CN108024895B - Wheel and crawler belt mixed type moving mechanism - Google Patents

Abstract

Translated fromChinese

一种移动机构，包括可操作地相互连接和同步地运动的优选用于在平坦型工作面上作用的第一转轮单元和优选用于在包括具有不同斜度的楼梯、崎岖路面及全地形地面的变化型工作面上与所述第一转轮单元协同作用的第二履带单元。

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 crawler belt mixed type moving mechanism

Technical Field

The invention relates to a moving mechanism, in particular to a wheel and crawler belt mixed moving mechanism which is provided with a balance system, wherein the walking direction is controlled by two wheels and the body balance of passengers on a flat road, so that the walking mechanism can easily slide on the flat road, and the moving mechanism has small volume and high flexibility; when encountering rugged road, obstacles or stairs, the walking mechanism can use the wheels and the crawler belt in a mixed way, thereby being capable of easily walking on rugged mountain roads, crossing the obstacles on common road surfaces and safely and continuously climbing stairs with different levels and angles.

Background

Most mechanical combined walking mechanisms are mainly used by human beings, but are not used for disabled people, so that the comfort level of the walking mechanism is a primary concern. Secondly, disabled people are more expected to be as different from normal people because they have physical defects. For example, when they walk on the street, they do not want to occupy more space than normal persons, and thus current wheelchair designers tend to reduce the size of the wheelchair, improving their inconvenience in life. Unfortunately, smaller wheelchairs are less functional, especially when encountering rough roads, obstacles and stairs, and small wheelchairs are unable to pass through, so that they are expected to be the same as normal persons, but are often assisted by normal persons. Thus, the wheelchair capable of climbing stairs and crossing obstacles can be transported. However, to safely traverse obstacles and climb stairs, it must also be bulky. In addition, the disabled people have a desire to use both hands to do other things while walking as usual. The above requirements are simultaneously achieved, and the method comprises the following steps: the walking mechanism has high comfort, small volume, can safely cross obstacles and climb stairs, does not need to be controlled by hands of passengers, and is absolutely absent in the world at present. The somewhat closer invention or product is as follows:

1. chinese patent No. 201510555652.6 discloses a crawler-type traveling mechanism (see fig. 1a), which uses a "water-drop crawler design" with large and small wheels to climb stairs with different angles, flexibly travel on a smooth road surface, and safely travel on a rugged road and cross obstacles. However, because of their functions, the seats often need to be raised and lowered or swung back and forth, and the front arms often need to be extended or retracted, the complicated structure causes the passengers to have two hands for operation, and the seats are bulky and difficult to operate. It must be noted that although the front wheels are designed to be grounded by universal wheels when the road is flat, the rear wheels are still grounded by the track, and the comfort level of the rear wheels is always not comparable to that of the tires no matter how the shape design of the track is changed. The conclusion is that it is less comfortable, less compact, and must also be used by the passenger to manipulate his direction.

2. Hong kong patent application No. 16109224.1 discloses a crawler-type moving mechanism (as shown in fig. 1b), which utilizes the 'flashy type crawler design' to climb stairs with different angles and walk on a smooth road surface flexibly, and because of its unique lightning shape, the forearms can tightly step on the surface of the stairs when climbing the stairs, thus greatly increasing the safety. However, when walking on a flat road, the front wheels and the rear wheels still contact the ground through the tracks, and the comfort degree of the walking vehicle still cannot be ideal. The conclusion is that it is less comfortable, less compact, and must also be used by the passenger to manipulate his direction.

3. There is a wheelchair on the market, which is capable of walking on four wheels on a flat road (as shown in fig. 1c), and when climbing stairs, the wheelchair is folded and climbed by a full crawler (as shown in fig. 1 d). The advantages are relatively flexible and comfortable when the ground is leveled, and the function of climbing stairs can be realized. However, because of the alternating motion of the wheels and the tracks, two different sets of driving motors, i.e., four motors, must be used, which also increases the cost and complexity of the product. In addition, the wheelchair is climbed by a pair of straight and flat crawler belts, so that the crawler belts only act on the ladder corners of the steps, and the wheelchair is very unstable and dangerous. The conclusion is that it is bulky, does not safely cross obstacles and climb stairs, and must also be manually steered by the passengers.

