CN100577497C - Self-balancing caterpillar manned vehicle - Google Patents
Self-balancing caterpillar manned vehicle Download PDFInfo
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- CN100577497C CN100577497C CN200710074424A CN200710074424A CN100577497C CN 100577497 C CN100577497 C CN 100577497C CN 200710074424 A CN200710074424 A CN 200710074424A CN 200710074424 A CN200710074424 A CN 200710074424A CN 100577497 C CN100577497 C CN 100577497C
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Abstract
The self-balancing caterpillar vehicle includes a frame, a power unit, a driving unit, a traveling caterpillar, a chair and a controlling mechanism. The traveling caterpillar has a driving wheel set behind the chair back and over the near bearing wheel, and the chair is connected to the frame through one automatic gravitational center regulator. White the vehicle climbs in a slope or stairs, the rider has his back facing the slope or stairs for offsetting body's gravitational center backwards and raising the stability. The self-balancing caterpillar vehicle has the features of high capacity of crossing barrier, riding comfort and high safety.
Description
Technical field
The present invention relates to transport vehicle, particularly manned vehicle climbing barrier self-balancing caterpillar vehicle.
Background technology
Present manned vehicle generally all is to adopt the driver to ascend in the face of obstacle, and this obstacle detouring mode certainly will cause the layback of human body, and the gravity center of human body also is very easy to exceed the scope that car itself can support, especially for small-sized manned car, especially like this.For example: China Patent No.: 02214861.2 " self-balancing type electric wheelchair ", though this patent is provided with balancing device and auxiliary wheel device,, can not change still that center of gravity reduces and after the problem of moving, also can't keep the balance of whole wheelchair; And crawler body adopts wheel, the steady and balance when also being unfavorable for obstacle detouring.Also have crawler body is adopted crawler-mounted, for example: China Patent No.: 02232694.4 " Obstacleless wheel chair ", though what this patent running part adopted is crawler-mounted, but, it does not still propose the actv. scheme for the centre-of gravity shift problem, and in the obstacle detouring process, the problem of preshoot or layback will inevitably appear in human body, influence traveling comfort, even safety misadventure etc. takes place.From two above-mentioned patents, all do not solve the car body in the obstacle detouring process and the equilibrium problem of human body well, particularly exist common defective, the too high and skew backward of center of gravity in the obstacle detouring process, so, how to coordinate to resolve the centre-of gravity shift in the obstacle detouring process and the equilibrium problem of whole locomotive body and human body, help obstacle detouring more, become the technical matters that to face.
Summary of the invention
The present invention proposes the method for a kind of self-balancing caterpillar vehicle device and obstacle detouring thereof, adopt the mode of climbing dorsad and going upstairs, in conjunction with the method that reduces whole locomotive body and gravity center of human body in crawler type self-balancing vehicle and climbing and the going upstairs process, center of gravity is moved to climbing and going upstairs end downwards and initiatively as far as possible, the binding force of crawler body when strengthening climbing and going upstairs, be of value to climbing and going upstairs more, solve in the prior art car body and total balance of the body is bad and center of gravity is too high, be unfavorable for the technical matters that obstacle detouring and safety are relatively poor.
The scheme that the present invention solves the problems of the technologies described above is: adopt the method for the manned car self-balancing of a kind of like this crawler type obstacle detouring, this method comprises:
A. the manned car of this crawler type begins climbing and going upstairs by the rear end, adopts human body to climb dorsad and going upstairs;
B. manned seat is fixed on by automatic mechanism on the vehicle frame of the manned car of crawler type, relies on its deadweight and human body weight to make seat remain horizontality when climbing and going upstairs;
C. the manned car of crawler type is provided with flexible setting device near on the pole of rear end, in climbing and going upstairs stage, by manual or electronic control, shortens the length of this support, and support is tilted to the back-end.
