can climb stairs without any problems. It will always "act or be supported on at least one step plane" (as shown by the star line in Figure 1i), so it is absolutely safe in operation.

Description of drawings

The present invention will be described by way of example below with reference to the accompanying drawings, in which:

Fig. 1a is a side view of a crawler-type traveling mechanism disclosed in Chinese Invention Patent No. 201510555652.6.

Fig. 1b is a side view of a crawler-type traveling mechanism disclosed in Hong Kong Patent Application No. 16109224.1.

Fig. 1c is a schematic diagram of a wheelchair product currently on the market walking on flat roads with four wheels.

Fig. 1d is a schematic diagram of a wheelchair product currently on the market, when climbing a ladder, the caterpillar is grasping the corner of the ladder to climb.

Figures 1e-1k are schematic diagrams comparing the technical solutions of the prior art and the embodiments of the present invention.

Figure 2a is a schematic diagram showing the difference in diameter between large wheels and tracks when they are used in combination.

Fig. 2b is a schematic diagram showing the difference in diameter of the large and small gears in the combination of the gear and the chain.

Fig. 3a is a side structural view of the present invention, and shows three main mechanisms constituting the present invention.

Fig. 3b is a top structural view of the present invention, and shows three main mechanisms constituting the present invention.

Fig. 4a is a side structural view of the "wheel balance walking mechanism" of the present invention, and shows the components that make up the mechanism.

Fig. 4b is a structural diagram of the prior art "hub motor" adopted by the present invention.

Fig. 4c is a top structural view of the "wheel balance walking mechanism" of the present invention, and shows the components that make up the mechanism.

Fig. 5a is a side structural view of the "extendable crawler mechanism" of the present invention, and shows the components that make up the mechanism.

Figure 5b is a close-up of the side view of the "gear and chain combination".

Fig. 5c is a top structural view of the "extendable crawler mechanism" of the present invention, and shows the components that make up the mechanism.

Fig. 6a is a side structural view of the "supporting bracket balance mechanism" of the present invention, and shows the components that make up the mechanism.

Fig. 6b is a top structural view of the "supporting bracket balance mechanism" of the present invention, and shows the components that make up the mechanism.

Fig. 7a is a schematic diagram of the present invention when walking on flat roads.

Fig. 7b is a schematic diagram of the wheel turning backward when the passenger's center of gravity tilts backward according to the present invention.

Fig. 7c is a schematic diagram of the present invention when the center of gravity of the passenger leans forward, and the wheels will rotate forward.

Fig. 8a is a schematic diagram of the "extended track assembly" of the present invention extended to touch the ground.

Fig. 8b is a schematic diagram of the situation when the seat is raised to the highest position after the "seat balance system" of the present invention is activated.

Fig. 9a is a schematic diagram of the situation where the rear wheel "acts on the ladder angle" (shown by the circle) and the extendable crawler belt "supports the ladder surface" (shown by the star line) when the present invention is climbing.

Fig. 9b is a schematic diagram of the situation of "stepping and supporting the step surface" (shown by the star line) on the rear wheel and the extendable track when the present invention is climbing.

Fig. 9c is a schematic diagram of the situation in which the extendable track "acts on the corner of the ladder" (shown by the circle) when the rear wheel of the present invention has just reached the top of the ladder or is just about to go down the first step of stairs.

Fig. 9d is a schematic diagram of the situation in which the extendable crawler of the present invention "acts on the corner of the ladder" (indicated by a circle) when the extendable crawler just reaches the top of the ladder or is just about to descend the first step of stairs.

Detailed ways

The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the technical solution of the present invention in detail.

Herein, the "staircase" refers to stairs with the same or different angles of steps, and the "rough road and all-terrain ground" refers to terrain with smooth road surface or undulating road surface, rough road surface or various slopes.

