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CN113262112B - Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker - Google Patents

Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker Download PDF

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Publication number
CN113262112B
CN113262112B CN202110567027.9A CN202110567027A CN113262112B CN 113262112 B CN113262112 B CN 113262112B CN 202110567027 A CN202110567027 A CN 202110567027A CN 113262112 B CN113262112 B CN 113262112B
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CN
China
Prior art keywords
travelling
wheel
crawler
motor
turnover
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Application number
CN202110567027.9A
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Chinese (zh)
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CN113262112A (en
Inventor
赵明
程诚
王令杰
王朝进
曾令昌
丘招辉
李井玉
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Anhui Ruibu Intelligent Equipment Co ltd
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Anhui Ruibu Intelligent Equipment Co ltd
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Priority to CN202110567027.9A priority Critical patent/CN113262112B/en
Publication of CN113262112A publication Critical patent/CN113262112A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

The invention discloses a traveling crawler and traveling wheel switching and speed changing device of an electric stair climbing walker, which comprises universal wheels, a traveling crawler, a turnover crawler, a traveling wheel mechanism, a traveling motor and a turnover motor, wherein a clutch which rotates along with the traveling motor and can move inwards or outwards along the axial direction of the traveling motor is arranged on an output shaft of the traveling motor, and the traveling crawler, the traveling wheel mechanism and the rapid or slow running are driven by a rapid and slow transmission mechanism; the advancing and overturning crawler mechanisms share one synchronous wheel, the overturning motor drives the overturning crawler mechanisms to overturn upwards or downwards, and the universal wheel, the advancing wheel mechanism and the advancing and overturning crawler mechanisms together travel on the ground or lift off the ground. The invention has two working modes of normal walking and stair climbing, can provide the adaptive running speed for passengers to freely switch, and meets the requirements of safe going upstairs and downstairs and normal traveling; the width and the acting points of the crawler belt can be obviously increased, and the crawler belt is more stable; the advancing and driving mechanisms are mutually independent and do not affect each other.

Description

Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker
Technical Field
The invention relates to the technical field of electric stair climbing walker, in particular to a traveling crawler and traveling wheel switching and speed changing device of the electric stair climbing walker.
Background
The electric stair climbing walker is also called an electric stair climbing wheelchair, the existing electric stair climbing wheelchair mostly adopts a crawler belt advancing mode, the crawler belt is usually positioned at the lower side of the wheelchair, and the crawler belt is usually in a retracted state when the electric stair climbing wheelchair advances on a normal road surface; when climbing stairs, the passengers manually operate the function keys (buttons) on the handrails to enable the tracks to extend downwards for a certain distance, so that the travelling wheels of the wheelchair are lifted off the ground, namely, the wheelchair is switched into a track stair climbing mode, and the passengers need to manually control the balance of the seat in the stair climbing process.
When the electric stair climbing wheelchair climbs a stairs, the seat is lifted and is far away from the ground, so that great potential safety hazards are caused, and meanwhile, great mental panic is also caused for passengers.
In addition, since the crawler belt of the electric stair climbing wheelchair is usually hidden at the inner side of the travelling wheel, the width of the crawler belt is narrow, so that the vehicle body is easy to shake left and right when climbing stairs; in addition, the crawler belt is short in length, and can only contact 2 to 3 steps at most in the stair climbing process, so that fewer acting points are provided, and great potential safety hazards are caused.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings in the prior art, and provides a traveling crawler and traveling wheel switching and speed changing device of an electric stair climbing walker, which has two working modes of normal walking and stair climbing, can provide corresponding running speeds for different working modes, and can allow passengers to freely switch the working modes and the corresponding running speeds so as to meet the requirements of safe going upstairs and downstairs and normal traveling of special groups such as the elderly, the disabled and the like; meanwhile, after the travelling crawler mechanism and the overturning crawler mechanism are flattened, the whole crawler is widened, at least 4-5 steps can be contacted, the acting points can be obviously increased, the electric stair climbing walker is more stable in the stair climbing process, and the electric stair climbing walker does not shake left and right, so that potential safety hazards are avoided; in addition, each travelling mechanism and each transmission mechanism can operate independently and are not affected by each other.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides an electronic stair climbing helps walking car advance track and advance wheel switching and speed change gear, including installing respectively in the frame universal wheel mechanism, advance crawler mechanism, upset crawler mechanism, advance wheel mechanism, advance motor and upset motor, its characterized in that: the clutch which rotates along with the output shaft of the travelling motor and can move inwards or outwards along the axial direction of the output shaft of the travelling motor is arranged on the output shaft of the travelling motor, and when the clutch moves inwards along the axial direction of the output shaft of the travelling motor, the travelling wheel mechanism is driven to operate rapidly through the rapid transmission mechanism; when the clutch moves outwards along the axial direction of the output shaft of the travelling motor, the travelling crawler mechanism is driven to run at a low speed through the low-speed transmission mechanism;
the rear part of the travelling crawler mechanism and the front part of the turnover crawler mechanism share a synchronous wheel, the turnover motor drives the turnover crawler mechanism to turn upwards or downwards at the rear side of the frame, when the turnover motor drives the turnover crawler mechanism to turn upwards, the universal wheel mechanism and the travelling crawler mechanism together travel in a pasting way, and the travelling crawler mechanism and the turnover crawler mechanism are lifted off the ground; when the turnover motor drives the turnover crawler mechanism to turn downwards, the travelling crawler mechanism and the turnover crawler mechanism walk together in a ground-pasting mode, and the universal wheel mechanism and the travelling wheel mechanism are lifted off the ground.
