CN114176923B

CN114176923B - A transport device

Info

Publication number: CN114176923B
Application number: CN202111683396.0A
Authority: CN
Inventors: 田杰; 张良; 李政; 程都
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2025-02-07
Anticipated expiration: 2041-12-31
Also published as: CN114176923A

Abstract

The present invention relates to a transfer device, including wheels that use rolling friction instead of sliding friction to assist the transfer device in moving, the wheels including a power wheel for providing power and a steering wheel for steering, the power wheel and the steering wheel jointly bear the weight of the transfer device and cooperate with each other to complete the transfer action. The power wheel includes a first power wheel and a second power wheel that are independent of each other and arranged opposite to each other, and the steering wheel includes a first steering wheel and a second steering wheel that are independent of each other and arranged opposite to each other, wherein the first steering wheel and the second steering wheel are both configured as Mecanum wheels, and the first steering wheel and the second steering wheel are configured in mirror symmetry. The device of the present invention is stable in operation, has strong adaptability to a variety of ground surfaces, can clear ground obstacles by itself, and is reliable in use.

Description

Transfer device

Technical Field

The invention relates to the technical field of wheelchair vehicles, in particular to a transfer device.

Background

According to the demographic data of recent years of China, the total population ratio of people over 65 years old in 2018 reaches 11.94%, the daily travel of the elderly people has great dependence on wheelchairs, and the old people and the groups losing the walking function cause the society to have larger and larger demand on wheelchairs due to traffic safety accidents, unexpected events, trouble of diseases and the like. And most of the people need to completely depend on the wheelchair to move in most of the time, so the comfort and the safety of the wheelchair are very important.

Most of the existing wheelchairs are designed to be powered by rear wheels to push the wheelchairs to advance, and front wheels serving as steering wheels are universal wheels so as to be convenient to steer by being matched with the rear wheels of the wheelchairs. For example, CN102755230B discloses an electric wheelchair comprising a pedal, a battery box connected to a pair of rear axle seats, left and right wheel motors provided in the battery box, left and right wheel motor shafts fixed to left and right wheels motor shafts, a pair of front frames each including a front wheel arm, a front frame arm and a folding mechanism, a pair of rear frames each having one end hinged to a side of the battery box and the other end connected by a rear frame connecting rod, a rear universal wheel seat fixed to the other end, a rear universal wheel provided on the rear universal wheel seat, a seat fixed to a seat support, a seatback hinged to the seat, a pair of armrests and an armrest locking mechanism, and a controller provided on the armrests and wirelessly engaged with a controller host.

The universal wheel rotates flexibly, and the rotation of the two universal wheels which are arranged in bilateral symmetry is not interfered with each other, and the universal wheels move towards the direction required to be turned according to the pressure and the thrust direction of the ground during turning. Also because of the foregoing characteristics, when the universal wheels encounter a depressed road surface, the left and right wheels and the ground are not rubbed simultaneously due to jolt, and the directions are different, so that the two universal wheels rotate in different directions, and even the directions of the two universal wheels are different, and the two universal wheels are mutually opposed in the moving process, so that the wheelchair cannot normally turn forward, and even the wheelchair is possibly unbalanced and turned over, thereby causing injury to people riding the wheelchair.