This programme adopts the mode of climbing dorsad and going upstairs, when climbing and going upstairs, if human body certainly will cause the layback of human body in the face of step or slope, and center of gravity is moved after down-hill end, when exceeding car body support scope, will cause overturning, if take the seat self balancing device, though can not cause people's trunk bending backwards, but the center of gravity of human body is still moved after the meeting, equally is unfavorable for climbing and going upstairs; Simultaneously, even the passenger manages towards going up a slope to move and lower the center of gravity, also can't solve the problem of bending so very awkward of stretching of leg.
And employing is climbed dorsad and the mode of going upstairs, and adopt the seat self balancing device, the center of gravity specific surface of human body will lack to the skew of direction of fall to climbing and going upstairs mode like this, there is more weight to be pressed in climbing and going upstairs end, improve the walking part grip of face over the ground, helped climbing and going upstairs; And seat remains horizontality.In addition, the present invention also adds flexible setting device at seat support near on the pole of rear end, in the time of climbing and going upstairs, shorten the length of this pole, can reduce the height of seat, human body is tilted to up-hill end, further reduce center of gravity, human weight is more near up-hill end, help the stable of the manned car of crawler type more, help climbing and going upstairs equally, simultaneously, passenger's leg also can be taken advantage of a situation and be stretched out, and meets human engineering; Opposite in the time of downstairs, the passenger front forward, after center of gravity was leaned on, leg can protract.
Have the consideration of this respect, the present invention to require the motivation transfer motion part position of the manned car of this crawler type to be positioned at this car center near the rear end in the design of vehicle equally for the design of vehicle, the center of gravity of car load is skew backward as far as possible.For the ease of climbing and going upstairs, the driving wheel of the manned car crawler belt of this crawler type is arranged at the oblique upper of this car rear end, and the tangential angle of this driving wheel and adjacent bearing wheed is between 30 °～45 °, and driving wheel width between centers floor level is between 150-250mm.
A kind of self-balancing caterpillar vehicle device that adopts the described method of claim of design-calculated of the present invention, comprise vehicle frame, be fixed in engine installation and connected driving device on the vehicle frame, the traveling crawler that connects driving device also comprises suspension type seat that connects on the vehicle frame and the steering unit of controlling this manned car device; The driving wheel of described traveling crawler is arranged at back of seat one side, and this driving wheel is positioned at the oblique upper of adjacent bearing wheed, and tangent line and ground-surface angle are between 30 °～45 ° between the above-mentioned two-wheeled; Described driving wheel width between centers floor level is between 150-250mm; Be connected by the center of gravity self-checking device between described seat and the vehicle frame.The driving wheel of this manned car is located at the rear side of back of seat, adopts the mode that falls back when climbing and going upstairs, and driving wheel and ground formation certain included angle, is convenient to chin.Stipulate in the building code that the part of marking time of dwelling house stair is no less than 260mm, highly is not more than 175mm, design-calculated driving wheel of the present invention is between 150～250mm apart from floor level, mainly is to make the edge that driving wheel can the direct contact stair, helps speeling stairway.But the seat automatically regulating balance of the manned car of the present invention, in the time of climbing and going upstairs, this seat remains horizontality.
Described vehicle frame comprises the connection traveling crawler, be used to carry the main car frame of engine installation and driving device, corresponding hinged main car frame front and back ends, the front frame and the after poppet that are used for supporting chair, described after poppet is provided with telescoping mechanism, the hinged main car frame of one end of this telescoping mechanism, the other end connects after poppet.This programme design-calculated telescoping mechanism is in the process of climbing and going upstairs, reduce the center of gravity of human body, when vehicle climbing and going upstairs, shorten the length of after poppet, seat is adjusted downwards backward reduced height, the one, can make human body ground proximity more, lower the center of gravity, guarantee occupant's safety, in addition, from the physics angle, support is tilted to climbing and going upstairs end, and the gravity center of human body also moves thereupon, strengthens climbing, crawler body and ground-surface contact pressure when going upstairs or leap ditch, not only help keeping the balance of car body, and prevent that crawler body skids in climbing and the going upstairs process.