Further, the advancing motor is fixedly arranged at the front part of the frame, and a key groove is formed in the outer wall of the output shaft of the advancing motor along the axial direction of the outer wall.
Further, the clutch comprises a ring body sleeved on the output shaft of the travelling motor, the inner edge of the ring body is provided with a key pin which is integrally connected along the axial direction of the ring body, the key pin is inserted in the key groove and can move inwards or outwards along the key groove, the ring body can rotate along with the output shaft of the travelling motor on one hand, and on the other hand, the key pin and the key groove which are matched move inwards or outwards along the axial direction of the output shaft of the travelling motor; the inner side and the outer side of the ring body are respectively provided with an inner gear ring and an outer gear ring which are connected in an integral way.
Further, the quick transmission mechanism comprises a quick transmission sprocket which is rotatably arranged on an output shaft of the travelling motor through a bearing, a travelling wheel transmission sprocket which drives a travelling wheel of the travelling wheel mechanism to rotate, and a first chain which is connected with the quick transmission sprocket and the travelling wheel transmission sprocket, wherein the quick transmission sprocket is positioned at the inner side of the clutch, and the outer side of the quick transmission sprocket is provided with a first gear ring which is integrally connected and meshed with the inner gear ring.
Further, the slow speed transmission mechanism comprises a slow speed transmission sprocket which is rotatably mounted on an output shaft of the travelling motor through a bearing, a track transmission sprocket which is fixedly mounted on the inner side of the synchronizing wheel, and a second chain which is connected with the slow speed transmission sprocket and the track sprocket, wherein the slow speed transmission sprocket is positioned on the outer side of the clutch, and the inner side of the slow speed transmission sprocket is provided with a second gear ring which is integrally connected and can be meshed with the outer gear ring.
Further, the device also comprises a center shaft arranged at the rear side of the frame, one end of the center shaft is rotatably provided with a shaft sleeve coaxial with the center shaft, the end part of the center shaft is fixedly provided with a center shaft connecting piece, the travelling wheel driving sprocket is fixedly arranged at the inner end of the shaft sleeve, the outer end of the shaft sleeve is fixedly provided with a gear ring seat, and the outer side of the gear ring seat is fixedly provided with a gear ring.
Further, the synchronizing wheel is rotatably mounted on the shaft sleeve and is coaxially arranged with the shaft sleeve.
Further, the traveling wheel mechanism comprises a traveling wheel shaft, a traveling wheel connecting piece, a gear and a traveling wheel, wherein the gear is fixedly arranged on the inner side of the traveling wheel connecting piece and meshed with the gear ring, and the traveling wheel connecting piece is fixedly arranged on the inner side of the traveling wheel; one end of the travelling wheel shaft is fixedly connected to the eccentric position of the middle shaft connecting piece, and the other end of the travelling wheel shaft sequentially penetrates through the gear and the central hole of the travelling wheel connecting piece and then is rotationally connected with the travelling wheel.
Further, the turnover motor is fixedly arranged at the rear part of the frame, a driving gear is fixedly arranged on an output shaft of the turnover motor, and a driven gear meshed with the driving gear is fixedly arranged on the middle shaft; the support frame of the turnover crawler mechanism is fixedly connected to the center shaft, and the idler wheels are arranged on the inner side of the rear portion of the support frame of the turnover crawler mechanism.
Further, the application method of the invention comprises the following steps:
s1, starting the turnover motor to work, enabling an output shaft of the turnover motor to rotate backwards, driving the turnover crawler mechanism to turn upwards until an included angle between the turnover crawler mechanism and the horizontal direction is 45 degrees, and simultaneously driving the traveling wheel shaft to turn downwards until the traveling wheel shaft is positioned at the lowest point of the eccentric position of the middle shaft connecting piece, so that the universal wheel mechanism and the traveling wheel mechanism walk together in a pasting mode, and enabling the traveling crawler mechanism and the turnover crawler mechanism to be lifted off the ground;
s2, operating the clutch to move inwards along the axial direction of an output shaft of the travelling motor, so that the travelling motor is in transmission connection with the travelling wheel mechanism through the quick transmission mechanism;
s3, starting the travelling motor to work, driving the clutch to rotate together with the travelling motor, and driving the travelling wheel mechanism to rapidly run through the rapid transmission mechanism;
s4, starting the turnover motor to work again, enabling an output shaft of the turnover motor to rotate forwards, driving the turnover crawler mechanism to turn downwards until the turnover crawler mechanism is flush with the travelling crawler mechanism, driving the travelling wheel shaft to turn upwards until the turnover crawler mechanism is located at the highest point of the eccentric position of the middle shaft connecting piece, enabling the travelling crawler mechanism and the turnover crawler mechanism to walk together in a pasting mode, and enabling the universal wheel mechanism and the travelling wheel mechanism to be lifted off the ground;
s5, operating the clutch to move outwards along the axial direction of the output shaft of the travelling motor, so that the travelling motor is in driving connection with the travelling crawler mechanism through the slow transmission mechanism;
s6, starting the running motor to work again, driving the clutch to rotate together with the running motor, and driving the running crawler mechanism to run slowly through the slow transmission mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a double-track mechanism, a universal wheel mechanism and a travelling wheel mechanism, wherein the double-track mechanism comprises a travelling track mechanism and a turnover track mechanism, and has two working modes of normal walking and stair climbing; when the turnover motor drives the turnover crawler mechanism to turn downwards, the travelling crawler mechanism and the turnover crawler mechanism travel together to be attached to the ground, and the universal wheel mechanism and the travelling wheel mechanism are lifted off the ground, so that the travelling crawler mechanism can be switched to a stair climbing working mode, an occupant can freely switch the two working modes, the operation and the use are very convenient, and the requirements of safety upstairs and downstairs and normal travel of special groups such as the old and the disabled are met.