The moving mechanism according to the present invention has the following characteristics or advantages:

1. Hybrid design of wheels and tracks—most of the existing mechanical tools for climbing stairs use crawler structures, or try to use multiple large wheels to forcefully climb stairs. These two principles have their own advantages and disadvantages. For example, the crawler track has excellent climbing ability, but its comfort is not enough on flat roads; wheels have high comfort on flat roads, but their climbing ability is not enough. The present invention is a novel combination of the two, each taking its own strengths, using wheels to slide on flat roads, which is comfortable and flexible; when climbing stairs or rough roads, the two are mixed, and the bottom forms a roughly ︿-shaped configuration , so that the running mechanism can easily climb the stairs with different angles, and can also reach the top of the ladder smoothly (Fig. 9a-9d).

2. The combined design of self-balancing vehicles and tracked vehicles - electric balancing vehicles are now very popular, and can be seen everywhere in the streets and alleys around the world. The advantage of this vehicle is that it allows passengers to free up their hands to do other things. things. But its disadvantage is that when you encounter obstacles or stairs, you can only stay away and cannot cross them; the crawler-type walking mechanism that can climb stairs has gradually matured in recent years, and the climbing ability and safety are beyond doubt. However, the flexibility, freedom and comfort on flat roads cannot be compared with balance cars. The present invention is a novel combination of the two, and combines the benefits of the two into one, which will definitely benefit people in need in the world.

3. Gear and chain combined speed change design - all along, there has never been a mechanical walking mechanism that uses the principle of mixed walking of wheels and crawlers. The main reason is that the running speeds of the two are different. As shown in Figure 2a, D1 >D2, the difference between the two diameters forms a speed change ratio of D1:D2. That is to say, the rotation speed of the big wheel will be faster than that of the track combination, so the big wheel will push and pull the track combination all the time, making the traveling mechanism very difficult to move smoothly. The present invention preferably adds a set of "gear and chain combined speed change combination" between the large wheel and the track combination, as shown in Figure 2b, d1>d2, and as long as D1:d1=D2:d2, the two The speed change ratio becomes the same, so that the running speed of the combination of the large wheel and the crawler belt is consistent, so that the traveling mechanism can run smoothly.

4. Alternate use system of somatosensory balance and support bracket automatic balance—on flat roads, passengers want to be able to free their hands to do other things, so they will use their own somatosensory balance to control the direction of the running mechanism. But when it comes time to climb the stairs, passengers must focus and never allow their hands to be distracted by other things. Therefore, when climbing stairs, you must no longer rely on your own somatosensory balance to control the direction of the walking mechanism. The present invention creates a system for alternate use of somatosensory balance and seat automatic balance. When the track combination extends to touch the ground, the somatosensory balance system will be turned off in real time, and the seat automatic balance system will be turned on at the same time. As shown in Figures 9a-9d, the seat will automatically adjust itself according to the angle of the steps, so that the seat will always be in balance with the ground, greatly increasing the safety when climbing the ladder.

5. Superior ability to climb on flat roads and ladders - due to the clever use of wheels and crawlers in the present invention, the long crawlers are combined and put away on flat roads, and only two wheels are used to slide, so that the volume of the running mechanism is reduced to the minimum. It also occupies the least space on the road, and is very smart and practical. When encountering stairs, the crawler track combination can be extended to the front end, so that the support point when climbing the ladder is extended. In addition, a roughly ︿ shape is formed between the large wheel and the track combination, so that the running mechanism will "act or support on each corresponding step plane" when climbing stairs (shown by the star lines in Figures 9a and 9b), making walking Mechanisms can climb stairs with different angles very safely.

6. Allowing passengers to free their hands—people who need to use the technical solution of the present invention are mostly disabled people or old people with bad legs. They have the absolute right to walk on the street like ordinary people. The right to use a smartphone or take pictures etc. with both hands free. The design of the present invention combining electric balance car and crawler car has realized their wish for many years, and its practicability must be the crown of similar inventions in this field.