The above-mentioned self balancing device of the present invention has the function of automatic maintenance seat horizontality, and described self balancing device comprises the fulcrum at armrest place, and this fulcrum is the point of connection of front frame and after poppet, makes seat be in suspended state; This device also comprises the adapter plate that is fixed in the seat both sides, this adapter plate has the strip hole of circular arc, the outstanding pin of oriented seat on the described front frame, described pin, be embedded in the strip hole, and in this strip hole, slide, also have latch switch on this pin, when tilting of car body, unclamp locking, seat along circular arc strip hole automatic compensation angle, remains level attitude under the action of gravity of deadweight and human body; When cruising, can the locking pin, make seat and support relative fixed.
The present invention has the function of regulating height of gravitational center and position, can adopt multiple scheme; First kind of scheme is hand adjustment: described after poppet is provided with telescoping mechanism, when vehicle adopts the mode of going upstairs dorsad to climb with going upstairs, adjusts this telescoping mechanism, makes after poppet shorten, and reduces the height of seat, thereby moves down after the ream weight mind-set; Another kind of scheme is to adopt electronic adjustment to substitute hand adjustment; Above method can reach and make human body ground proximity more, lowers the center of gravity, and the purpose that occupant's leg can protract, assurance occupant's safety and comfortable not only helps keeping the balance of car body, and prevents that crawler body skids in climbing and the going upstairs process.
According to the civil construction standard, the corridor width is not less than 1000mm.So the present invention adopts the crawler type mode of advancing, the car total length is less than 800mm, and therefore width can solve in a narrow corridor turning difficult problem less than 600mm.When needs were turned, as long as a side caterpillar drive, the opposite side crawler belt was motionless, just can realize pivot turn.
The present invention adopts above-mentioned technical scheme, and it is strong to make this later-model manned vehicle have an obstacle climbing ability, ride comfort, safe characteristics.
Description of drawings
Fig. 1 is the schematic perspective view of self-balancing caterpillar vehicle device of the present invention.
Fig. 2 is the partial schematic diagram that adopts circular arc cellular type center of gravity self-checking device.
Fig. 3 is the partial schematic diagram that adopts suspension type center of gravity self-checking device.
Fig. 4 is a driving system scheme drawing of the present invention.
Fig. 5 is the partial schematic diagram of telescoping mechanism 14 of the present invention and inhibiting device 15.
Fig. 6 is the generalized section of traveling crawler 40 among the present invention.
The specific embodiment
In conjunction with each embodiment among above-mentioned description of drawings the present invention.
The method of the manned car self-balancing of a kind of crawler type obstacle detouring, this method comprises:
A. the manned car of this crawler type is begun climbing, going upstairs or is crossed over ditch by the rear end;
B. manned seat is fixed on by automatic mechanism on the vehicle frame of the manned car of crawler type, relies on its deadweight and human body weight to make the people be in state of equilibrium when climbing and going upstairs;
C. the manned car of crawler type is provided with retractor device near on the vehicle frame bar of rear end, in climbing, going upstairs or leap ditch stage, by manual control, shortens the length of this support, and support is tilted to the back-end.
The driving wheel of the manned car crawler belt of this crawler type is arranged at the oblique upper of this car rear end, and the tangential angle of this driving wheel and adjacent bearing wheed biases toward driving wheel width between centers floor level between 150～250mm between 30 °～45 °; The position of the motivation transfer motion part of the manned car of this crawler type is moved to the close rear end at this car center one lateral deviation.