2. The double-track mechanism adopted by the invention shares one synchronous wheel, so that synchronous operation is realized, and under the condition of normal walking along the ground, the overturning motor can drive the overturning track mechanism to overturn upwards to an included angle of 45 degrees with the horizontal direction, so that the normal walking along the ground of the walker is not influenced; under the circumstances of climbing the building, the upset motor can drive upset crawler downwards to flush with advancing crawler and flatten, and the whole widening of track after the flattening, and can contact 4-5 steps at least, can obviously increase the impetus for electronic building walker is more steady at the in-process of climbing the building, can not appear rocking side by side, has avoided the potential safety hazard.
3. The invention adopts two sets of mutually independent transmission mechanisms, namely a fast transmission mechanism and a slow transmission mechanism, and the travelling motor correspondingly drives the travelling wheel mechanism to run fast and the double-crawler mechanism to run slowly, so that the invention can provide the adaptive running speed aiming at two different working modes, realize speed change and ensure the safety on the basis of meeting the requirements of going upstairs and downstairs and going out normally.
4. The invention adopts the clutch which can rotate along with the travelling motor and can move inwards or outwards along the axial direction of the travelling motor, and realizes the connection between the travelling motor and the quick transmission mechanism or the slow transmission mechanism by controlling the inwards or outwards movement of the clutch, thereby realizing the free switching between the quick operation and the slow operation, having very convenient operation and use and meeting the use requirement of passengers.
5. The invention adopts the installation structure that the middle shaft, the middle shaft connecting piece, the travelling wheel shaft and the like form the travelling wheel together, the travelling wheel is positioned at the eccentric position of the synchronous wheel in the axial direction, the relative position of the travelling wheel and the synchronous wheel is synchronously changed in the process that the turnover motor drives the turnover crawler mechanism to turn upwards or downwards, the universal wheel mechanism and the travelling wheel mechanism are switched to walk on the ground or lift off the ground, the travelling crawler mechanism and the turnover crawler mechanism correspondingly lift off the ground or walk on the ground, the free switching of two working modes of normal walking and stair climbing is realized, and any interference is not caused to the normal operation of the double crawler mechanism and the travelling wheel mechanism.
6. The shaft sleeve, the gear ring seat, the gear ring, the gear, the travelling wheel connecting piece and the like adopted by the invention form an independent transmission mechanism between the travelling wheel and the synchronous wheel together to drive the travelling wheel to operate, so that the travelling wheel mechanism and the travelling crawler mechanism can operate independently and are not influenced.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic diagram of a second embodiment of the present invention.
Fig. 3 is a schematic diagram of a third embodiment of the present invention.
Fig. 4 is an exploded view of the structure of the synchronizing wheel, the traveling wheel and the transmission parts thereof in the present invention.
Fig. 5 is a cross-sectional view showing the structure of the synchronizing wheel, the traveling wheel and the transmission parts thereof according to the present invention.
Fig. 6 is an exploded view of the structure of the travel motor, clutch, fast drive sprocket, slow drive sprocket and push-pull electromagnet of the present invention.
Fig. 7 is a mounting structure diagram of the push-pull electromagnet in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, a travelling crawler and travelling wheel switching and speed changing device of an electric stair climbing walker comprises a universal wheel mechanism 2, a travelling crawler mechanism 3, a turnover crawler mechanism 4, a travelling wheel mechanism 5, a travelling motor 6 and a turnover motor 7 which are respectively arranged on a frame 1, wherein a clutch 8 which rotates along with the travelling motor 6 and can move inwards or outwards along the axial direction of the output shaft of the travelling motor 6 is arranged on the output shaft of the travelling motor 6, and when the clutch 8 moves inwards along the axial direction of the output shaft of the travelling motor 6, the travelling wheel mechanism 5 is driven to rapidly run through a rapid transmission mechanism 9; when the clutch 8 moves outwards along the axial direction of the output shaft of the travelling motor 6, the travelling crawler mechanism 3 is driven to run at a low speed through the low-speed transmission mechanism 10;
the rear part of the travelling crawler mechanism 3 and the front part of the turnover crawler mechanism 4 share a synchronous wheel 11, the turnover motor 7 drives the turnover crawler mechanism 4 to turn upwards or downwards at the rear side of the frame 1, and when the turnover motor 7 drives the turnover crawler mechanism 4 to turn upwards, the universal wheel mechanism 2 and the travelling crawler mechanism 3 together travel in a pasting way, and the travelling crawler mechanism 4 and the turnover crawler mechanism 5 are lifted off the ground; when the turnover motor 7 drives the turnover crawler 4 to turn downwards, the travelling crawler 4 and the turnover crawler 5 travel together and are attached to the ground, and the universal wheel mechanism 2 and the travelling wheel mechanism 3 are lifted off the ground.