A mecanum wheel is a wheel capable of supporting all-round movement, which is capable of producing a resultant force vector in any desired direction by virtue of the direction and speed of the respective wheel, thereby ensuring that the carrying platform is free to move in the direction of the resultant force vector without changing the direction of the wheel itself. The wheelchair can be used for shortening the size of a field required by the movement and the steering of the wheelchair, and can still realize stable movement in all directions in a small environment. Such features are widely used in the robot field and in a mechanism such as a forklift that requires flexible movement and steering in a small environment. Mecanum wheels are also used in wheelchairs. For example, CN106943248B discloses a multifunctional wheelchair, which comprises a chassis structure, a manned platform and an inclination angle adjusting mechanism, wherein the manned platform is arranged on the chassis structure, the inclination angle adjusting mechanism is arranged at the bottom of the manned platform, the manned platform comprises a seat, a gyroscope, a controller and a pushing handle, the gyroscope is arranged at the bottom of the seat, the controller is fixed on the armrest, the chassis structure comprises a chassis, a manpower driving device, a Mecanum wheel, a pedal, an anti-tipping device, a horizontal inclination angle adjusting box bracket and a battery box, the manpower driving device comprises a bracket, a manpower driving wheel, a rotating shaft, a chain plate, a first bearing seat and a bearing, and the inclination angle adjusting mechanism is arranged below the seat and comprises a worm gear component, a worm, a first motor, a connecting frame, a second bearing seat, a third bearing seat and a connecting plate. The four wheels of the wheelchair are set as the Mecanum wheels, and under the condition of sufficient electric quantity, the wheelchair is controlled to complete activities such as advancing, retreating, steering and the like by controlling the independent motors of the Mecanum wheels.

However, under the condition of insufficient electric quantity of the wheelchair, the normal control and rotation of the four wheels of the wheelchair are difficult to ensure, so that uncertainty is easily caused in the movement direction. Moreover, when the four wheels are Mecanum wheels, and some candela ground is encountered, a plurality of wheels cannot be contacted with the ground at the same time, or the contact angles with the ground are different, the four wheels are easy to form resultant force or deviation of the resultant force direction, so that the wheelchair cannot advance towards the direction of expected control, and further the wheelchair is out of control, so that danger is caused.

Furthermore, since the inventors herein have studied numerous documents and patents, on the one hand, and have not set forth in detail all the details and content of the invention for the purpose of understanding the differences to those skilled in the art, on the other hand, the invention is by no means lacking in the features of the prior art, but rather the invention has all the features of the prior art, and the applicant retains the right of the prior art in the background of this invention.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a transfer device, which comprises wheels for assisting the transfer device to move by rolling friction instead of sliding friction, wherein the wheels comprise a power wheel for providing power and a steering wheel for steering, and the power wheel and the steering wheel bear the weight of the transfer device together and cooperate with each other to complete the transfer action. The power wheels comprise a first power wheel and a second power wheel which are independent and oppositely arranged, the steering wheels comprise a first steering wheel and a second steering wheel which are independent and oppositely arranged, wherein the first steering wheel and the second steering wheel are respectively arranged as Mecanum wheels, and the first steering wheel and the second steering wheel are arranged in mirror symmetry.

The device has the advantages that the Mecanum wheels serving as the driven steering wheels are driven by the power wheels to rotate, independent motors are not arranged for driving the Mecanum wheels, the control of the wheelchair can be simplified, the manufacturing and maintenance cost is reduced, the Mecanum wheels do not deflect relative to the axial direction of the transfer device in the steering process, the steering process is stable, and when the vehicle encounters a rough ground, the normal steering process of the wheelchair is not easily influenced by the deflection, so that the wheelchair can adapt to the campy ground and smoothly steer on the campy ground.

According to a preferred embodiment, the steering wheel further comprises a wheel sleeve arranged on the sub-wheel, which wheel sleeve is provided with friction points in such a way that the friction coefficient of the steering wheel with the contact surface can be increased.

The advantage of this arrangement is that by increasing the friction between the steering wheel and the ground, the steering wheel is more stable during steering and movement and can be adapted to the use of more special ground. For example, when the friction coefficients of the ground on which the first steering wheel and the second steering wheel are located are different, the friction coefficients of the first steering wheel and the second steering wheel and the ground are increased, so that the difference of the friction coefficients between the first steering wheel and the second steering wheel is relatively reduced, and further, the difference of the friction forces of the first steering wheel and the second steering wheel relative to the ground is reduced, and the first steering wheel and the second steering wheel can keep stably adapting to the pushing of the power wheels to move towards the direction to be steered.

According to a preferred embodiment, the friction points comprise at least a first friction point and a second friction point, the first friction point is different in height from the second friction point, the first friction points are arranged to form a plurality of buffer spaces in a manner that the buffer spaces can be buffered when small particle obstacles are encountered, and the second friction points are arranged in the buffer spaces in a manner that the particles can be prevented from being blocked into the buffer spaces.