By finding out among Fig. 1, this self-balancing caterpillar vehicle device, comprise vehicle frame 10, be fixed in engine installation 20 and connected driving device 30 on the vehicle frame 10, the traveling crawler 40 that connects driving device 30 also comprises seat 50 that connects on the vehicle frame 10 and the steering unit 70 of controlling this manned car device; The driving wheel 41 of described traveling crawler 40 is arranged at seat 50 backrests one side, and this driving wheel 41 is positioned at the oblique upper of adjacent bearing wheed 43, and tangent line and ground-surface folder degree are between 30 °～45 ° between the above-mentioned two-wheeled; Described driving wheel 41 width between centers floor levels are between 150-250mm; Be connected by center of gravity self-checking device 60 between described seat 50 and the vehicle frame 10.The driving wheel 41 of this manned car is located at a side of seat 50 backrests, adopts the mode of advancing dorsad when climbing and going upstairs, and driving wheel 41 and ground formation certain included angle, is convenient to chin.Stipulate in the building code, the part of marking time of dwelling house stair is no less than 260mm, highly is not more than 175mm, and design-calculated driving wheel 41 of the present invention is between the 150-250mm apart from floor level, mainly be to make the edge that driving wheel 41 can the direct contact stair, help speeling stairway.The seat 50 of the manned car of the present invention is the automatically regulating balance, and in the time of climbing and going upstairs, this seat 50 remains horizontality, makes human body keep state of equilibrium.
When climbing of manned car and going upstairs, if human body certainly will cause the layback of human body in the face of step or slope, and center of gravity after move, when exceeding car body support scope, will cause overturning; If take the seat self balancing device, though can not cause people's trunk bending backwards,, the center of gravity of human body still higher partially after, equally have potential safety hazard, occupant's leg need be curled simultaneously.And this programme adopts the mode of climbing dorsad and going upstairs, and adopt the seat self balancing device and add retractor device near on the pole of rear end at seat support, in the time of climbing and going upstairs, the length of corresponding this pole of shortening, thereby the center of gravity of seat is offset downwards to the upward slope direction, make seat remain horizontality simultaneously, make the occupant comfortable, because whole center of gravity (the containing the occupant) specific surface of manned car is to climbing and the lower upward slope direction of more being inclined to of going upstairs mode, therefore more stablize safer, there is more weight to be pressed in climbing and going upstairs end, improved crawler body, help climbing and going upstairs ground-surface grip.In addition, occupant's leg can stretch out to descending side, meets the human engineering principle.
As shown in Fig. 1 and Fig. 5, described vehicle frame 10 comprises connection traveling crawler 40, be used to carry the main car frame 11 of engine installation 20 and driving device 30, corresponding hinged main car frame 11 front and back ends, the front frame 12 and the after poppet 13 that are used for supporting chair 50, described after poppet 13 is provided with telescoping mechanism 14, the hinged main car frame 11 of an end of this telescoping mechanism 14, and the other end and front frame 12 are hinged.Also be provided with the inhibiting device 15 of restriction telescoping mechanism 14 lifting positions on the described after poppet 13, the stop gear 151 of this inhibiting device 15 is arranged on the connecting element n of telescoping mechanism 14, and limiting moving of telescoping mechanism 14 movable part m, the control end 152 of this inhibiting device 15 is arranged on the handrail 51 of seat 50.This programme design-calculated telescoping mechanism 14 is in the process of climbing and going upstairs, reduce the center of gravity of human body, when vehicle climbing and going upstairs, this telescoping mechanism 14 shortens, reduce the height of after poppet 13, the one, can make human body press close to crawler body more, lower the center of gravity, guarantee occupant's safety, in addition, from the physics angle, support is tilted to climbing and going upstairs end, and whole center of gravity reach strengthens climbing and going upstairs end crawler body and ground-surface contact pressure, not only help keeping the balance of car body, and prevent to climb and the process crawler body of going upstairs skids.When car body recovers walking in a horizontal state, the short support after an action of the bowels 13 of the flexible restore funcitons of telescoping mechanism 14 raises, seat 50 turns back to the normal position, can make the occupant pleasant like this, also relatively be beneficial to observation, the hole k on the telescoping mechanism 14, its objective is the air of discharging 14 li of telescoping mechanisms, utilize the shock damping action in this hole simultaneously, slow down the rising or falling speed of telescoping mechanism 14, prevent to rise soon soon fall.Inhibiting device 15 mainly is the effect of playing control telescoping mechanism 14, when needs descend, discharges this inhibiting device 15, and telescoping mechanism 14 can free lifting.When needs fixedly are, control this inhibiting device 15 actions, block the movable part of telescoping mechanism 14, telescoping mechanism 14 is fixed.This inhibiting device 15 can adopt on the movable part of telescoping mechanism 14 establishes groove, and the fixture block of inhibiting device 15 embeds to be realized in this groove limiting its movable purpose, and control setup can adopt the backguy of using on the bicycle; Also can adopt electronic adjustment mode.