In the invention, a travelling motor 6 is fixedly arranged at the front part of a frame 1, and a key groove 12 is arranged on the outer wall of an output shaft of the travelling motor along the axial direction of the output shaft.
In the invention, the clutch 8 comprises a ring body 81 sleeved on an output shaft of the travelling motor 6, wherein key pins (not shown in the figure) which are integrally connected are arranged on the inner edge of the ring body 81 along the axial direction of the ring body 81, are inserted into key grooves 12 and can move inwards or outwards along the key grooves 12, the ring body 81 can rotate along with the output shaft of the travelling motor 6 on one hand, and on the other hand, can move inwards or outwards along the axial direction of the output shaft of the travelling motor 6 through the matched key pins and the key grooves 12; the ring body 81 has an inner ring gear 82 and an outer ring gear 83 integrally connected to each other on the inner and outer sides thereof.
Thus, by providing the key groove 12 and the key pin that are inserted into each other, and by the key pin moving inward or outward along the key groove 12, the clutch 8 can be moved inward or outward along the axis of the output shaft of the traveling motor 6.
In the invention, the quick transmission mechanism 9 comprises a quick transmission sprocket 91 rotatably mounted on an output shaft of the traveling motor 6 through a bearing, a traveling wheel transmission sprocket 92 for driving the traveling wheel 51 of the traveling wheel mechanism 5 to rotate, and a first chain 93 for connecting the quick transmission sprocket 91 and the traveling wheel transmission sprocket 92, wherein the quick transmission sprocket 91 is positioned at the inner side of the clutch 8, and a first gear ring 94 which is integrally connected with the inner gear ring 82 and can be meshed with the outer side of the quick transmission sprocket 91.
Thereby, by the clutch 8 moving inward in the axial direction of the output shaft of the travel motor 6, the ring gear 82 is meshed with the first ring gear 94, and the clutch 8 and the quick drive sprocket 91 are connected, so that the travel wheel mechanism 5 can be driven to operate quickly by the travel motor 6 through the quick drive mechanism 9.
In the invention, the slow speed transmission mechanism 10 comprises a slow speed transmission chain wheel 101 rotatably mounted on an output shaft of the travelling motor 6 through a bearing, a track transmission chain wheel 102 fixedly mounted on the inner side of the synchronous wheel 11 and a second chain 103 for connecting the slow speed transmission chain wheel 101 and the track chain wheel 102, wherein the slow speed transmission chain wheel 101 is positioned on the outer side of the clutch 8, and a second gear ring 104 which is integrally connected on the inner side of the slow speed transmission chain wheel 101 and can be meshed with the outer gear ring 83.
Thereby, by the clutch 8 being moved outward in the axial direction of the output shaft of the travel motor 6, the outer gear ring 83 is meshed with the second gear ring 104, and the clutch 8 and the slow-speed drive sprocket 101 are connected, so that the travel crawler 3 can be driven to run slowly by the travel motor 6 through the slow-speed drive mechanism 10.
The invention also comprises a center shaft 13 arranged at the rear side of the frame 1, one end of the center shaft 13 is rotatably provided with a shaft sleeve 14 coaxial with the center shaft 13, the end part of the center shaft 13 is fixedly provided with a center shaft connecting piece 15, a travelling wheel driving chain wheel 92 is fixedly arranged at the inner end of the shaft sleeve 14, the outer end of the shaft sleeve 14 is fixedly provided with a gear ring seat 16, and the outer side of the gear ring seat 16 is fixedly provided with a gear ring 17.
In the present invention, the synchronizing wheel 11 is rotatably mounted on the sleeve 14 and is coaxially disposed with the sleeve 14. Thereby, the installation of the synchronizing wheel 11 is achieved.
In the invention, the traveling wheel mechanism 5 comprises a traveling wheel shaft 52, a traveling wheel connecting piece 53, a gear 54 and a traveling wheel 51, wherein the gear 54 is fixedly arranged on the inner side of the traveling wheel connecting piece 53 and meshed with the gear ring 17, and the traveling wheel connecting piece 53 is fixedly arranged on the inner side of the traveling wheel 51; one end of the traveling wheel shaft 52 is fixedly connected to the eccentric position of the middle shaft connecting piece 15, and the other end of the traveling wheel shaft 52 sequentially passes through the gear 54 and the center hole of the traveling wheel connecting piece 53 and then is rotatably connected with the traveling wheel 51.