4. Swiss university has published a prototype of an electric wheelchair product (fig. 1e and 1f) that uses two wheels to touch the ground and uses a somatosensory balance system to steer the wheelchair when walking on level roads. However, the prototype of the product uses the full track to contact the steps when climbing stairs (as shown in fig. 1h), so the track assembly has to have a certain length, even if the track assembly is folded in the flat road mode, it also occupies a large space (as shown in fig. 1 f). The prototype of the product is the same as a common ladder climbing tool, both sides of the prototype of the product are respectively provided with a long and straight crawler belt for climbing the ladder, and the crawler belts can only act on the ladder corners (as shown by a circle in fig. 1h), so that the safety degree is absolutely insufficient. It must also be noted that its large wheels are completely off the ground at this point, but since the wheels use the same set of drive motors as the tracks, although the wheels do not assist in climbing the ladder, they are wasted energy while remaining in motion. Furthermore, the prototype must be lowered at the appropriate time when it reaches the top of the ladder (as shown in circle in fig. 1 j), and if it is placed too early, it will catch on the steps and if it is placed too late, it will cause the wheelchair to suddenly drop, which also poses a danger to the passengers. In order for the support wheels to be able to be put in place at the right time, it is necessary for the sensors to be perfectly fitted to the control system and to ensure that no errors are made. Unfortunately, the existing sensors are easily interfered by external factors to cause errors, and if zero errors are to be made, great resources and money are required to be put in if the errors are to be made, so that the research and development time and the research and development cost of products are greatly increased.

Disclosure of Invention

To overcome the disadvantages and problems of the prior art, the present invention provides a hybrid wheel and track moving mechanism. When walking on a flat road, the walking mechanism can adopt a two-wheel balance mode, and the direction of the walking mechanism is controlled by using the gravity center of the body of a passenger, so that the two hands of the passenger can be emptied to do other things; when walking on rough roads or stairs, the extendable caterpillar band can be utilized to form a mixed structure of wheels and caterpillar band, wherein the bottom of the walking mechanism forms a substantially "" shape to perfectly and safely climb stairs, cross-country roads and obstacles with different angles. The mechanical structure mainly comprises or is formed by combining 3 parts, including: the wheel balance walking mechanism, the extensible crawler mechanism and the bearing support balance mechanism.

A moving mechanism according to the present invention comprises a first turning wheel unit as a driving unit, preferably for acting on a flat type working surface and being positionally fixed, operatively interconnected and synchronously moving/driving, and a second crawler unit as a driven unit positionally variable with respect to the first turning wheel unit, preferably for cooperating and movably connected with the first turning wheel unit on a varying type working surface comprising stairs with different slopes, rough road surfaces and all terrain ground, wherein:

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

in the wheel drive mode, the moving mechanism is preferably configured to be operated by a body-sensory control system and the second crawler unit is configured to be disposed parallel or substantially parallel to the first wheel unit in a length or a traveling direction; and

in the combined wheel and track drive mode, the moving 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 contact/active bottom surface portion or bottom profile in contact with the work surface having a substantially "" shape to adapt to and abut different changing work surfaces or to be movable arbitrarily on changing work surfaces.

In some embodiments of the moving mechanism according to the invention, the second track unit is switchably and/or rotatably switchable between a standby position and an operating position in which the second track unit extends in the direction of the working surface and is preferably pivoted downwards until its front end abuts against the working surface and forms together with the first swivel unit a contact/active bottom part or bottom profile having the shape of a "" and thereby switches the moving mechanism from a swivel drive configuration to a combined swivel and track drive configuration; and in the standby position, the second track unit is retracted away from the working surface and preferably pivoted upwardly to a position spaced from and generally above the working surface parallel to the first wheel unit and thereby causing the movement mechanism to be switched from a combined wheel and track drive configuration to a wheel drive configuration.

In some embodiments, the first and second wheel units are configured to be operatively connected and moved synchronously with each other by a gear change assembly that changes the gear ratio of the two to be the same and/or makes the operating speeds of the two coincide, the gear change assembly comprising a large gear provided to the first wheel unit and a small gear provided to the second track unit and preferably a connecting or transmission member, preferably a chain, provided therebetween that moves the two synchronously; wherein a ratio of a rotational radius or an outer diameter of the bull gear to the first roller unit and a ratio of a rotational radius or an outer diameter of the pinion gear to the second track unit are equivalent.

In further embodiments, a riding or supporting unit for accommodating a moving mechanism operating unit and/or an operator and a first balancing and driving unit for the wheel drive mode and a second balancing and driving unit for the combined wheel and track drive mode, respectively, for alternating, preferably discrete, use operatively connected thereto for measuring and controlling the balancing and walking state of the moving mechanism; in the wheel drive mode, the first balancing and driving unit is activated to maintain the balance of the ride or support unit and determine the walking direction and keep the second balancing and driving unit off, corresponding to the balance state of the moving mechanism; and in the combined wheel and track drive mode, the second balancing and driving unit is activated to maintain the balance of the carriage or support unit and keep its support surface always substantially parallel to the horizontal plane and determine the direction of travel and keep the first balancing and driving unit off, corresponding to the state of balance of the moving mechanism.

In some embodiments, the second track unit has a length substantially the same as a length of the carriage or support unit so as to be substantially entirely receivable under the carriage or support unit when in the wheel drive mode. The length can be shorter than in the prior art by more than 20%, so that space can advantageously be saved.

