阅读说明：本技术 一种张合式行走装置 (Open-close type walking device ) 是由 柯健 单兰宇 陈雨萌 于 2019-11-04 设计创作，主要内容包括：本发明公开了一种张合式行走装置,其包括有至少一个独轮组件,独轮组件包括有支撑板、主轮法兰和内轮,主轮法兰穿过支撑板,内轮与主轮法兰同轴设置,主轮法兰的中心处穿设有内轴,支撑板上设有行走驱动机构以及张合驱动机构,内轮的中心处嵌设有主动伞形齿轮,内轴的端部穿过主动伞形齿轮,内轮上设有至少一组张合传动组件,张合传动组件包括有多个传动丝杆,传动丝杆穿过内轮的侧壁,传动丝杆位于内轮内侧的一端设有从动伞形齿轮,传动丝杆位于内轮外侧的一端套设有套筒,套筒内固定有传动螺母,套筒远离内轮的一端固定有弧状的外轮。本发明通过驱使外轮张开或者合拢来调整轮径,进而完成上下楼梯以及跨越障碍动作。(The invention discloses an opening-closing type walking device which comprises at least one single wheel assembly, wherein the single wheel assembly comprises a supporting plate, a main wheel flange and an inner wheel, the main wheel flange penetrates through the supporting plate, the inner wheel and the main wheel flange are coaxially arranged, an inner shaft penetrates through the center of the main wheel flange, a walking driving mechanism and an opening-closing driving mechanism are arranged on the supporting plate, a driving bevel gear is embedded in the center of the inner wheel, the end part of the inner shaft penetrates through the driving bevel gear, at least one opening-closing transmission assembly is arranged on the inner wheel and comprises a plurality of transmission screw rods, the transmission screw rods penetrate through the side wall of the inner wheel, a driven bevel gear is arranged at one end, located on the inner side, of each transmission screw rod, a sleeve is sleeved at one end, located on the outer side of the inner wheel, a transmission nut is fixed in the sleeve, and an arc-shaped outer wheel is. The invention adjusts the wheel diameter by driving the outer wheel to open or close, thereby completing the actions of going up and down stairs and crossing obstacles.)

1. The open-close type walking device is characterized by comprising at least one single wheel assembly (100), wherein the single wheel assembly (100) comprises a support plate (1), a main wheel flange (2) and an inner wheel (3), the main wheel flange (2) penetrates through the support plate (1) and is rotatably connected with the support plate and the main wheel flange, the inner wheel (3) and the main wheel flange (2) are coaxially arranged and are fixedly connected, the main wheel flange (2) is hollow, an inner shaft (5) is arranged in the center of the main wheel flange (2) in a penetrating mode and is rotatably connected with the inner shaft, a walking driving mechanism (4) for driving the main wheel flange (2) to rotate and an opening-closing driving mechanism (6) for driving the inner shaft (5) to rotate are arranged on the support plate (1), a driving bevel gear (30) is embedded in the center of the inner wheel (3) and is rotatably connected with the inner wheel flange and the inner wheel flange, the end part of the inner shaft (5) penetrates through the driving bevel gear (30) and is fixedly connected with the driving bevel gear, at least one group of opening and closing transmission assemblies are arranged on the inner wheel (3), each opening and closing transmission assembly comprises a plurality of transmission lead screws (31), the plurality of transmission lead screws (31) are uniformly distributed along the circumferential direction of the inner wheel (3), the transmission lead screws (31) penetrate through the side wall of the inner wheel (3) and are rotatably connected with the side wall of the inner wheel (3), one end, located on the inner side of the inner wheel (3), of each transmission lead screw (31) is provided with a driven bevel gear (32), the driven bevel gear (32) is meshed with the driving bevel gear (30), one end, located on the outer side of the inner wheel (3), of each transmission lead screw (31) is sleeved with a sleeve (33), a transmission nut (34) is fixed in the sleeve (33), the transmission lead screws (31) penetrate through the transmission nuts (34), an arc-shaped outer wheel (35) is fixed at one end, away from the inner wheel (3), of the sleeve (33), when the opening and closing driving mechanism (6) drives the inner shaft (5) and the driving bevel gear (30) to rotate, the driven bevel gear (32) rotates along with the inner shaft, the sleeve (33) is driven to be close to or far away from the inner wheel (3) through the transmission screw rod (31), and then the outer wheels (35) are driven to be opened outwards or closed inwards.