Therefore, the middle shaft 13, the middle shaft connecting piece 15, the travelling wheel shaft 52 and the like form the installation structure of the travelling wheel 51 together, the travelling wheel 51 is positioned at the eccentric position of the synchronous wheel 11 in the axial direction, the relative positions of the travelling wheel 51 and the synchronous wheel 11 are synchronously changed in the process that the turnover motor 7 drives the turnover crawler mechanism 4 to turn upwards or downwards, the universal wheel mechanism 2 and the travelling wheel mechanism 5 are switched to walk on the ground or lift off the ground, the travelling crawler mechanism 3 and the turnover crawler mechanism 4 correspondingly lift off the ground or walk on the ground, the free switching of two working modes of normal walking and climbing is realized, and no interference is caused to the normal operation of the double crawler mechanisms (the travelling crawler mechanism 3 and the turnover crawler mechanism 4) and the travelling wheel mechanism 5.
In addition, the shaft sleeve 14, the gear ring seat 16, the gear ring 17, the gear 54, the travelling wheel connecting piece 53 and the like together form an independent transmission mechanism between the travelling wheel 51 and the synchronous wheel 11, and the travelling wheel 51 is driven to operate, so that the travelling wheel mechanism 5 and the travelling crawler mechanism 3 can operate independently of each other and are not affected by each other.
In order to facilitate the installation and to maintain stability, the gear 54 is usually rotatably mounted on the running wheel shaft 52 by a bearing.
In the invention, a turnover motor 7 is fixedly arranged at the rear part of a frame 1, a driving gear 18 is fixedly arranged on an output shaft of the turnover motor 7, and a driven gear 19 meshed with the driving gear 18 is fixedly arranged on a center shaft 13; the support frame 41 of the turnover crawler 4 is fixedly connected to the center shaft 13, and the idler 20 is installed on the inner side of the rear portion of the support frame 41 of the turnover crawler 4.
The turning motor 7 drives the central shaft 13 to rotate forwards or backwards through the driving gear 18 and the driven gear 19, and then drives the support frame 41 to turn upwards or downwards, so that the turning crawler mechanism 4 is driven to turn upwards or downwards.
By providing the idler 20, the turnover crawler 4 can be assisted to travel along stairs or steps, so that guiding can be achieved on one hand, and stability of the turnover crawler 4 in the process of traveling along stairs or steps can be improved on the other hand.
The invention is further described below with reference to the accompanying drawings:
firstly, starting the turnover motor 7 to work, enabling an output shaft of the turnover motor 7 to rotate backwards, driving a driving gear 18 and a driven gear 19 to rotate in opposite directions, further driving a middle shaft 13 and the output shaft of the turnover motor 7 to rotate in opposite directions, driving a turnover crawler mechanism 4 to turn upwards until an included angle between the turnover crawler mechanism and the horizontal direction is 45 degrees, and simultaneously driving a traveling wheel shaft 52 to turn downwards until the traveling wheel shaft is positioned at the lowest point of the eccentric position of a middle shaft connecting piece 15; at this time, the traveling wheel 51 is grounded, and the synchronizing wheel 11 is lifted off the ground, so that the universal wheel mechanism 2 and the traveling wheel mechanism 5 travel together on the ground, and the traveling crawler mechanism 3 and the turnover crawler mechanism 4 are lifted off the ground.
Then, the clutch 8 is operated to move inward in the axial direction of the output shaft of the travel motor 6, so that the ring gear 82 is engaged with the first ring gear 94, and the clutch 8 is connected with the quick drive sprocket 91, so that the travel motor 6 is drivingly connected with the travel wheel mechanism 5 through the quick drive mechanism 9.
Then, the traveling motor 6 is started to work, the driving clutch 8 rotates together with the traveling motor, and the traveling wheel mechanism 5 is driven to rapidly run through the rapid transmission mechanism 9.
Specifically, the clutch 8 rotates with the output shaft of the travelling motor 6 to drive the fast driving sprocket 91 to rotate, and drives the travelling wheel driving sprocket 92 to rotate through the first chain 93 to drive the shaft sleeve 14 to rotate, and drives the gear ring seat 16 and the gear ring 17 to rotate, so as to drive the gear 54 and the travelling wheel connecting piece 53 to rotate, thereby driving the travelling wheel 51 to rotate.
At this time, the walker on which the rider sits is in a normal running mode, i.e., running along the ground through the universal wheel mechanism 2 and the traveling wheel mechanism 5, so as to meet the normal travel requirements.
Starting the turnover motor 7 again to work, enabling an output shaft of the turnover motor 7 to rotate forwards, driving a driving gear 18 and a driven gear 19 to rotate backwards, further driving a middle shaft 13 and an output shaft of the turnover motor 7 to rotate backwards, driving the turnover crawler 4 to turn downwards until the turnover crawler 3 is flush with the traveling crawler 3, flattening the traveling crawler 3 and the turnover crawler 4, and simultaneously driving a traveling wheel shaft 52 to turn upwards until the highest point of the eccentric position of the middle shaft connecting piece 15; at this time, the synchronizing wheel 11 is grounded, and the traveling wheel 51 is lifted off the ground, so that the traveling crawler 3 and the turnover crawler 4 travel together and the universal wheel mechanism 2 and the traveling wheel mechanism 5 are lifted off the ground.