In some embodiments, the first rotary wheel unit includes a hub motor, a rotary wheel and a large gear coaxially disposed on a main shaft of the hub motor and driven by the main shaft; and the second track unit comprises a generally elongate track including first and second drive wheels disposed at opposite ends thereof and a pinion gear disposed coaxially with the first drive wheel; the bull gear directly engages the pinion gear or is drivingly connected through a connecting or driving means to move and drive the moving mechanism in a synchronized manner when the wheel and track combination drive mode; and the crawler comprises a telescopic push rod movably connected with the crawler, and the telescopic operation of the push rod can enable the crawler to correspondingly displace back and forth along a preset track relative to the first rotary wheel unit so as to enable the second crawler unit to be switchably switched between a standby position and a working position to perform preset operation; and/or to make the moving mechanism switchable between the wheel drive mode and the wheel and track combined drive mode and to form the lower profile of the substantially "" shape of the moving mechanism for performing predetermined operations.

In other embodiments, the bottom profile forms a generally triangular space having a height of approximately 80% -120% and preferably 90% of the height of the second track unit to accommodate and facilitate spanning the convex portion of the work surface encountered during movement, reducing the likelihood of a jerking movement mechanism.

In other embodiments, the second track unit and/or the first wheel unit are configured to facilitate at least a portion of one of them to be at or supported above the plane of one of the substantially flat portions of the modified work surface or above the plane of another substantially flat portion adjacent or contiguous with the flat portion of the modified work surface when at least a portion of the other of them is at or supported by the angled/uneven/pointed portion or corner of the modified work surface.

In other embodiments, the second track unit and the first pulley unit are configured such that at least a part/fulcrum thereof constituting the bottom portion having the "" shape always abuts against a step plane of one step providing a large supporting force when moving on a staircase, so that the step plane functions as a main supporting surface of the moving mechanism to prevent overturning when another part/fulcrum thereof is at and supported above a step angle of the other step providing a small supporting force.

In other embodiments, the second track unit is configured such that the angle of intersection with the first caster unit in the length or direction of travel may be configured accordingly with respect to an estimated or measured range of slope of stairs in a predetermined area of use, an estimated or legal roughness of a rough road surface.

The advantage of the present invention is that the mixed design of wheels and caterpillar tracks is adopted to climb stairs (as shown in fig. 1g), because the climbing principle and mechanism do not depend on the caterpillar track combination/unit, the length of the caterpillar track combination can be shortened, and the caterpillar track combination can be hidden between the bottom of the seat and the large wheels (as shown in fig. 1g) through a proper mechanical structure, so that the whole volume is further reduced. Secondly, the present invention adopts the wheel and track hybrid design, which not only does not waste energy much like the prior art, but also forms the bottom with "" shape, thereby making the traveling mechanism always "" act on or support at least one step plane "" when climbing stairs (as shown by the star line in fig. 1 i), so that the present invention is absolutely safe in operation.

Drawings

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

fig. 1a is a side view of a crawler type traveling mechanism disclosed in chinese 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 view of a wheelchair product in the market at present, which travels on a level road in four wheels.

Fig. 1d is a schematic view of a wheelchair product on the market at present, and when climbing stairs, a crawler grips corners of the stairs to climb.

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

Figure 2a is a schematic view showing the difference in diameter between a large wheel and a track when used in combination.

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

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

Fig. 3b is a top view of the present invention and shows the three main mechanisms that make up the present invention.

Fig. 4a is a side view of the wheel balance traveling mechanism of the present invention, and shows components constituting the mechanism.

Fig. 4b is a structural diagram of a prior art hub motor (hub motor) used in the present invention.

Fig. 4c is a top view of the "wheel balance traveling mechanism" of the present invention, and shows components constituting the mechanism.

Fig. 5a is a side view of the extendable track mechanism of the present invention, showing the components that make up the mechanism.

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

Fig. 5c is a top view of the extendable track mechanism of the present invention, showing the components that make up the mechanism.

Figure 6a is a side view of the balance mechanism of the support frame of the present invention and shows the components that make up the mechanism.

Figure 6b is a top view of the "support stand counterbalance mechanism" of the present invention and shows the components that make up this mechanism.

Fig. 7a is a schematic view of the present invention when walking on a flat road.

Figure 7b is a schematic view of the present invention showing the rearward rotation of the wheels when the center of gravity of the occupant is leaning rearward.

Figure 7c is a schematic view of the present invention showing the forward rotation of the wheel when the center of gravity of the occupant is tilted forward.

FIG. 8a is a schematic view 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 maximum after the "seat balancing system" of the present invention is activated.

FIG. 9a is a schematic diagram of the situation that the rear wheels "act on the ladder corners" (shown by circles) and the extendable tracks "prop the ladder faces" (shown by the star lines) while the present invention is climbing.

FIG. 9b is a schematic view of the rear wheels and extendable tracks "stepping on and supporting the tread" (indicated by the asterisks) while the present invention is in the process of climbing.