2. The folding walking device of claim 1, wherein the outer wheel (35) comprises a rim (350) and a rubber wheel sheet (351), the rim (350) is fixedly connected with the sleeve (33), and the rubber wheel sheet (351) is covered on the outer side of the rim (350) and is fixedly connected with the rim (350).

3. The foldable walking apparatus according to claim 1, wherein the rim (350) is formed with an arc-shaped protrusion (352) at one end thereof, and an arc-shaped recess (353) at the other end thereof, and when the outer wheels (35) are folded inward, the arc-shaped protrusion (352) and the arc-shaped recess (353) of two adjacent rims (350) are inserted into each other to make the outer wheels (35) form an annular shape.

4. The folding walking device of claim 1, wherein a spring (36) is sleeved on the transmission screw rod (31), and the spring (36) is clamped between the transmission nut (34) and the outer wheel (35).

5. The folding walking device of claim 1, wherein two sets of folding transmission components are arranged on the side wall of the inner wheel (3) in a penetrating way, the driven bevel gears (32) in the two sets of folding transmission components are respectively meshed with the two sides of the driving bevel gear (30), two adjacent transmission screw rods (31) in the two sets of folding transmission components are parallel to each other, the thread directions of the two transmission screw rods are opposite, and two parallel sleeves (33) are fixedly connected to the same rim (350).

6. The opening-closing type walking device according to claim 1, wherein a balance adjusting plate (7) is attached to the side of the supporting plate (1), the main wheel flange (2) passes through the balance adjusting plate (7) and is rotatably connected with the balance adjusting plate, a balance adjusting bracket (70) is fixed on the balance adjusting plate (7), a balance adjusting motor (71) is fixed on the balance adjusting bracket (70), an arc-shaped adjusting block (10) is fixed on the supporting plate (1), external teeth (11) are formed on the outer side of the arc-shaped adjusting block (10), a balance adjusting gear (72) is fixed on the power output shaft of the balance adjusting motor (71), the balance adjusting gear (72) is engaged with the external teeth (11), and by means of the cooperation of the balance adjusting motor (71), the balance adjusting gear (72) and the arc-shaped adjusting block (10), and driving the supporting plate (1) and the balance adjusting plate (7) to rotate within a preset angle.

7. The opening-closing type walking device according to claim 6, wherein the walking driving mechanism (4) comprises a walking mechanism bracket (40) and a walking driving motor (41), the walking mechanism bracket (40) is fixedly connected with the balance adjusting plate (7), the walking driving motor (41) is fixed on the walking mechanism bracket (40), the main gear flange (2) is formed with a main gear (20), and a power output shaft of the walking driving motor (41) is in transmission connection with the main gear (20) through a walking gear mechanism (42).

8. The folding walking device according to claim 6, wherein the folding driving mechanism (6) comprises a folding mechanism bracket (60) and a folding driving motor (61), the folding driving motor (61) is fixed on the folding mechanism bracket (60), an inner shaft gear (50) is fixed on the inner shaft (5), and a power output shaft of the folding driving motor (61) is in transmission connection with the inner shaft gear (50) through a folding gear mechanism (62).

9. The folding walking device according to claim 6, wherein at least two Z-shaped limiting blocks (12) are arranged on the side of the supporting plate (1), one end of each Z-shaped limiting block (12) is fixedly connected with the supporting plate (1), and the other end of each Z-shaped limiting block (12) is clamped on the outer side of the balance adjusting plate (7).

10. The collapsible walking device of claim 1, comprising two symmetrically arranged single wheel assemblies (100), wherein the supporting plates (1) of the two single wheel assemblies (100) are fixedly connected by a cross-beam, the inner shafts (5) of the two single wheel assemblies (100) are fixedly connected by a shaft sleeve (8), and the shaft sleeve (8) is rotatably connected with at least one inner shaft (5).

Technical Field

The invention relates to a walking device, in particular to an opening and closing type walking device.