As shown in Fig. 1 to Fig. 3, the center of gravity self-checking device comprises two kinds of schemes among the present invention, one: described center of gravity self-checking device 60 comprises the adapter plate 61 that is fixed in seat 50 both sides, this adapter plate 61 has the strip hole 62 of circular arc, the pin 63 that respectively oriented seat 50 is given prominence on described front frame 12 and the after poppet 13, latch switch 64, described pin 63, latch switch 64 is embedded in the strip hole 62, and slides (as shown in Figure 3) in this strip hole 62.When tilting of car body, seat 50 is under the action of gravity of human body, along circular arc strip hole 62 automatic compensation angles, till total balance of the body, here circular arc strip hole 62 and pin 63, in fact latch switch 64 constitutes the arc-shaped rail pair, can play the effect of automatically regulating center of gravity.Mechanical latch switch 64 is arranged on the pin 63, be used for fixed seat when level is advanced.
Its two: described center of gravity self-checking device 60 comprises the fulcrum frame 65 that is articulated on the armrest 50, this fulcrum frame 65 and be point of connection hinge-point (as shown in Figure 4) between front frame 12 and the after poppet 13, make seat be in suspended state, swing to level attitude automatically by seat 50.
As shown in Figure 4, also include two power-transfer clutchs 31 in the described driving device 30, above-mentioned two power-transfer clutchs 31 connect two driving wheels 41 of traveling crawler 40 respectively, and the controller of these two power-transfer clutchs 31 is arranged on the handrail 51 of seat 50.Tracklaying vehicle all is to adopt a skidding to walk, and the motionless mode of an other side is turned, so the present invention is provided with two power-transfer clutchs 31, the turning of control vehicle thus respectively in driving system.Also can adopt the all-electronin mode, two direct motor drive left and right sides of centralized control crawler belt, thus substitute mechanical clutch.
As shown in Figure 6, crawler belt 42 in the described traveling crawler 40 comprises the rubber tape 423 of in-to-in rigid backbone 422 and outsourcing, crawler belt 42 outside faces be horizontally arranged with the projection bar shaped tooth 421, in these bar shaped tooth 421 section forms at least the angle at a limit and crawler belt 42 outside faces be not more than 90 °.Rigid backbone 422 mainly is in order to strengthen the tensile strength of crawler belt 42, prevent crawler belt 42 extension elongations, the bar shaped tooth 421 of lateral projection mainly is in order to strengthen the earth-grasping force degree, particularly in climbing and going upstairs, bar shaped tooth 421 can also play and tangle step edges, makes vehicle can finish the task of obstacle detouring smoothly.
Claims (4)
1. self-balancing caterpillar vehicle device, comprise vehicle frame (10), be fixed in engine installation (20) and connected driving device (30) on the vehicle frame (10), the traveling crawler (40) that connects driving device (30) also comprises seat (50) that connects on the vehicle frame (10) and the steering unit (70) of controlling this manned car device; It is characterized in that: the driving wheel (41) of described traveling crawler (40) is arranged at seat (50) backrest rear side, and this driving wheel (41) is positioned at the oblique upper of adjacent bearing wheed (43), and tangent line and ground-surface angle are between 30 °～45 ° between the above-mentioned two-wheeled; Described driving wheel (41) width between centers floor level is between 150-250mm; Be connected by center of gravity self-checking device (60) between described seat (50) and the vehicle frame (10); Described vehicle frame (10) comprises connection traveling crawler (40), be used to carry the main car frame (11) of engine installation (20) and driving device (30), corresponding hinged main car frame (11) front and back ends, the front frame (12) and the after poppet (13) that are used for supporting chair (50), described after poppet (13) is provided with expanding and lifting mechanism (14), the hinged main car frame of one end (11) of this lifting mechanism (14), the other end and front frame (12) are hinged; Described center of gravity self-checking device (60) comprises the adapter plate (61) that is fixed in seat (50) both sides, this adapter plate (61) has the strip hole (62) of circular arc, described front frame (12) and after poppet (13) are gone up the outstanding pin (63) of oriented seat (50) respectively, described pin (63) is embedded in the strip hole (62), and in this strip hole (62), slide, described pin (63) but the end be provided with the latch switch (64) of fixed seat (50).