Figures 3a and 3b show a perspective view of an embodiment of the "wheel and track hybrid mobile mechanism" of the present invention, for the sake of clarity, only a part of the components are schematically shown in the figure. The mechanism of the present invention comprises: 1 wheel balance walking mechanism, 2 extendable crawler belt mechanism, 3 support bracket balance mechanism.

The wheel balance walking mechanism 1 (Fig. 4a to 4c) includes a "hub motor (hub motor)" 110 on the left and right (110 is an existing product, so it will not be described in detail here. And 110 can also be other driving mechanisms, such as deceleration Motor, fuel engine and other starting devices).

The periphery of the in-wheel motor 110 will be fixedly connected with the tire 111 (111 can be an inflatable rubber tire, a solid rubber tire or a surrounding object of other materials), and the function of the 111 is to directly contact the ground. Grab the ladder corners and shock absorbers.

The power of the hub motor 110 is directly output from the hub motor connecting shaft 112 , and the hub motor 112 is movably connected with the main bracket 101 of the vehicle body.

The driving energy of the wheel balancing walking mechanism 1 is an existing energy source, which can be battery, gasoline or solar energy, etc., and its volume is different, so the installation positions are all different, so it will not be described in detail here.

The wheel balance walking mechanism 1 can include a manual controller, which is a controller of the prior art, and there are various brands and models, so it is not provided here and will not be described in detail.

The wheel balancing walking mechanism 1 includes a somatosensory control system. Since the technology of the current electric self-balancing vehicle has matured and the somatosensory control system is varied, it will not be described in detail here.

When the passenger adopts somatosensory control, as long as the center of gravity of the body leans forward (as shown in Figure 7c), the gyroscope 311 will sense the deviation of the passenger's center of gravity, and then transmit it to the hub motor 110 through the somatosensory control system to control its forward speed (as shown in Figure 7c). 7c), if the center of gravity keeps leaning forward, the speed of its forward rotation will be higher. On the contrary, when the passenger's center of gravity tilts backward (as shown in FIG. 7 b ), the somatosensory control system will control the speed of the in-wheel motor 110 to rotate backward, so as to achieve the effect of acceleration or pause. If the gyroscope 311 senses that the passenger's center of gravity deviates to the right, it will be transmitted to the in-wheel motor 110 through the somatosensory control system, so that the speed of the left wheel is increased, and at the same time, the speed of the right wheel is slowed down or reversed. Conversely, if the somatosensory control system detects that the passenger's center of gravity is shifting to the left, the system will drive the right wheel to accelerate, while slowing down or reversing the left wheel.

The extendable crawler mechanism 2 (Fig. 5a to 5c), its extension driving force is from the extendable crawler electric push rod 200 (200 is the driving mechanism, which can be other driving mechanisms, such as geared motor or hydraulic push rod, etc.).

Firstly, the extendable crawler electric push rod 200 is movably connected with the connector 241, and 241 is fixedly connected with the main frame 101 of the vehicle body. Therefore, the force generated by the extendable track electric push rod 200 will be offset by the main frame 101 of the vehicle body. .

The rotating force of the extendable track 232 comes from the in-wheel motor 110 . When 110 rotates, the in-wheel motor connecting shaft 112 will transmit the power to the large gear 201 fixedly connected with 112 , and the rotational force of 201 will be driven to the pinion 202 by the chain 231 . The rotational force of 202 is transmitted to the driving wheel 203 fixedly connected to the driving shaft 221 via the driving shaft 221 fixedly connected thereto. And the rotational force of 203 will be driven by crawler belt 232 to the driving wheel 204 at the front end. As shown in Figures 2a and 2b, since the ratio of the diameter of the tire 111 to the diameter of the bull gear 201 is D1:d1, and the ratio of the diameter of the driving wheels 203 and 204 (together with the track 232) to the diameter of the pinion 202 is D2:d2, Because D1:d1=D2:d2, although the diameters of the tire 111 and the driving wheels 203 and 204 are different, the speed of the tire 111 and the crawler belt 232 will become synchronous because the gear combination makes up the difference in speed ratio.