Background

With the continuous development of intelligent and automatic technologies, mobility aids such as bicycles, electric vehicles and automobiles are gradually popularized to households, but the mobility aids can be almost only used by normal people with healthy limbs, and for old people and disabled people, daily travel becomes a luxury. In addition, the emergence of balance car has brought many convenient for people's trip, and it need not to control, only needs to change holistic focus, just can control the balance car and advance and retreat, turn about, but, the continuation of the journey ability of balance car is not strong, and stability is not high, falls down easily in the use, generally is difficult to travel on the road to the operation of balance car still need rely on human focus control, and unable autonomous navigation traveles. Therefore, there is a need in the art for a walking power device that can be used to propel a vehicle while traversing stairs or low obstacles and having balanced walking capabilities.

Disclosure of Invention

The invention aims to solve the technical problem of providing an opening and closing type walking device which can adjust the wheel diameter by driving an outer wheel to open or close so as to finish actions of going upstairs, going downstairs and crossing obstacles and can perform autonomous navigation, aiming at the defects of the prior art.

In order to solve the technical problems, the invention adopts the following technical scheme.

An opening-closing type walking device comprises at least one single wheel assembly, wherein the single wheel assembly comprises a supporting plate, a main wheel flange and an inner wheel, the main wheel flange penetrates through the supporting plate and is rotatably connected with the supporting plate, the inner wheel and the main wheel flange are coaxially arranged and are fixedly connected with each other, the main wheel flange is hollow, an inner shaft penetrates through the center of the main wheel flange and is rotatably connected with the main wheel flange, a walking driving mechanism for driving the main wheel flange to rotate and an opening-closing driving mechanism for driving the inner shaft to rotate are arranged on the supporting plate, a driving bevel gear is embedded in the center of the inner wheel and is rotatably connected with the driving bevel gear, the end part of the inner shaft penetrates through the driving bevel gear and is fixedly connected with the driving bevel gear, at least one opening-closing transmission assembly is arranged on the inner wheel, the opening-closing transmission assembly comprises a plurality of transmission lead screws, and the plurality of transmission lead screws are uniformly distributed along the circumferential direction of the, the transmission lead screw passes the lateral wall of interior wheel and the two rotates to be connected, the transmission lead screw is located the one end of interior wheel inboard is equipped with driven bevel gear, driven bevel gear with initiative bevel gear intermeshing, the transmission lead screw is located an pot head in the interior wheel outside is equipped with the sleeve, the sleeve internal fixation has drive nut, the transmission lead screw passes drive nut and the two spiral shell of mutually supporting, the sleeve is kept away from the one end of interior wheel is fixed with the outward wheel of arcuation, works as open and shut actuating mechanism and orders about interior axle with when initiative bevel gear rotates, driven bevel gear rotates thereupon and orders about through the transmission lead screw the sleeve is close to or keeps away from interior wheel, and then orders about a plurality of outward opening or inwards fold.

Preferably, the outer wheel comprises a rim and a rubber wheel sheet, the rim is fixedly connected with the sleeve, and the rubber wheel sheet is coated on the outer side of the rim and fixedly connected with the rim.

Preferably, one end of the rim is formed with an arc-shaped protrusion, the other end of the rim is formed with an arc-shaped recess, and when the outer wheels are folded inwards, the arc-shaped protrusion and the arc-shaped recess of two adjacent rims are inserted into each other, so that the outer wheels form a circular ring shape.

Preferably, a spring is sleeved on the transmission screw rod and clamped between the transmission nut and the outer wheel.

Preferably, two sets of opening and closing transmission assemblies are arranged on the side wall of the inner wheel in a penetrating mode, driven bevel gears in the two sets of opening and closing transmission assemblies are meshed with two sides of the driving bevel gear respectively, two adjacent transmission screw rods in the two sets of opening and closing transmission assemblies are parallel to each other, the thread directions of the two transmission screw rods are opposite, and two parallel sleeves are fixedly connected to the same rim.