The clutch 8 is then operated to move outwardly in the axial direction of the output shaft of the travelling motor 6, so that the outer gear ring 83 meshes with the second gear ring 104, which in turn connects the clutch 8 with the slow-speed drive sprocket 101, so that the travelling motor 6 is in driving connection with the travelling caterpillar mechanism 3 via the slow-speed drive mechanism 10.
Then, the running motor 6 is started again to work, the driving clutch 8 rotates together with the running motor, and the running crawler belt mechanism 3 is driven to run slowly through the slow speed transmission mechanism 10.
Specifically, the clutch 8 rotates with the output shaft of the travelling motor 6 to drive the slow-speed driving sprocket 101 to rotate, and drives the crawler belt driving sprocket 102 to rotate through the second chain 103, so as to drive the synchronizing wheel 11 to rotate.
At this time, the walker on which the rider sits is in a stair climbing operation mode, i.e., walks along stairs or steps through the flattened traveling crawler 3 and the turnover crawler 4 to meet the stair climbing requirement.
The clutch 8 is operated to move inward or outward in the axial direction of the output shaft of the traveling motor 6, specifically by the following structure:
the push-pull electromagnet 21 is arranged on the outer side of the slow driving chain wheel 101 on the frame 1, the push-pull electromagnet 21 comprises a box body 211 fixedly connected to the frame 1, a coil 212 is arranged in the box body 211, a through hole (not shown) is arranged on the inner side of the box body 211, namely, on the side facing the slow driving chain wheel 101, an iron core 213 is arranged in the through hole, the iron core 213 can move towards the inner side of the box body 211 or towards the outer side of the box body 211 along the hole wall of the through hole, on the other hand, is in rotating fit with the hole wall of the through hole, one end of the iron core 213 extends into the coil 212, the other end of the iron core 213 extends from the through hole into the outer side of the box body 211 and is fixedly connected with a shifting fork 216, and a semicircular groove is formed in the end part of the shifting fork 216 and is fixedly connected with the outer edge of a ring body 81 of the clutch 8 through the semicircular groove in the end part of the shifting fork 216; a limiting ring 214 is fixedly connected to one end, close to the shifting fork 216, of the iron core 213, and a spring 215 is sleeved outside the iron core 213 between the outer wall of the box body 211 and the limiting ring 214; in addition, the power supply provided for the electric stair climbing walker of the present invention is electrically connected to the coil 212 through a power supply circuit, and a switch (not shown) connected in series in the power supply circuit is installed on one side handrail of the electric stair climbing walker of the present invention.
Normally, the spring 215 is in a natural stretched state, at this time, the ring gear 82 is meshed with the first ring gear 94, so that the clutch 8 is connected with the fast driving sprocket 91, and the traveling motor 6 is in driving connection with the traveling wheel mechanism 5 through the fast driving mechanism 9.
When an occupant presses a switch to conduct the power supply loop, the coil 212 is electrified to generate a magnetic field, so that the iron core 213 moves outwards, namely moves towards the inside of the box 211 along the hole wall of the through hole, and further pulls the clutch 8 to move outwards along the axial direction of the output shaft of the travelling motor 6, so that the outer gear ring 83 is meshed with the second gear ring 104, and further the clutch 8 is connected with the slow-speed driving sprocket 101, so that the travelling motor 6 is in driving connection with the travelling crawler mechanism 3 through the slow-speed driving mechanism 10. During this process, the spring 215 compresses the stored energy.
When the occupant presses the switch again, the power supply circuit is disconnected, the coil 212 is powered off, the spring 215 starts to stretch and reset, so that the iron core 213 moves inwards, that is, moves outwards of the box 211 along the hole wall of the through hole, and further pushes the clutch 8 to move inwards along the axial direction of the output shaft of the travelling motor 6, so that the annular gear 82 is meshed with the first annular gear 94 again, and further, the clutch 8 is connected with the quick drive sprocket 91 again, so that the travelling motor 6 is in driving connection with the travelling wheel mechanism 5 through the quick drive mechanism 9.
Thus, by performing the cyclic operation in accordance with the above-described procedure, the operation of the clutch 8 can be achieved to move inward or outward in the axial direction of the output shaft of the traveling motor 6.
It should be noted that, the diameters of the fast driving sprocket 91 adopted in the present invention are larger than the diameters of the slow driving sprocket 101 and the travelling wheel driving sprocket 92, that is, the fast driving sprocket 91 with a larger diameter drives the travelling wheel driving sprocket 92 with a smaller diameter to rotate through the first chain 93, thereby realizing the fast running of the travelling wheel mechanism 5 driven by the travelling motor 6; the diameters of the slow-speed driving chain wheels 101 adopted by the invention are smaller than those of the fast-speed driving chain wheels 91 and the track chain wheels 102, namely, the slow-speed driving chain wheels 101 with smaller diameters drive the track chain wheels 102 with larger diameters to rotate through the second chain 103, thereby realizing the slow running of the travelling crawler mechanism 3 driven by the travelling motor 6.