Fig. 9c is a schematic view of the extendable track "working on the corner" (shown as a circle) when the rear wheel of the present invention is just reaching the top of the stairs or just preparing for the next first level of stairs.

Fig. 9d is a schematic diagram of the extensible track of the present invention "acting on the ladder corners" (shown as circles) when it just reaches the top of the ladder or when it is ready to fall the first stair.

Detailed Description

The following provides a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.

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

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

1. wheel and track hybrid design-current building machine tool that climbs mostly adopts the crawler-type structure, or tries to adopt a plurality of big wheels to climb the stair by force again. Both principles have advantages and disadvantages, for example, the crawling ability of the crawler is superior, but the comfort level is insufficient when the crawler is on a flat road; the wheels have high comfort when the road is level, but the ability of climbing stairs is insufficient. The invention is formed by mixing the two materials, each has a length, and the wheels are adopted to slide when the road is level, so that the invention is comfortable and flexible; when climbing stairs or rugged road, the two are used together, and the bottom is formed into a configuration of a substantially rectangular shape, so that the walking mechanism can easily climb stairs with different angles and can stably reach the top of the stair (fig. 9a-9 d).

2. The self-balancing vehicle and the tracked vehicle are designed in a combined mode, the existing electric balancing vehicle can be seen everywhere on streets and alleys around the world, and the advantages of the existing electric balancing vehicle are that the vehicle is light and flexible, and passengers can vacate two hands to do other things. But the disadvantage is that when meeting obstacles or stairs, the walking is only forbidden and the walking cannot cross; the technology of the crawler-type traveling mechanism capable of climbing stairs is gradually mature in recent years, and the climbing force and the safety degree are undoubted. But the flexibility, the degree of freedom and the comfort degree on the flat road can not be compared with the balance car all the time. The invention combines the two into a novel way, combines the advantages of the two into a whole and can certainly benefit people who have needs in the world.

3. The gear and chain combined speed change design-until now, there has never been a mechanical running mechanism adopting the principle of wheel and track mixed running, mainly because the running speeds of the two mechanisms are different, as shown in fig. 2a, D1 is greater than D2, and the difference between the diameters of the two mechanisms forms the speed change ratio of D1: D2. that is, the rotation speed of the big wheel is faster than the operation speed of the track assembly, so the big wheel pushes and pulls the track assembly all the time, and the walking mechanism is not smooth when walking. The present invention preferably adds a set of "gear and chain combination type speed change combination" between the big wheel and the track combination, as shown in fig. 2b, D1 > D2, and as long as D1: d1 ═ D2: d2, the speed ratio of the two wheels is the same, the running speed of the combination of the big wheel and the crawler belt is consistent, and the running mechanism can run smoothly.

4. Somatosensory balance and supporting bracket automatic balance alternate use system-when leveling, the passenger hopes to be able to vacate both hands to do other things, so the direction of the walking mechanism can be controlled by using the somatosensory balance of the passenger. However, when climbing stairs, the passengers must concentrate on the stairs, and the two hands can never be used for other things and are distracted. Therefore, when climbing stairs, the direction of the walking mechanism can not be controlled by the somatosensory balance of the walking mechanism. The invention creates a system for alternately using the somatosensory balance and the automatic seat balance, when the crawler combination extends to touch the ground, the somatosensory balance system can be closed in real time, and the automatic seat balance system can be opened at the same time. As shown in fig. 9a-9d, the seat will automatically adjust according to the angle of the stairs, so that the seat will always keep balance with the ground, and the safety during climbing stairs is greatly increased.

5. The invention skillfully mixes the wheels and the crawler belt for use, combines and packs the long crawler belt when in use on a flat road, only uses two wheels for sliding, reduces the volume of the walking mechanism to the minimum, occupies the least space on the road surface, and is very flexible and practical. When encountering stairs, the crawler belt combination can extend to the foremost end, so that the supporting point is extended far when climbing the stairs. And the large wheels and the crawler belt are combined to form a general shape, so that the walking mechanism can act or be supported on each corresponding step plane when climbing stairs (shown by star lines in figures 9a and 9 b), and the walking mechanism can climb the stairs with different angles very safely.

6. The passengers can have two hands free, and people needing to use the technical scheme of the invention are mostly disabled people or old people with bad legs, and the passengers have the right to use smart phones or take pictures while walking on the street like ordinary people. The design of combining the electric balance car with the tracked vehicle realizes the wishes of the electric balance car and the tracked vehicle for many years, and the practicability of the invention is certainly the same in the field.

Figures 3a and 3b show perspective views of one embodiment of the "hybrid wheel and track travel mechanism" of the present invention, with only some of the components schematically shown for clarity. The mechanism of the present invention comprises: wheel balance running gear 1, 2 protractile crawler attachment, 3 bearing support balance mechanism.