Preferably, the lateral part laminating of backup pad has the balance adjustment board, the main wheel flange passes balance adjustment board and the two rotates to be connected, be fixed with the balance adjustment support on the balance adjustment board, be fixed with the balance adjustment motor on the balance adjustment support, be fixed with the arcuation regulating block in the backup pad, the outside of arcuation regulating block is formed with external tooth, the power output shaft of balance adjustment motor is fixed with the balance adjustment gear, the balance adjustment gear with external tooth intermeshing, borrow by the balance adjustment motor the balance adjustment gear with the cooperation of arcuation regulating block orders about the backup pad with the rotation of balance adjustment board in predetermineeing the angle.

Preferably, the walking driving mechanism comprises a walking mechanism support and a walking driving motor, the walking mechanism support is fixedly connected with the balance adjusting plate, the walking driving motor is fixed on the walking mechanism support, a main gear is formed on the main wheel flange, and a power output shaft of the walking driving motor is in transmission connection with the main gear through a walking gear mechanism.

Preferably, the opening and closing driving mechanism comprises an opening and closing mechanism bracket and an opening and closing driving motor, the opening and closing driving motor is fixed on the opening and closing mechanism bracket, an inner shaft gear is fixed on the inner shaft, and a power output shaft of the opening and closing driving motor is in transmission connection with the inner shaft gear through an opening and closing gear mechanism.

Preferably, the lateral part of backup pad is equipped with two at least Z shape stoppers, the one end of Z shape stopper with backup pad fixed connection, the other end card of Z shape stopper is located the outside of balance adjustment board.

Preferably, the single-wheel assembly comprises two symmetrically arranged single-wheel assemblies, the supporting plates of the two single-wheel assemblies are fixedly connected through a cross beam, the inner shafts of the two single-wheel assemblies are fixedly connected through a connecting shaft sleeve, and the connecting shaft sleeve is rotatably connected with at least one inner shaft.

In the open-close type walking device disclosed by the invention, under the driving of the walking driving mechanism, the main wheel flange can drive the wheel consisting of the inner wheel, the transmission screw rod, the sleeve and the outer wheels to rotate back and forth so as to realize walking actions such as advancing, retreating, left turning, right turning and the like, when a user needs to go up and down stairs or encounters a low obstacle, the open-close driving mechanism can be used for driving the inner shaft, the driving bevel gear to rotate and the transmission screw rod to rotate, the sleeve is driven to extend outwards under the matching of the transmission nut and the transmission screw rod, the outer wheels are simultaneously opened outwards, the wheel diameter of the wheel is increased, and the wheel with the large wheel diameter can easily cross the stairs and the obstacle, so the invention can easily finish the going up and down stairs and the crossing of the low obstacle under the opening state of the wheel, and when the wheel travels to a flat position, the inner shaft and the driving bevel gear are driven to rotate reversely only by the opening and closing driving mechanism until a plurality of outer wheels are simultaneously folded inwards to a small wheel diameter state, so that walking actions in various environments such as flat ground, stairs ascending and descending, obstacle crossing and the like are realized, and the requirements of users and markets are better met.

Drawings

FIG. 1 is a perspective view of the open-close type walking device of the present invention;

FIG. 2 is a structural view of a power part and a wheel part of the open-close type walking device of the present invention;

FIG. 3 is an exploded view of the power section;

FIG. 4 is a partial exploded view of the wheel section I;

FIG. 5 is an enlarged view of portion A of FIG. 4;

figure 6 is a side view of the wheels partially closed;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 6;

FIG. 8 is a second partially exploded view of the wheel portion;

figure 9 is a side view of the wheel partially expanded;

FIG. 10 is a perspective view of two single wheel assemblies assembled;

fig. 11 is a structural view of the opening/closing type traveling apparatus according to the present invention applied to a wheelchair.

Detailed Description

The invention is described in more detail below with reference to the figures and examples.