Accordingly, the track sprocket 102 has a diameter that is greater than the diameter of the travel wheel drive sprocket 92.
It should be noted that, the traveling crawler mechanism 3, the turnover crawler mechanism 4, the traveling wheel mechanism 5, the traveling motor 6 and the push-pull electromagnet 21 adopted in the invention are two or two groups and are all arranged on two sides of the frame 1 left and right; correspondingly, the quick transmission mechanism 9, the slow transmission mechanism 10 and other transmission components are two or two groups, and are arranged on the two sides of the frame 1 left and right.
It should be noted that, the stair climbing mode of the present invention is also suitable for descending along stairs or steps, and the principle and method are the same as the above, and will not be described herein. In addition, the traveling crawler mechanism 3 and the turnover crawler mechanism 4 adopted by the invention can walk along stairs or steps, and can also walk along the ground, and the principle and the method are the same, and are not repeated here.
Although the present disclosure describes embodiments, not every embodiment is described in terms of a single embodiment, and such description is for clarity only, and one skilled in the art will recognize that the embodiments described in the disclosure as a whole may be combined appropriately to form other embodiments that will be apparent to those skilled in the art.
Therefore, the above is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. The utility model provides an electronic stair climbing helps walking car advance track and advance wheel switching and speed change gear, including installing respectively in the frame universal wheel mechanism, advance crawler mechanism, upset crawler mechanism, advance wheel mechanism, advance motor and upset motor, its characterized in that: the clutch which rotates along with the output shaft of the travelling motor and can move inwards or outwards along the axial direction of the output shaft of the travelling motor is arranged on the output shaft of the travelling motor, and when the clutch moves inwards along the axial direction of the output shaft of the travelling motor, the travelling wheel mechanism is driven to operate rapidly through the rapid transmission mechanism; when the clutch moves outwards along the axial direction of the output shaft of the travelling motor, the travelling crawler mechanism is driven to run at a low speed through the low-speed transmission mechanism;
the rear part of the travelling crawler mechanism and the front part of the turnover crawler mechanism share a synchronous wheel, the turnover motor drives the turnover crawler mechanism to turn upwards or downwards at the rear side of the frame, when the turnover motor drives the turnover crawler mechanism to turn upwards, the universal wheel mechanism and the travelling crawler mechanism together travel in a pasting way, and the travelling crawler mechanism and the turnover crawler mechanism are lifted off the ground; when the turnover motor drives the turnover crawler mechanism to turn downwards, the travelling crawler mechanism and the turnover crawler mechanism walk together in a ground pasting mode, and the universal wheel mechanism and the travelling wheel mechanism are lifted off the ground;
the push-pull electromagnet is arranged on the outer side of the slow driving sprocket on the rack, the push-pull electromagnet comprises a box body fixedly connected to the rack, a coil is arranged in the box body, a through hole is formed in the inner side of the box body, namely, one side facing the slow driving sprocket is provided with a through hole, an iron core is arranged in the through hole, the iron core can move towards the inside of the box body or towards the outside of the box body along the hole wall of the through hole on one hand, and is in rotary fit with the hole wall of the through hole on the other hand, one end of the iron core extends to the inside of the coil, the other end of the iron core extends from the inside of the through hole to the outside of the box body and is fixedly connected with a shifting fork, and a semicircular groove is formed in the end part of the shifting fork and fixedly connected with the outer edge of a ring body of the clutch through the semicircular groove in the end part of the shifting fork; the iron core is close to the one end fixedly connected with spacing ring of shift fork, the outside of iron core is in the outer wall of box body with spacing ring between the cover be equipped with the spring.
2. The travel crawler and travel wheel switching and speed changing device of an electric stair climbing walker according to claim 1, wherein: the advancing motor is fixedly arranged at the front part of the frame, and a key groove is arranged on the outer wall of the output shaft of the advancing motor along the axial direction of the outer wall.
3. The travel crawler and travel wheel switching and speed changing device of an electric stair climbing walker according to claim 2, wherein: the clutch comprises a ring body sleeved on an output shaft of the travelling motor, wherein an integrally connected key pin is arranged on the inner edge of the ring body along the axial direction of the ring body, the key pin is inserted in the key groove and can move inwards or outwards along the key groove, the ring body can rotate along with the output shaft of the travelling motor on one hand, and on the other hand, the key pin and the key groove which are matched move inwards or outwards along the axial direction of the output shaft of the travelling motor; the inner side and the outer side of the ring body are respectively provided with an inner gear ring and an outer gear ring which are connected in an integral way.
4. A travel track and travel wheel switching and speed changing device for an electric stair climbing walker according to claim 3, wherein: the quick transmission mechanism comprises a quick transmission sprocket which is rotatably arranged on an output shaft of the travelling motor through a bearing, a travelling wheel transmission sprocket which drives a travelling wheel of the travelling wheel mechanism to rotate, and a first chain which is connected with the quick transmission sprocket and the travelling wheel transmission sprocket, wherein the quick transmission sprocket is positioned at the inner side of the clutch, and the outer side of the quick transmission sprocket is provided with a first gear ring which is integrally connected and meshed with the inner gear ring.