The wheel balance traveling mechanism 1 (fig. 4a to 4c) includes a left and a right wheel hub motor 110(110 is a conventional product and therefore will not be described in detail here), and thewheel hub motor 110 may also be other starting mechanisms, such as a reduction motor, a fuel engine, and other starting devices).

The periphery of thehub motor 110 is fixedly connected with a tire 111 (the 111 can be an inflatable rubber tire, a solid rubber tire or a surrounding object of other materials), and the 111 is used for directly contacting with the ground and has the functions of rubbing with the ground, grasping a ladder corner and absorbing shock.

The power of the in-wheel motor 110 is directly output from the in-wheelmotor connecting shaft 112, and theshaft 112 is movably connected with themain bracket 101 of the vehicle body.

The driving energy of the wheel balance running mechanism 1 is the existing energy, and can be battery, gasoline or solar energy, and the size of the energy is different, so the installation position is different, and the detailed description is omitted here.

The wheel balance chassis 1 may comprise a manual controller, which is a prior art controller, and there are various brands and models, so it may not be provided and will not be described in detail herein.

The wheel balance walking mechanism 1 comprises a body sensing control system, and the body sensing control system is also five-flower-hundred-door as the technology of the existing electric balance car is mature, so that the detailed description is omitted.

When the passenger adopts the motion sensing control, as long as the body center of gravity inclines forward (as shown in fig. 7c), thegyroscope 311 senses the deviation of the body center of gravity of the passenger, and transmits the deviation to the in-wheel motor 110 through the motion sensing control system to control the forward rotation speed (as shown in fig. 7c), and if the center of gravity always inclines forward, the forward rotation speed is higher. Conversely, when the center of gravity of the passenger leans backward (see fig. 7b), the motion sensing control system controls the backward rotation speed of the in-wheel motor 110 to achieve the effect of acceleration or stop. If thegyroscope 311 senses that the center of gravity of the passenger is biased to the right, it will be transmitted to the in-wheel motor 110 through the motion sensing control system, so as to increase the speed of the left wheel and slow down or reverse the speed of the right wheel. Conversely, if the somatosensory control system detects that the center of gravity of the passenger is off-left, the system will drive the right wheel to accelerate while slowing or reversing the left wheel.

The extendable track mechanism 2 (fig. 5a to 5c) has an extension driving force from an extendable track power push rod 200(200, which may be another power mechanism, such as a speed reduction motor or an oil pressure push rod).

First, the extendable track power-drivenpush rod 200 is movably connected to the connectingmember 241, and the connectingmember 241 is fixedly connected to themain frame 101, so that the force generated by the extendable track power-drivenpush rod 200 is offset by themain frame 101.

The rotational force ofextendable track 232 is from in-wheel motor 110. When the hubmotor connecting shaft 110 rotates, the hubmotor connecting shaft 112 transmits power to thelarge gear 201 fixedly connected with the hubmotor connecting shaft 112, and the rotating force of thelarge gear 201 is driven to thesmall gear 202 by thechain 231. The rotational force of 202 is transmitted to thedriving wheel 203 fixedly connected thereto via the drivingshaft 221 fixedly connected thereto. The rotational force of 203 is driven by thecaterpillar 232 to the leadingdriving wheel 204. As shown in fig. 2a and 2b, since the ratio of the diameter of thetire 111 to the diameter of thebull gear 201 is D1: d1, and the ratio of the diameter of thepulleys 203 and 204 (along with the track 232) to the diameter of thepinion 202 is D2: d2, because D1: d1 ═ D2: d2, although the diameters of thetire 111 and the drivingwheels 203 and 204 are different, the speeds of thetire 111 and thecrawler 232 are synchronized because the gear combination compensates for the difference in the rotational speed ratio.

In some embodiments, the bull gear and pinion gear may mesh directly or they may be interconnected by other intermediate members or connections.

When the walking mechanism of the invention needs to cross obstacles or climb stairs, the extensible crawlerelectric push rod 200 can extend forwards, and the connectingshaft 223 movably connected with the extensible crawlerelectric push rod 200 can be pushed forwards. Since 223 is movably connected to the connectingmember 214 and 214 is tightly connected to the connectingmember 213, when the extendable track power-drivenputter 200 extends forward, the pair of extendable tracks extend forward simultaneously.

Because of the pair of extendable track assemblies, the drivingshaft 221 is movably connected with the connectingmembers 211 and 212 of the gear assembly, and the connectingmembers 211 and 212 are also tightly connected and movably connected with the hubmotor connecting shaft 112. Because the connecting structures are tightly tied, the pair of extensible crawler assemblies can be extended or retracted without deviating from the required track, and the crawler assemblies can stay at the required positions.

The cradle balancing mechanism 3 (fig. 6a to 6b) includes a cradle balancing electric push rod 300(300, which may be another actuating mechanism, such as a reduction motor or an oil-hydraulic push rod), a gyroscope 311(311, which may be two-dimensional or three-dimensional), and a cradle mechanism 310(310, which may be a chair or other cargo-carrying mechanism).