The invention discloses an opening-closing type walking device, which is shown by combining figures 1 to 9 and comprises at least one single wheel assembly 100, wherein the single wheel assembly 100 comprises a supporting plate 1, a main wheel flange 2 and an inner wheel 3, the main wheel flange 2 penetrates through the supporting plate 1 and is rotatably connected with the supporting plate 1, the inner wheel 3 and the main wheel flange 2 are coaxially arranged and are fixedly connected with each other, the main wheel flange 2 is hollow, an inner shaft 5 penetrates through the center of the main wheel flange 2 and is rotatably connected with each other, a walking driving mechanism 4 for driving the main wheel flange 2 to rotate and an opening-closing driving mechanism 6 for driving the inner shaft 5 to rotate are arranged on the supporting plate 1, a driving bevel gear 30 is embedded in the center of the inner wheel 3 and is rotatably connected with the inner shaft, the end part of the inner shaft 5 penetrates through the driving bevel gear 30 and is fixedly connected with the inner shaft, at least one opening-closing transmission assembly is arranged on the inner wheel 3, the opening and closing transmission assembly comprises a plurality of transmission screw rods 31, the plurality of transmission screw rods 31 are uniformly distributed along the circumferential direction of the inner wheel 3, the transmission screw rods 31 penetrate through the side wall of the inner wheel 3 and are rotatably connected with the side wall of the inner wheel 3, one end of each transmission screw rod 31, which is positioned at the inner side of the inner wheel 3, is provided with a driven bevel gear 32, the driven bevel gear 32 is meshed with the driving bevel gear 30, one end of each transmission screw rod 31, which is positioned at the outer side of the inner wheel 3, is sleeved with a sleeve 33, a transmission nut 34 is fixed in each sleeve 33, the transmission screw rods 31 penetrate through the transmission nuts 34 and are screwed with the transmission nuts 34, one end of each sleeve 33, which is far away from the inner wheel 3, is fixed with an arc-shaped outer wheel 35, when the opening and closing driving mechanism 6 drives the inner shaft 5 and the driving bevel gear 30 to rotate, the driven bevel gear 32 rotates along with the transmission screw, thereby forcing a plurality of outer wheels 35 to expand outwardly or to close inwardly.

In the above device, under the driving of the walking driving mechanism 4, the main wheel flange 2 can drive the wheel composed of the inner wheel 3, the transmission screw rod 31, the sleeve 33 and the plurality of outer wheels 35 to rotate back and forth, so as to realize the walking actions of advancing, retreating, left turning, right turning and the like, when the stairs need to be ascended and descended or a low obstacle is encountered, the opening and closing driving mechanism 6 can drive the inner shaft 5, the driving bevel gear 30 to rotate and the transmission screw rod 31 to rotate, under the matching of the transmission nut 34 and the transmission screw rod 31, the sleeve 33 is driven to extend outwards, the plurality of outer wheels 35 are simultaneously opened outwards, the wheel diameter of the wheel is increased, the wheel with a large wheel diameter can easily span the stairs and the obstacle, therefore, the invention can easily complete the stairs ascending and descending and the low obstacle when the wheel is in the opening state, and when the wheel is walked to a flat position, the opening and closing driving mechanism 6 is only required to drive the inner shaft 5 and the driving bevel gear 30 to rotate reversely until the outer wheels 35 are simultaneously folded inwards to a small wheel diameter state, so that walking actions in various environments such as flat ground, going upstairs and downstairs, crossing obstacles and the like are realized, and the requirements of users and markets are well met.

In order to enable the wheel to meet the opening and closing requirements, in this embodiment, the outer wheel 35 includes a rim 350 and a rubber wheel blade 351, the rim 350 is fixedly connected with the sleeve 33, and the rubber wheel blade 351 is covered on the outer side of the rim 350 and is fixedly connected with the rim 350.

In order to combine the wheel shape more firmly after folding, in this embodiment, one end of the rim 350 is formed with an arc-shaped protrusion 352, and the other end of the rim 350 is formed with an arc-shaped recess 353, and when the outer wheels 35 are folded inwards, the arc-shaped protrusion 352 and the arc-shaped recess 353 of two adjacent rims 350 are inserted into each other, so that the outer wheels 35 form a circular ring shape.

In a preferred structure, the transmission screw 31 is sleeved with a spring 36, and the spring 36 is interposed between the transmission nut 34 and the outer wheel 35. The spring 36 can provide elasticity for the outer wheel 35, so as to play a role of elastic buffer when going up and down stairs and crossing obstacles.