The arrangement has the advantages that the friction coefficient between the first friction point and the ground can be increased by the first friction point and the second friction point, and a buffer space formed by the first friction point can accommodate a part of obstacles with smaller particle sizes, so that the influence of the obstacles on the running of the steering wheel is avoided, and the influence of the obstacles with larger sizes on the running direction due to the existence of the buffer space is also reduced. The setting of second friction point makes the great barrier of size in entering into the buffer space can obtain the support of second friction point to also there is the clearance between the second friction point, through such irregular clearance setting, makes the irregular barrier receive the point pressure in the buffer space can reduce, thereby the irregular barrier can not block into the buffer space.

According to a preferred embodiment, the steering wheel is provided with a first pattern of uneven relief, comprising a first recess and a first protrusion surrounding the periphery of the first recess, wherein the curvature of the first recess is greater than the curvature of the first protrusion, in such a way that the local pressure when in contact with a rough ground is reduced.

According to a preferred embodiment, the transition between the first convex portion and the first concave portion is provided as a smooth curve-formed non-abrupt curved surface having a double curvature in such a manner that continuous contact with a sleek ground can be generated.

The advantage of this is that the contact area with the rough ground can be increased, so that sufficient friction can be generated with the ground during steering, and some forces that prevent the steering wheel from moving towards the direction to be steered can be counteracted or reduced, thereby facilitating the steering wheel to move towards the correct direction to be steered under the pushing of the power wheel.

According to a preferred embodiment, the sub-wheel of the steering wheel is provided with a second line along the axial direction of the sub-wheel, the second line comprises a plurality of raised encircling lines starting from one end of the sub-wheel close to the central axis of the wheelchair and extending towards one end of the sub-wheel far away from the central axis of the wheelchair, wherein the plurality of encircling lines are gathered at the first end of the sub-wheel close to the central axis and dispersed at the second end of the sub-wheel towards the outer side of the wheelchair in a manner that stones can extend towards the outer side of the wheelchair.

According to a preferred embodiment, the encircling line is arranged as a curve spiraling around the axis of the sub-wheel in a manner that is able to accommodate the rolling of the sub-wheel upon encountering a particulate obstacle and gradually push the particulate obstacle towards the outside of the sub-wheel.

This has the advantage that the encircling line guides the direction of movement of the particulate obstacle when it encounters it and gradually pushes it towards the outside of the wheel as it rotates, so that the obstacle that would otherwise interfere with the rotation of the wheel under the wheel will move to the outside of the wheel due to the presence of the encircling line and will not be pinched by the wheel. The wheel has a certain automatic obstacle avoidance function, and the stability in the travelling process is improved.

According to a preferred embodiment, the sides of the steering wheel and the power wheel are provided with a barrier removing mechanism, and the barrier removing mechanism at least comprises a plurality of cleaning whiskers, one end of each cleaning whisker is connected with the outer sides of the steering wheel and the power wheel, and the other end of each cleaning whisker is flush with the side, which is contacted with the ground, of the steering wheel and the power wheel.

According to a preferred embodiment, the cleaning elements are made of a material that wears relatively quickly, so that during use the cleaning elements that are flush with the contact surface of the tire with the ground wear quickly so that the cleaning elements do not prevent stones under the tire from being cleaned out of the tire.

According to a preferred embodiment, the surface of the cleaning implement which is in contact with the ground adjacent to the power wheel and the steering wheel is provided with a second convex portion and a second concave portion in such a way that the contact surface with the obstacle can be increased for cleaning the obstacle.

The cleaning device has the advantages that obstacles around the wheels can be cleaned through the cleaning device, the contact area between the cleaning device and the obstacles can be increased when the cleaning surfaces of the second convex parts and the second concave parts meet the obstacles in irregular shapes, so that the obstacles can be driven to rotate along with the wheels better under the cooperation of the ground, the obstacles are enabled to have centrifugal force, and the cleaning surfaces can be thrown away under the condition that the cleaning surfaces are gradually far away from the obstacles. And because of the existence of the second convex part and the second concave part, the contact area between the barrier and the cleaning surface is enlarged, so that the barrier cannot be easily extruded into a plurality of cleaning whiskers to be clamped by the cleaning whiskers, and the situation that the barrier cannot be thrown out based on centrifugal force due to the clamping of the cleaning whiskers can be avoided. And the cleaning whisker itself does not interfere with the travel of the wheel itself and the function of removing obstacles.