First, the support frame balancingelectric push rod 300 is movably connected to the connectingmember 331, and thesupport frame 331 is fixedly connected to themain frame 101, so that the force generated by the support frame balancingelectric push rod 300 is offset by themain frame 101. Thebalance push rod 300 of the support bracket is movably connected with the connectingshaft 301, and one end of the connectingshaft 301 is movably connected with the slidinggroove 321, and the slidinggroove 321 is fixedly connected with themain bracket 101 of the vehicle body. Therefore, theslide groove 321 may limit the movable range of the connectingshaft 301.

In addition, the other end of the connectingshaft 301 movably connected to the support frame balancingpush rod 300 is movably connected to the connectingmember 322, the connectingmember 322 is movably connected to the connectingmember 333, the connectingmember 333 is fixedly connected to thesupport frame 310, the connectingmember 310 is movably connected to the connectingmember 332, and the connectingmember 332 is fixedly connected to themain body frame 101. This series of engagements fixes the opening and closing range of motion of the support mechanism.

When the extendable track power-drivenpush rod 200 extends forward to the longest length, i.e., the traveling mechanism has been changed from the "two-wheel-feel mode" to the "obstacle-crossing and climbing mode". In this mode, the somatosensory balance system is immediately turned off and the "support stand balance system" is immediately activated. That is, the passenger can not operate the direction of the traveling mechanism with the center of gravity of the passenger, and the direction is manually controlled.

When the walking mechanism inclines due to obstacle crossing or ladder climbing, thegyroscope 311 sends a message to the supporting bracket balancing system, the system controls the supporting bracket balancingpush rod 300 to extend or shorten according to the inclined angle, the pulling force is transmitted to the connectingpiece 322 through the connectingshaft 301 by thesystem 300, and the supportingmechanism 310 can keep balance with the ground through the whole bracket combination.

Through the above structure, the function of the present invention is as follows (in order to make the mechanism more concrete, the supportingbracket 310 is set as a single chair):

1. road planing function (fig. 7a-7 c): to make the walking mechanism more compact, the extendable track power-drivenpush rod 200 is retracted to the shortest distance, so that the pair of extendable tracks is completely separated from the ground and retracted to the greatest distance (see fig. 7 a). Therefore, the passengers can control the directions of the traveling mechanisms by inclining the bodies forwards, backwards, leftwards and rightwards through the somatosensory balance system (as shown in fig. 7b and 7c), so that the passengers can normally vacate the two hands to do other things. In addition, the volume is small, and the axle center of the wheel is just under the gravity center of the body of the passenger, so that the flexible function of in-situ rotation can be perfectly practiced.

2. Bumpy road and obstacle crossing function (fig. 8 a): when encountering rough mountain roads or obstacles to be overcome, the extensible crawlerelectric push rod 200 can be extended to the longest, so that the foremost ends of the pair of extensible crawlers contact the ground, and the bottom of the running mechanism is formed into a substantially "" shape (as shown in fig. 8 a). In addition, the mode can start the supporting bracket balancing system, so that the body of a passenger can keep vertical balance with the ground, and the walking mechanism can freely walk on rugged mountain roads and can easily cross over obstacles on common roads.

3. Ladder climbing function (fig. 9a-9 d): the biggest benefit of the invention is that the operation is simple, and only the same mode as walking rugged road is needed to form the bottom of the walking mechanism into a substantially "" shape. As shown in fig. 9a and 9b, the advantage of the substantially "" shape formed on the bottom is that when the walking mechanism climbs stairs, the foremost end of the extendable track contacts the "" tread "" of the stairs when climbing each stair, thereby exerting a strong supporting effect (indicated by the star lines in fig. 9a and 9 b). Even if the large wheel is only holding the ladder corner (as shown by the circle in fig. 9 a) as shown in fig. 9a, the extendable track can still play its role of "supporting the ladder surface" when it seems to be extremely unsafe. A large wheel is also advantageous because the contact surface of the wheel is large, as in the case of FIG. 9b, the large wheel also acts as a "tread" (as indicated by the asterisks in FIG. 9 b). In addition, when the walking mechanism reaches the top of the ladder or the first stair, the "" shape formed on the bottom can also play its role. As shown in FIG. 9c, even if the large wheels reach the top of the ladder, the extendable track can still "engage/hook the ladder corners"; alternatively, as shown in FIG. 9d, even when the first stair is just going down, the extendable track can still "engage/hook" the ladder corner, so that the walking mechanism will not suddenly drop as in other track-type climbing tools. Thus, the present invention produces a perfect climbing function with the cooperation of two distinct, but advantageous, driving mechanisms, namely, a large wheel and an extendable track.