In some embodiments, the bull gear and pinion may mesh directly or they may be interconnected through other intermediate or connecting pieces.

When the walking mechanism of the present invention needs to overcome obstacles or climb stairs, the extendable crawler electric push rod 200 will extend forward, and the connecting shaft 223 movably connected with 200 will be pushed forward. Since 223 is movably connected to the connecting piece 214, and 214 is also tightly connected to the connecting piece 213, when the extendable track electric push rod 200 is extended forward, a pair of extendable crawler track assemblies will simultaneously extend forward.

Because a pair of extendable caterpillars are combined, they are movably connected to the connecting parts 211 and 212 of the gear combination through the drive shaft 221, and 211 and 212 are also tightly connected, and are movably connected to the hub motor connecting shaft 112. Because of the tightly connected structure, the pair of extendable crawler tracks will not deviate from the desired track while extending forward or retracting, so that the crawler tracks can stay at the desired position.

Supporting bracket balancing mechanism 3 (Fig. 6a to 6b) comprises supporting bracket balancing electric push rod 300 (300 is the driving mechanism, which can be other driving mechanisms, such as geared motor or hydraulic push rod, etc.), gyroscope 311 (311 can be be two-dimensional, can be three-dimensional) and supporting mechanism 310 (310 can be a seat or other mechanisms for carrying goods).

Firstly, the support bracket balance electric push rod 300 will be movably connected with the connector 331, and 331 will be fixedly connected with the main bracket 101 of the vehicle body. offset. The supporting bracket balance push rod 300 is movably connected with the connecting shaft 301 , and one end of the 301 is movably connected with the chute 321 , and the 321 is fixedly connected with the main bracket 101 of the vehicle body. Therefore, the chute 321 limits the movable range of the connecting shaft 301 .

In addition, the other end of the connecting shaft 301 that is movably connected with the balance push rod 300 of the supporting bracket is movably connected with the connecting piece 322, and 322 is movably connected with the connecting piece 333, and 333 is fixedly connected with the supporting bracket 310, and 310 is movably connected with the connector 332 , and 332 is fixedly connected with the main bracket 101 of the vehicle body. This series of joints fixes the range of opening and closing activities of the supporting mechanism.

When the extendable crawler electric push rod 200 extends forward to the longest, that is to say, the traveling mechanism has changed from the "two-wheel somatosensory mode" to the "obstacle-climbing and ladder-climbing mode". In this mode, the somatosensory balance system will be turned off immediately, and the "supporting bracket balance system" will be activated immediately. That is to say, the passenger can no longer control the direction of the running mechanism with his own center of gravity, and has to change it to manual control.

When the walking mechanism is tilted due to overcoming obstacles or climbing ladders, the gyroscope 311 will send a message to the support bracket balance system, and the system will control the support bracket balance push rod 300 to extend or shorten according to the angle of inclination, and the 300 will pass through The pulling force is transmitted to the connecting piece 322 through the connecting shaft 301 , and then through the whole bracket combination, so that the supporting mechanism 310 can keep balance with the ground.

Through the above structure, the functions of the present invention are as follows (in order to make the mechanism more specific, the support bracket 310 is set as a seat):

1. Flat road function (Fig. 7a-7c): In order to make the traveling mechanism more portable and compact, the electric push rod 200 of the extendable track will shrink to the shortest, so that a pair of extendable track combination will be completely off the ground and retracted to the most (such as Figure 7a). Thus, the passenger can use the somatosensory balance system to tilt the body forward, backward, left, and right to control the direction of the running mechanism (as shown in Figures 7b and 7c). Therefore, the passenger can free his hands to do other things like ordinary people. In addition to its small size, the axis of the wheel is also below the center of gravity of the passenger's body, so it can perfectly realize the flexible function of in-situ rotation.

