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Spiral arm and crawler belt combined stair climbing wheel

A combination and crawler technology, applied in the field of wheels, can solve problems such as large fluctuations, poor adaptability, and damage to stairs, and achieve the effects of small center of gravity fluctuations, overcoming damage, and good stability

Pending Publication Date: 2018-07-06
徐东
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The crawler structure has good adaptability, but the structure is complex and has certain damage to the stairs; the star wheel structure is simple, but the fluctuation is large and the comfort is poor when used; the deformable wheel and the simulated step structure move smoothly, but the structure is complex and bulky; the swing arm The spiral arm arc of the structure is approximately an Archimedes spiral, so the movement is stable, but because the arc length and the radius difference between the two ends of the arc are fixed, it can only be adapted to the stairs with a fixed step length and height, even if the stair steps Slight changes occur, and when the number of climbing steps reaches a certain level, it will also accumulate into a larger change, so its adaptability is poor
[0004] In order to overcome the shortcomings of the existing cantilever type stair climbing wheels that cannot adapt to various stairs, the present invention proposes a cantilever track combined stair climbing wheel structure. The present invention uses the cantilever to rotate around the wheel axis and the track to drive the cantilever realized by combined movement

Method used

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  • Spiral arm and crawler belt combined stair climbing wheel
  • Spiral arm and crawler belt combined stair climbing wheel
  • Spiral arm and crawler belt combined stair climbing wheel

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] Such as figure 1 The shown cantilever-track combined stair-climbing wheel includes hub (1), cantilever (2), track (3), roller table (4), track motion control device, adjustable support bar (6), track elastic Regulator (7), guide wheel (8), fixed screw (10).

[0028] The roller table (4) consists of a number of rollers fixed on the arm, and the rollers can rotate around their fixed axes, such as figure 2 shown.

[0029] The crawler motion control device comprises a reduction motor (50), a reduction motor output shaft (51), and a crawler drive wheel (52), and the reduction motor (50) is fixed on the wheel hub (1) through a fixing screw (10); the crawler drive wheel (52 ) is installed on the hub (1), such as figure 1 and Figure 5 shown.

[0030] Adjustable support rod (6) comprises first connecting rod (61), second connecting rod (62), adjusting rod (63), as image 3 As shown, the first connecting rod (61) and the second connecting rod (62) are connected through th...

Embodiment 2

[0035] The crawler motion control device can be installed entirely on the wheel hub, or on the frame, wheel hub, and swing arm of the vehicle where the wheel is located, such as Figure 6 As shown, the deceleration motor (50) of the track motion control device is installed on the vehicle frame (9), and is connected with the track driving wheel (52) through the output shaft (51), and the track driving wheel (52) is connected with the track (3), Output shaft (51) and wheel shaft are concentric shafts. The drive motor (90) of the wheel drives the wheel to drive the swing arm to rotate. When the wheel shaft drives the wheel to rotate, the movement of the track (3) relative to the swing arm (2) is controlled by controlling the speed of the reduction motor (50).

[0036]When the deceleration motor (50) of the crawler motion control device is the brake device, the crawler belt (3) rotates around the frame (9) driven by the swing arm (2), thereby driving the output shaft to rotate re...

Embodiment 3

[0038] There are various forms of crawlers on the swing arms, one crawler can be installed around all the swing arms, as shown in embodiment 1; one crawler can also be installed on each swing arm, as shown in Figure 7 The connection schematic is shown.

[0039] The track can also include various chains, synchronous belts or transmission belts. When it is a transmission belt, the track drive wheel drives the track to move through friction

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Abstract

The invention discloses a spiral arm and crawler belt combined stair climbing wheel which is characterized in that a wheel is integrally of a spiral arm structure, a crawler belt is mounted on the surface of a spiral arm, and a stair climbing function is achieved by combined movement of rotation of the spiral arm and the crawler belt on the spiral arm around a wheel and movement of the spiral armrelative to the crawler belt. The shortcomings of poor stair adaptability of an existing spiral arm stair climbing barrow and large fluctuation of a star wheel stair climbing barrow are overcome. Thespiral arm and crawler belt combined stair climbing wheel is stable in movement, small in fluctuation and low in noise, not only can move on a flat ground, but also can stably climb stairs and cross obstacles, and can further adapt to stairs with different step lengths and heights when climbing the stairs and crossing the obstacles.

Description

Technical field: [0001] The invention relates to a device with the function of climbing stairs, in particular to a wheel suitable for various stairs. technical background: [0002] In order to realize the stair-climbing function of the vehicle, people have conducted a lot of research and invented many products that can realize the stair-climbing function. According to the stair-climbing principle, they can be mainly divided into the following structures: a simulation structure that imitates humans going up and down stairs, Deformable wheels, crawler structure, three-wheel or five-wheel star-wheel structure, Archimedes spiral-shaped cantilever structure. [0003] The crawler structure has good adaptability, but the structure is complex and has certain damage to the stairs; the star wheel structure is simple, but the fluctuation is large and the comfort is poor when used; the deformable wheel and the simulated step structure move smoothly, but the structure is complex and bulk...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60B19/00B62B5/02B62B9/02A61G5/06
CPCA61G5/061B62B5/026B62B9/02B60B19/00
Inventor 徐东
Owner 徐东
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