In summary, one of the features of the present invention is that the wheels are used in combination with the track. The use of wheels as ground engaging wheels is most comfortable, flexible and acceptable when the running gear is used on level roads. When the crawler belt climbs on a rugged road, an obstacle and a stair, the efficiency of the crawler belt is the best choice, the best ground gripping choice and the safest choice. However, there has never been an invention or a design that can combine both of them and each of them is a multifunctional traveling mechanism. In addition, another feature of the present invention is a gear change combination, in which the problem of the difference in the running speeds of the wheels and the track must be solved to realize the mixed use of the wheels and the track. Because the large wheels run at a higher speed than the small wheels of the track combination, the bad result of the speed difference between them when the running gear is running on the road. To solve the problem, the invention designs a group of gear speed change combination, and the speed of the gear speed change combination is adjusted to be consistent. Meanwhile, the positioning function of the extensible crawler belt combination during contraction and extension is further generated.

In addition, it is a further feature of the present invention to use a somatosensory balance and support stand auto-balance alternate system, wherein the somatosensory balance system allows the passenger to have both hands free to do something else, but for safety reasons when climbing stairs it is necessary to change to a support stand auto-balance system. The invention can use the two alternately, and use the proper system when in proper time, so that the whole body is more comfortable and safer.

Therefore, the invention has another characteristic that an improved electric balance car with a climbing function can be provided. Although the existing electric balance vehicle is very popular, the market development of the electric balance vehicle is mainly for healthy people, and even if the electric balance wheel chair for the healthy people appears, the electric balance wheel chair is only used on a flat road and has limited help for the healthy people. The invention combines the two into one, integrates the safe and reliable ladder climbing principle into the small and flexible electric balance car, and can better benefit the people who are wounded and healthy.

Although the advantages and preferred embodiments of the present invention have been described herein, it will be understood by those skilled in the art that the description herein is provided by way of example only and is not intended to limit the scope of the invention. The described implementation details may be replaced by any other equivalent, or modifications or variations may be made, without departing from the scope of protection of the present invention.

[ description of main reference symbols ]

Wheel balance running gear 1

101 main support for vehicle body

Hub motor 110 (111 connection)

111 tire (with 110 connection)

112 hub motor connecting shaft/main shaft (connected with 110)

Extensible crawler mechanism 2

200 extensible crawler electric push rod/telescopic push rod (one end is movably connected with 241,

One end is movably connected with 223)

Big gear 201 (fixed with 112)

Pinion 202 (fixedly connected with 221)

203 driving wheel (fixedly connected with 221)

204 driving wheel (and 222 fixed connection)

211 connecting piece (movably connected with 112, 221)

212 connector (movably connected with 112, 221)

213 connecting part (movably connected with 221, 222)

214 connecting piece (movably connected with 221, 222)

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

222 drive the shaft (fixedly connected with 204, movably connected with 213 and 214)

223 connecting shaft (with 200, 214 movable connection)

231 chain (with 201, 202)

232 track (with 203, 204)

241 connecting piece (fixedly connected with 101 and movably connected with 200) bearingsupport balance mechanism 3

300 bearing support balance push rod (with 301, 331 movable connection)

301 connecting shaft (movably connected with 321, 322)

310 support bracket (311 fixed connection, 332, 333 movable connection)

311 Gyroscope (fixed with 310)

321 runner (fixedly connected with 101 and movably connected with 301)

322 connecting piece (movably connected with 301, 333)

331 connecting piece (fixed with 101, movable with 300)

332 connector (fixed with 101, movable with 310)

333 connecting part (fixed with 310 and movable with 332)

Claims (11)

1. A moving mechanism comprising a first wheel unit as a driving unit operatively interconnected and synchronously moving/driving for acting on a flat type working surface and being fixed in position and a second track unit as a driven unit cooperating and movably connected with the first wheel unit for position-variable relative to the first wheel unit on a varying type working surface including stairs with different slopes, rough road and all terrain ground, wherein:

the moving mechanism is configured to switch between a runner driving mode suitable for moving on a flat working surface and a runner and crawler combined driving mode suitable for moving on a variable working surface;

in the wheel drive mode, the moving mechanism is configured to be operated by a body-sensory control system and the second crawler unit is configured to be disposed in parallel to the first wheel unit in a length or a traveling direction;

in the combined wheel and track drive mode, the movement mechanism is configured to be operated by a manual control system and the second track unit is configured to intersect the first wheel unit and form a contact/active bottom surface portion or bottom profile in contact with the work surface having the "" shape to adapt to and cling to different modified work surfaces or to be arbitrarily movable on the modified work surfaces; and

the first rotating wheel unit comprises an in-wheel motor (110), a rotating wheel (111) and a large gear (201) which are coaxially arranged on a main shaft (112) of the in-wheel motor (110) and driven by the main shaft (112); the second track unit includes an elongated track (232), the track (232) including first and second driving wheels (203, 204) provided at opposite ends thereof and a pinion gear (202) provided coaxially with the first driving wheel (203); the diameter of the gearwheel (201) is larger than the diameter of the pinion (202); the ratio of the outer diameters of the rotating wheel (111) and the bull gear (201) is equal to the ratio of the outer diameters of the first driving wheel (203) and the pinion gear (202), so that the gear ratios of the first rotating wheel unit and the second crawler unit become the same and/or the running speeds are consistent in the combined driving mode of the rotating wheel and the crawler, and the first rotating wheel unit and the second crawler unit move on a variable working surface synchronously at the consistent speeds.