2. Rugged road and obstacle surmounting function (Figure 8a): when encountering a rough mountain road or needing to cross an obstacle, the extendable crawler electric push rod 200 can be extended to the longest, so that the front end of a pair of extendable crawler combinations touches the ground , so that the bottom of the running gear forms a roughly "︿" shape (as shown in Figure 8a). In addition, this mode will activate the support bracket balance system, so that the passenger's body can maintain a vertical balance with the ground, so that the walking mechanism can walk freely on rough mountain roads, and can also easily cross obstacles that will be encountered on ordinary roads.

3. Ladder climbing function (Fig. 9a-9d): The biggest advantage of the present invention is that it is easy to operate. It only needs to use the same mode as walking on rough roads, so that the bottom of the walking mechanism forms a roughly "︿" shape. As shown in Figures 9a and 9b, the advantage of forming a roughly "︿" shape at the bottom is that when the running gear climbs the stairs, the front end of the extendable track will touch the "ladder" of the steps when climbing each step. surface” to play a strong supporting role (as shown by the star lines in Figures 9a and 9b). Even if the big wheels as shown in Figure 9a only grab the "step corner" (as shown in the circle of Figure 9a), when it seems extremely unsafe, the extendable track can still play its role of "supporting the step surface". Big wheels also have an advantage, because the contact surface of the wheels is large. In the case of Figure 9b, the big wheels will also play the role of "stepping on the step surface" (as shown by the star line in Figure 9b). In addition, when the walking mechanism reaches the top of the ladder or descends the first step, the roughly "︿" shape formed at the bottom can also play its role. As shown in Figure 9c, even if the big wheels have reached the top of the ladder, the extendable track can still "act on/engage/hook the corner of the ladder"; The extended track can still "act on/engage/hook the corner of the ladder", so that the traveling mechanism will not have the danger of sudden drop like other crawler-type ladder climbing tools. In this case, the present invention can produce a perfect ladder climbing function under the cooperation of the big wheels and the extensible crawler belts, which are completely different but have their own advantages.

In summary, one of the features of the present invention is that the wheels and tracks are used in combination. When the running gear is walking on flat roads, it is the most comfortable, flexible and acceptable to use wheels as the running gear in contact with the ground. And when it comes to rough roads, over obstacles and climbing stairs, the performance of the track is the highest, the most grippy and the safest choice. But there is never a kind of invention or design that can mix the two, and each has its own strengths to become a multifunctional walking mechanism. In addition, another feature of the present invention is the combination of gears, in which the mixed use of wheels and crawlers must be solved, and the problem of different running speeds of the two must be solved. Since the running speed of the big wheel will be higher than that of the small wheel in the track combination, when the running mechanism is running on the road, it will be dirty due to the different speeds of the two. In order to solve this problem, the present invention designs a group of gear shifting combinations, and both speeds are adjusted to be consistent. Simultaneously, the positioning effect of the stretchable crawler belt assembly is generated when it is contracted and extended.

In addition, another feature of the present invention is that it adopts the alternate use system of somatosensory balance and support bracket automatic balance, wherein the somatosensory balance system can make passengers free their hands to do other things, but it must be changed for safety reasons when climbing stairs. Automatic balancing system for the support bracket. In the present invention, the two are used alternately, and an appropriate system is replaced when appropriate, so that the whole is more comfortable and safe.

Therefore, another feature of the present invention is to provide an improved electric balance car with the function of climbing stairs. Although the existing electric balance bikes are very popular, their market development has always been dominated by able-bodied people. Even if there are electric balance wheelchairs for disabled people, they are only used on flat roads, and the help for them is limited. The invention combines the two into one, integrates the safe and reliable ladder climbing principle into the compact and flexible electric balance car, and can better benefit the disabled and the disabled in need.

Although the advantages and preferred embodiments of the present invention have been described here, those skilled in the art should understand that the description here is only provided as an example and is not intended to limit the protection scope of the present invention. Without departing from the protection scope of the present invention, any other equivalent may be substituted for the described implementation details, or modifications or variations may be made.