The beneficial technical effects of the invention are as follows:

Firstly, the friction force between the steering wheel and the ground can be increased through the arrangement of the first friction point and the second friction point, so that the difference of rolling friction force borne by the first steering wheel and the second steering wheel is reduced under the condition that the first steering wheel and the second steering wheel are positioned on different grounds, the first steering wheel and the second steering wheel can synchronously and stably steer towards the direction to be steered, the first friction point and the second friction point which are different in height and have a certain arrangement mode can increase the contact area with the ground on the rough ground, the contact of the first steering wheel and the second steering wheel with the ground is reduced, the probability that the first steering wheel and the second steering wheel move towards the wrong steering direction is reduced, and the correct and stable steering of the rugged ground is ensured.

Second, around the rotation axis of sub-wheel encircle the line and can cooperate the rotation of sub-wheel with the barrier on the sub-wheel motion route gradually to the sub-wheel outside along with the rotation of sub-wheel to can play the effect of automatic elimination barrier, improve the obstacle avoidance ability of wheelchair, guaranteed the stability of transfer device in the use. The setting of cleaning must can clear up the barrier around the wheel at power wheel and the pivoted in-process of directive wheel to the cleaning must of directive wheel can help the directive wheel to clear up clear-up one section travel path, avoids the barrier to influence transfer device's steady performance.

And thirdly, the Mecanum wheels of the transfer device are not controlled by separate motors, and the transfer device only needs to control the first power wheels and the second power wheels independently, so that the transfer device is simple in control mode, the first power wheels and the second power wheels are common wheels, the control program is simple, and the maintenance cost is reduced.

Drawings

FIG. 1 is a schematic view of the arrangement of the power wheels and steering wheels of the present invention;

FIG. 2 is a schematic illustration of a preferred arrangement of friction points according to the present invention;

FIG. 3 is a schematic view of another preferred arrangement of friction points according to the present invention

FIG. 4 is a schematic view of a preferred embodiment of the toroidal wire of the present invention;

FIG. 5 is a schematic view of a preferred embodiment of the first male portion and first female portion of the present invention;

fig. 6 is a schematic structural view of the obstacle clearing mechanism of the present invention.

List of reference numerals

100 Steering wheel 200, power wheel 110, first steering wheel

120 Second steering wheel 210 first power wheel 220 second power

101 A first friction point 102 a second friction point 103 a buffer space

130, Sub wheel 131, endless wire 104, first convex part

105 First concave part 140, obstacle clearing mechanism 141, cleaning whisker

142 Cleaning surface

Detailed Description

The following is a detailed description with reference to fig. 1-6.