5. A travel track and travel wheel switching and speed changing device for an electric stair climbing walker according to claim 3, wherein: the slow speed transmission mechanism comprises a slow speed transmission sprocket which is rotatably mounted on an output shaft of the travelling motor through a bearing, a track transmission sprocket which is fixedly mounted on the inner side of the synchronous wheel, and a second chain which is connected with the slow speed transmission sprocket and the track sprocket, wherein the slow speed transmission sprocket is positioned on the outer side of the clutch, and the inner side of the slow speed transmission sprocket is provided with a second gear ring which is integrally connected and can be meshed with the outer gear ring.
6. The electric stair climbing walker travel crawler and travel wheel switching and speed changing device according to claim 1 or 4, wherein: the novel transmission device is characterized by further comprising a center shaft arranged at the rear side of the frame, wherein one end of the center shaft is rotatably provided with a shaft sleeve coaxial with the center shaft, the end part of the center shaft is fixedly provided with a center shaft connecting piece, a travelling wheel transmission chain wheel is fixedly arranged at the inner end of the shaft sleeve, the outer end of the shaft sleeve is fixedly provided with a gear ring seat, and the outer side of the gear ring seat is fixedly provided with a gear ring.
7. The apparatus for switching and shifting a travel track and a travel wheel of an electric stair climbing walker according to claim 6, wherein: the synchronous wheel is rotatably arranged on the shaft sleeve and is coaxially arranged with the shaft sleeve.
8. The apparatus for switching and shifting a travel track and a travel wheel of an electric stair climbing walker according to claim 6, wherein: the traveling wheel mechanism comprises a traveling wheel shaft, a traveling wheel connecting piece, a gear and a traveling wheel, wherein the gear is fixedly arranged on the inner side of the traveling wheel connecting piece and meshed with the gear ring, and the traveling wheel connecting piece is fixedly arranged on the inner side of the traveling wheel; one end of the travelling wheel shaft is fixedly connected to the eccentric position of the middle shaft connecting piece, and the other end of the travelling wheel shaft sequentially penetrates through the gear and the central hole of the travelling wheel connecting piece and then is rotationally connected with the travelling wheel.
9. The apparatus for switching and shifting a travel track and a travel wheel of an electric stair climbing walker according to claim 6, wherein: the turnover motor is fixedly arranged at the rear part of the frame, a driving gear is fixedly arranged on an output shaft of the turnover motor, and a driven gear meshed with the driving gear is fixedly arranged on the central shaft; the support frame of the turnover crawler mechanism is fixedly connected to the center shaft, and the idler wheels are arranged on the inner side of the rear portion of the support frame of the turnover crawler mechanism.
10. The application method of the traveling crawler belt and traveling wheel switching and speed changing device of the electric stair climbing walker is characterized by comprising the following steps of: the method comprises the following steps:
s1, starting a turnover motor to work, enabling an output shaft of the turnover motor to rotate backwards, driving the turnover crawler mechanism to turn upwards until an included angle between the turnover crawler mechanism and the horizontal direction is 45 degrees, and driving the traveling wheel shaft to turn downwards until the traveling wheel shaft is positioned at the lowest point of the eccentric position of the middle shaft connecting piece, so that the universal wheel mechanism and the traveling wheel mechanism walk together in a pasting mode, and enabling the traveling crawler mechanism and the turnover crawler mechanism to be lifted off the ground;
s2, operating the clutch to move inwards along the axial direction of an output shaft of the travelling motor, so that the travelling motor is in transmission connection with the travelling wheel mechanism through a quick transmission mechanism;
s3, starting the travelling motor to work, driving the clutch to rotate together with the travelling motor, and driving the travelling wheel mechanism to rapidly run through the rapid transmission mechanism;
s4, starting the turnover motor to work again, enabling an output shaft of the turnover motor to rotate forwards, driving the turnover crawler mechanism to turn downwards until the turnover crawler mechanism is flush with the travelling crawler mechanism, driving the travelling wheel shaft to turn upwards until the turnover crawler mechanism is located at the highest point of the eccentric position of the middle shaft connecting piece, enabling the travelling crawler mechanism and the turnover crawler mechanism to walk together in a pasting mode, and enabling the universal wheel mechanism and the travelling wheel mechanism to be lifted off the ground;
s5, operating the clutch to move outwards along the axial direction of the output shaft of the advancing motor, so that the advancing motor is in driving connection with the advancing crawler mechanism through a slow driving mechanism;
s6, starting the running motor to work again, driving the clutch to rotate together with the running motor, and driving the running crawler mechanism to run slowly through the slow transmission mechanism.
CN202110567027.9A 2021-05-24 2021-05-24 Walking crawler and walking wheel switching and speed changing device of electric stair climbing walker Active CN113262112B (en)

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CN114469550B (en) * 2022-02-14 2022-08-26 必飞科技(佛山)有限公司 Crawler-type folding stair climbing mechanism

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