2. device according to claim 1, it is characterized in that: the inhibiting device (15) that also is provided with restriction lifting mechanism (14) lifting position on the described after poppet (13), the stop gear (151) of this inhibiting device (15) is arranged on the connecting element of lifting mechanism (14), and limiting moving of lifting mechanism (14) movable part, the control end (152) of this inhibiting device (15) is arranged on the handrail (51) of seat (50).
3. device according to claim 1 and 2, it is characterized in that: also include two power-transfer clutchs (31) in the described driving device (30), above-mentioned two power-transfer clutchs (31) connect two driving wheels (41) of traveling crawler (40) respectively, and the controller of these two power-transfer clutchs (31) is arranged on the handrail (51) of seat (50).
4. device according to claim 1 and 2, it is characterized in that: the crawler belt (42) in the described traveling crawler (40) comprises the rubber tape (423) of in-to-in rigid backbone (422) and outsourcing, crawler belt (42) outside face be horizontally arranged with the projection bar shaped tooth (421), in this bar shaped tooth (421) section form at least the angle at a limit and crawler belt (42) outside face be not more than 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710074424A CN100577497C (en) | 2007-05-08 | 2007-05-08 | Self-balancing caterpillar manned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710074424A CN100577497C (en) | 2007-05-08 | 2007-05-08 | Self-balancing caterpillar manned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101066686A CN101066686A (en) | 2007-11-07 |
| CN100577497C true CN100577497C (en) | 2010-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200710074424A Expired - Fee Related CN100577497C (en) | 2007-05-08 | 2007-05-08 | Self-balancing caterpillar manned vehicle |
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| Country | Link |
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| CN (1) | CN100577497C (en) |
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| CN102429787B (en) * | 2011-09-15 | 2013-09-04 | 上海电机学院 | Horizontal manned wheelchair |
| CN102641190A (en) * | 2012-05-15 | 2012-08-22 | 山东理工大学 | Wheel chair travelling mechanism capable of automatically adapting to road condition |
| CN103112509A (en) * | 2013-03-06 | 2013-05-22 | 何志波 | Self-balance power-driven double-track vehicle |
| CN105287116A (en) * | 2014-06-26 | 2016-02-03 | 周广刚 | Wheelchair enabling automatic balance of seat |
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| CN111559433A (en) * | 2020-05-21 | 2020-08-21 | 李俊 | Transfer device convenient for refrigerator to enter home |
| CN112043515B (en) * | 2020-09-30 | 2022-06-24 | 重庆理工大学 | Gravity self-balancing wheelchair |
| CN113511273A (en) * | 2020-10-22 | 2021-10-19 | 北京林业大学 | Automatic center of mass leveling load-carrying device for stair transportation robot |
| CN113116648B (en) * | 2021-04-13 | 2023-04-25 | 聊城大学 | Shock-absorbing stair climbing obstacle surmounting device and wheelchair |
| CN113975005B (en) * | 2021-09-24 | 2023-09-19 | 安吉居然雅竹家居用品有限公司 | Intelligent multifunctional seat |
| CN113885537A (en) * | 2021-12-07 | 2022-01-04 | 江苏邦邦智能科技有限公司 | Control method, device, equipment and medium for intelligent mobile equipment |
| CN114795692A (en) * | 2022-04-11 | 2022-07-29 | 合肥工业大学 | Wheel chair |
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| CN101066686A (en) | 2007-11-07 |
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