[Description of main component symbols]

wheel balance walking mechanism 1

101 Body main bracket

110 hub motor hub motor (connected with 111)

111 tire (connected with 110)

112 hub motor connection shaft/spindle (connected with 110)

Extendable Track Mechanism 2

200 Extendable crawler electric push rod/retractable push rod (one end is connected with 241, one end is connected with 223)

201 large gear (fixedly connected with 112)

202 pinion (fixedly connected with 221)

203 driving wheel (fixed connection with 221)

204 driving wheel (fixed connection with 222)

211 connectors (connected with 112,221 activities)

212 connectors (connected with 112,221 activities)

213 connectors (connected with 221,222 activities)

214 connectors (connected with 221,222 activities)

221 driving shaft (fixed connection with 202, 203, movably connected with 211, 212, 213, 214)

222 driving shaft (fixedly connected with 204, movably connected with 213,214)

223 connecting shafts (connected with 200, 214 activities)

231 chain (drives 201, 202)

232 Crawler (drives 203, 204)

241 Connector (fixed connection with 101, flexible connection with 200) supporting bracket balance mechanism 3

300 supporting bracket balance push rod (connected with 301, 331)

301 connecting shaft (connected with 321,322 activities)

310 supporting bracket (fixed connection with 311, movably connected with 332, 333)

311 Gyroscope (fixed connection with 310)

321 chute (fixed connection with 101, flexible connection with 301)

322 connectors (connected with 301, 333 activities)

331 connector (fixed connection with 101, flexible connection with 300)

332 connectors (fixed connection with 101, flexible connection with 310)

333 connector (fixed connection with 310, flexible connection with 332)

Claims (10)

1. a kind of moving mechanism, including operationally it is connected with each other and synchronously movement/driving is preferred in flat type work The the first runner unit as active cell and be preferred for including with Bu Tong oblique that make to act on face and position is fixed On the stair of degree, rough ground and the change type working face on full landform ground with the first runner unit synergistic effect and can Position-variable the second track unit as driven unit relative to the first runner unit being movably connected with, its In：

The moving mechanism is configured to the runner drive pattern moved on suitable for flat work surface and suitable on change working face Switch between mobile runner and crawler belt combination drive pattern；

In the runner drive pattern, the moving mechanism is configured to preferably operate and described by motion sensing control system Second track unit be configured to the first runner unit in length or direction of travel it is parallel or set substantially in parallel； And

In the runner and crawler belt combination drive pattern, the moving mechanism is configured to preferably that manually control system is grasped Make and second track unit is configured to intersect and be preferably formed as what is with substantially " ︿ " entered with the first runner unit The contact being in contact with the working face/effect bottom surface portions or bottom profile of shape, to adapt to and be close to different change type works Make face or can arbitrarily be moved on change type working face.

2. moving mechanism as claimed in claim 1, it is characterised in that:Second track unit switchably and/or can turn Dynamic ground is changed between spare space and operating position, and at the operating position, second track unit is towards the work Make face direction extension and preferably downward pivoting until its front end and the working face offset and with first runner Unit is collectively forming the contact/effect bottom surface portions or bottom profile of the shape with " ︿ ", and thereby makes the moving mechanism Runner and crawler belt combination formula driving structure are switched to by rotary-type driving structure；And at the spare space, described second carries out Tape cell be directed away from the working face direction retraction and preferably rotated up to upwards about axis separated with the working face and Generally in position parallel to the first runner unit and above, and thereby make the moving mechanism by runner and shoe Band combined drive structure switches to rotary-type driving structure.

3. moving mechanism as claimed in claim 1, it is characterised in that:The first runner unit and second track unit It is configured to by making both speed change ratios become identical and/or making the consistent gear shift component of both running speeds come operable Ground is connected with each other and synchronously moves, and the gear shift component includes being arranged at the gear wheel of the first runner unit and sets Be placed in the pinion gear of second track unit and be preferably disposed in both is synchronously moved between the two be preferably The connection of chain or driving member；Radius of turn ratio or outside diameter ratio and institute of the wherein described gear wheel with the first runner unit The radius of turn ratio or outside diameter ratio for stating pinion gear and second track unit are mutually equal.