In order to make the wheels rotate stably and improve the reliability of the opening-closing type walking device, in this embodiment, two sets of opening-closing transmission assemblies are arranged on the side wall of the inner wheel 3 in a penetrating manner, the driven bevel gears 32 in the two sets of opening-closing transmission assemblies are respectively meshed with the two sides of the driving bevel gear 30, two adjacent transmission screw rods 31 in the two sets of opening-closing transmission assemblies are parallel to each other, the thread directions of the two transmission screw rods are opposite, and two parallel sleeves 33 are both fixedly connected to the same rim 350.

As an optimal structure, the lateral part laminating of backup pad 1 has balance adjusting plate 7, main wheel flange 2 passes balance adjusting plate 7 and the two rotates to be connected, be fixed with balance adjusting support 70 on the balance adjusting plate 7, be fixed with balance adjusting motor 71 on the balance adjusting support 70, be fixed with arcuation regulating block 10 on the backup pad 1, the outside of arcuation regulating block 10 is formed with outer tooth 11, balance adjusting motor 71's power output shaft is fixed with balance adjusting gear 72, balance adjusting gear 72 with outer tooth 11 intermeshing, borrow by balance adjusting motor 71 balance adjusting gear 72 with arcuation regulating block 10's cooperation is ordered about backup pad 1 with balance adjusting plate 7 is in presetting the angle internal rotation. In the above structure, when the balance adjusting motor 71 rotates in micro steps, the relative positions of the support plate 1 and the balance adjusting plate 7 can be finely adjusted, so that the balance adjusting plate 7 can be maintained in a balanced state no matter when the user goes up and down stairs, crosses obstacles or walks. In practical application, the rotation amount and the rotation direction of the balance adjusting motor 71 can be controlled by a preset main controller, a gyroscope, a gravity acceleration sensor and other related mechanisms, so that the balance adjustment of the open-close type walking device is realized.

In order to realize the traveling drive such as forward and backward movement, in this embodiment, the traveling drive mechanism 4 includes a traveling mechanism bracket 40 and a traveling drive motor 41, the traveling mechanism bracket 40 is fixedly connected to the balance adjustment plate 7, the traveling drive motor 41 is fixed to the traveling mechanism bracket 40, a main gear 20 is formed on the main wheel flange 2, and a power output shaft of the traveling drive motor 41 is in transmission connection with the main gear 20 through a traveling gear mechanism 42.

In order to implement opening and closing driving more accurately and reliably, in this embodiment, the opening and closing driving mechanism 6 includes an opening and closing mechanism bracket 60 and an opening and closing driving motor 61, the opening and closing driving motor 61 is fixed on the opening and closing mechanism bracket 60, an inner shaft gear 50 is fixed on the inner shaft 5, and a power output shaft of the opening and closing driving motor 61 is in transmission connection with the inner shaft gear 50 through a closing gear mechanism 62.

As an optimal structure, the lateral part of the supporting plate 1 is provided with at least two Z-shaped limiting blocks 12, one end of each Z-shaped limiting block 12 is fixedly connected with the supporting plate 1, and the other end of each Z-shaped limiting block 12 is clamped at the outer side of the balance adjusting plate 7. Under the effect of above-mentioned two Z shape stopper 12, can be right the balance adjustment board 7 plays limiting displacement, can guarantee again the backup pad 1 with relative slip between the balance adjustment board 7.

In practical applications, referring to fig. 10, the single wheel assembly 100 of the present embodiment can be used independently with an auxiliary wheel, or can be configured as a dual-wheel structure, specifically, in another embodiment of the present invention, the single wheel assembly 100 includes two single wheel assemblies 100 symmetrically configured, the supporting plates 1 of the two single wheel assemblies 100 are fixedly connected by a cross-beam, the inner shafts 5 of the two single wheel assemblies 100 are fixedly connected by a shaft sleeve 8, and the shaft sleeve 8 is rotatably connected with at least one inner shaft 5.

On the basis, the present invention can be applied to a vehicle such as a wheelchair, and referring to fig. 10, two symmetrically arranged single wheel assemblies 100 can be installed at the rear end of the wheelchair to provide power for the wheelchair. However, this is only an example of the application and is not intended to limit the scope of the present invention, that is, the retractable walking device of the present invention can be applied to various other vehicles, and the application is not limited to the extension or the replacement of the retractable walking device under the spirit of the present invention, and any modification, equivalent replacement or improvement made within the technical scope of the present invention should be included in the scope of the present invention.