2. The moving mechanism as claimed in claim 1, wherein the second track unit is switchably and/or rotatably switchable between a standby position and an operating position in which the second track unit extends in the direction of the working surface and is pivoted downwards until its front end abuts against the working surface and forms together with the first runner unit a contact/active bottom part or bottom profile having the shape of "" and thereby switches the moving mechanism from a runner-type drive configuration to a runner-and-track combined drive configuration; and when the second crawler unit retracts towards the direction far away from the working surface and rotates upwards around the shaft until the second crawler unit is separated from the working surface and integrally positioned on the position parallel to and above the first rotating wheel unit, and therefore the moving mechanism is switched into a rotating wheel type driving structure from a rotating wheel and crawler combined type driving structure.

3. The shifting mechanism of claim 1, further comprising a gear change assembly operatively interconnecting and synchronously moving the first wheel unit and the second track unit, the gear change assembly comprising a bull gear disposed on the first wheel unit and a pinion gear disposed on the second track unit and a connecting or transmission member disposed therebetween for a chain moving the two synchronously; wherein a ratio of a rotational radius of the bull gear to the first roller unit is equal to a ratio of a rotational radius of the pinion gear to the second track unit.

4. The locomotion mechanism according to claim 1, further comprising a seating or supporting unit for accommodating a locomotion mechanism operating unit and/or an operator and a first balancing and driving unit for the wheel drive mode and a second balancing and driving unit for the combined wheel and track drive mode, respectively, operatively connected thereto for measuring and controlling the balancing and walking state of the locomotion mechanism and for separate and alternating use; in the wheel drive mode, the first balancing and driving unit is activated to maintain the balance of the ride or support unit and determine the walking direction and keep the second balancing and driving unit off, corresponding to the balance state of the moving mechanism; and in the combined wheel and track drive mode, the second balancing and driving unit is activated to maintain the balance of the carriage or supporting unit and to keep its supporting surface always parallel to the horizontal plane and to determine the direction of travel and to keep the first balancing and driving unit closed, corresponding to the state of balance of the moving mechanism.

5. The moving mechanism according to claim 4, wherein the second crawler unit has the same length as the carriage or the support unit so as to be integrally received under the carriage or the support unit in the wheel drive mode.

6. The shifting mechanism of claim 1, wherein the bull gear is directly meshed with the pinion gear or drivingly connected through a connecting or driving member to move and drive the shifting mechanism in a synchronous manner in the combined wheel and track drive mode; and the crawler comprises a telescopic push rod (200) movably connected with the crawler, and the telescopic operation of the push rod can enable the crawler to correspondingly displace back and forth along a preset track relative to the first rotary wheel unit so as to enable the second crawler unit to be switchably switched between a standby position and a working position to perform a preset operation; and/or to make the moving mechanism switchable between the wheel drive mode and the wheel and track combined drive mode and to form the lower profile of the "" shape of the moving mechanism for performing predetermined operations.

7. The locomotion mechanism of claim 1, wherein the bottom profile forms a triangular space having a height of 80-120% of a height of the second track unit to accommodate and facilitate spanning a convex portion of the work surface encountered during locomotion.

8. The travel mechanism of claim 1 wherein the bottom contour forms a triangular space having a height of 90% of a height of the second track unit to accommodate and facilitate spanning a raised portion of the work surface encountered during travel.

9. The movement mechanism of claim 1, wherein the second track unit and/or the first wheel unit are configured to enable or facilitate at least a portion of one of them to be at or bear on the plane of one of the planar portions of the contoured work surface or at the plane of another planar portion adjacent or contiguous to the planar portion of the contoured work surface when at least a portion of the other one of them is at or bears on the inclined/uneven/pointed portion or corner of the contoured work surface.

10. The moving mechanism according to claim 1, wherein the second track unit and the first pulley unit are configured such that at least a portion/fulcrum thereof constituting the lower portion or bottom profile of the "" shape always abuts against a step plane of one step providing a large supporting force when moving on the stairs, so that the step plane functions as a main supporting surface of the moving mechanism to prevent overturning when the other portion/fulcrum thereof is positioned and supported above a step angle of the other step providing a small supporting force.

11. The movement mechanism of claim 1, wherein the second track unit is configured to intersect the first wheel unit in a length or walking direction at an angle that is correspondingly configurable with respect to an estimated or measured slope range of stairs in a predetermined area of use, an estimated or legal bumpiness range of a bumpy road surface.

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