4. moving mechanism as claimed in claim 1, it is characterised in that:Further include for accommodate moving mechanism's operating unit and/ Or carriage or bearing unit and the balance and row for moving mechanism described in observing and controlling that are operably connected therewith of operating personnel Walk state and preferably discrete the first balance and driving unit that are respectively used to the runner drive pattern that are used alternatingly With the second balance and driving unit for the runner and crawler belt combination drive pattern；In the runner drive pattern, institute State the first balance and driving unit and start and carriage or bearing unit are maintained with the equilibrium state corresponding to the moving mechanism Balance and definite direction of travel and make it is described second balance and driving unit remain turned-off；And in the runner and crawler belt group When closing drive pattern, second balance and driving unit start with the equilibrium state corresponding to the moving mechanism to maintain State the balance of carriage or bearing unit and its bearing-surface is always generally parallel to horizontal plane and definite direction of travel and make institute State the first balance and driving unit remains turned-off.

5. moving mechanism as claimed in claim 4, it is characterised in that:The length of second track unit and the carriage or The same length of bearing unit is substantially can be integrally accommodated in the carriage or branch in the runner drive pattern Under bearing unit.

6. moving mechanism as claimed in claim 1, it is characterised in that:The first runner unit includes wheel hub motor (110), It is placed coaxially on the runner (111) and gear wheel on the main shaft (112) of the wheel hub motor and passing through the main shaft drives (201)；And second track unit includes the crawler belt (232) of substantially elongated, the crawler belt includes being arranged on it with respect to two First driven wheel (203) and the second driven wheel (204) at end and the pinion gear being coaxially disposed with first driven wheel (202)；The gear wheel and the pinion gear directly engagement or by being connected or driving member is sequentially connected, so as to described The moving mechanism is moved and drives in a synchronous manner when runner and crawler belt combination drive pattern；And the crawler belt include with Its extension type push rod (200) being movably connected, the scaling operation of the push rod can make the crawler belt correspondingly relative to The first runner unit along planned orbit to and fro displacement so that second track unit switchably in spare space and Switch between operating position to carry out predetermined operation；And/or make the moving mechanism can be in the runner drive pattern and described Switch and formed the bottom wheel with the substantially shape of " ︿ " of the moving mechanism between runner and crawler belt combination drive pattern Exterior feature carries out predetermined operation.

7. moving mechanism as claimed in claim 1, it is characterised in that:The bottom profile forms the space of general triangular, The 80%-120% of the height of second track unit described in the height of the triangle space substantially the second track unit and excellent 90% is elected as, with the projection portion for the working face for adapting to and being met with easy to leap during movement.

8. moving mechanism as claimed in claim 1, it is characterised in that:Second track unit and/or first runner The configuration of unit is configured to make or contributes at least a portion in one of them unit to be in or be supported on the change When inclination/injustice/tip portion of change type working face or corner, at least a portion of their another unit is set to can be at or prop up Hold in the change type working face wherein on the plane of a general planar part or described in the change type working face Flat is nearby or on the plane of adjacent another general planar part.

9. moving mechanism as claimed in claim 1, it is characterised in that:When being moved on stair, second track unit and The first runner unit be configured to make composition have the substantially bottom surface portions of the shape of " ︿ " or bottom profile it is therein extremely Step plane of a few part/fulcrum always with the larger supporting force of offer of a step offsets, so as to another portion wherein Point/fulcrum is when being in and be supported on the offer of another step compared with the step angle of ramuscule load, the step plane effect It is the main supporting surface of the moving mechanism to prevent from overturning.

10. moving mechanism as claimed in claim 1, it is characterised in that:Second track unit is configured to and described first Runner unit is intersecting at an angle in length or direction of travel, and the angle can be relative to the stair in predetermined using area The gradient scope estimating or survey, rough ground estimate or legal rugged degree scope correspondingly configures.