Example 1

The present embodiment provides a transfer device comprising wheels that replace sliding friction with rolling friction to assist in movement of the transfer device. The wheels include a power wheel 200 for providing power and a steering wheel 100 for steering. The power wheel 200 and the steering wheel 100 together bear the weight of the transfer device and cooperate with each other to perform transfer actions such as forward, backward, steering, etc. The power wheel 200 includes a first power wheel 210 and a second power wheel 220 that are independent of each other and are disposed opposite each other. The steered wheel 100 includes a first steered wheel 110 and a second steered wheel 120 that are independent of each other and are disposed opposite to each other. Preferably, the first and second power wheels 210 and 220 are sized larger than the first and second steering wheels 110 and 120 to enhance the pushing effect of the first and second power wheels 210 and 220. The first and second steering wheels 110 and 120, which are small in size, can facilitate flexible steering. Preferably, the first power wheel 210 and the second power wheel 220 are common wheels, which are simple to control and have low maintenance costs and long service lives. Preferably, the first power wheel 210 and the second power wheel 220 are driven by different power components so that the first power wheel 210 and the second power wheel 220 can generate different rotational speeds, thereby enabling the movement direction of the transfer device to be changed by the rotational speed difference between the first power wheel 210 and the second power wheel 220. Preferably, the first steering wheel 110 and the second steering wheel 120 are each provided as Mecanum wheels, and the first steering wheel 110 and the second steering wheel 120 are provided in mirror symmetry. Preferably, the power wheel 200 provides power, and the steering wheel 100 is not provided with power, and only rotates in a direction of pushing the power wheel 200 based on friction force under pushing of the power wheel 200, so as to assist steering of the transfer device. Preferably, the first and second steering wheels 110 and 120 are mirror-symmetrically disposed so that the speeds of the two first and second steering wheels 110 and 120 moving in the right and left directions can be offset in the forward and backward states of the wheelchair, thereby allowing the resultant movement direction to advance forward or backward based on the action of the power wheel 200. Preferably, the two Mecanum wheels are fixedly arranged on the shaft of the carrying device through bearings, and the position of the two Mecanum wheels relative to the wheel shaft is not changed. So that the two front wheels do not rotate toward or away from each other with respect to the axle of the carrier during steering when the wheelchair encounters a bumpy road surface, and thus remain stable when the wheelchair encounters a bumpy road surface and move in a steering direction according to the pushing action of the rear wheels when the wheelchair falls onto the ground, without the two steering wheels 100 opposing each other in the opposite directions to each other when moving so that the wheelchair cannot continue to advance. The special configuration of the Mecanum wheels also enables it to adapt to the push speed of the rear wheels, the left and right steering wheels 100 producing different rotational speeds so that the loaded transporter produces a trajectory of movement in the steering direction.

According to a preferred embodiment, steering wheel 100 further comprises a wheel hub disposed on sub-wheel 130, with a number of undulating friction points disposed thereon. The friction points can increase the rolling friction of the steerable wheel 100 with the ground, so that the steerable wheel 100 can adapt to more specific ground conditions. For example, when the friction coefficients of the two steering wheels 100 to the ground on the left and right sides are different during the steering process, the small friction coefficient of the wheel sleeve makes the difference between the static friction force between the first steering wheel 110 and the ground on the left and the rolling friction force between the second steering wheel 120 and the ground on the right become large, so that the relative rotation generated between the first steering wheel 110 and the second steering wheel 120 relative to the ground is not synchronous, thereby affecting the steering process and possibly even making the steering motion impossible to complete. The sleeve of the steering wheel 100 with larger friction force can increase the static friction force between the first steering wheel 110 and the second steering wheel 120 and the ground, so that the difference of friction coefficients of the ground on the left side and the ground on the right side can be ignored, and the two steering wheels 100 can adapt to the pushing of the two rear wheels steering in a differential mode under the special ground, and jointly rotate towards the direction needing to steer, and the rear wheels are matched to steer smoothly on the ground with different friction coefficients.

According to a preferred embodiment, the friction points comprise at least a first friction point 101 and a second friction point 102. The first friction point 101 and the second friction point 102 are different in height. The first friction point 101 and the second friction point 102 are different in shape. The widths of the first friction point 101 and the second friction point 102 are different. The first friction points 101 and the second friction points 102 are arranged in a certain way to form a buffer space 103 capable of containing small stones. So that the small stones can play a certain role in buffering when meeting the small stones, and the jolt is reduced. Preferably, the outer circumferences of the first friction point 101 and the second friction point 102 are each provided in a smooth circular arc shape so that the small stones are not caught in the buffer gap when they are encountered. Preferably, the first friction point 101 and the second friction point 102 may be arranged in such a shape that the first friction point 101 surrounds a circular shape such as a hexagon, a pentagon, or the like, and the circular center fills the second friction point 102, so that when a small stone enters into the buffer gap, the second friction point 102 can be supported without excessively contacting the side surface of the first friction point 101 to cause the first friction point 101 to be caught in the gap of the first friction point 101, and the second friction point is difficult to escape. Preferably, the shape of the first friction point 101 may be semi-elliptical or semi-spherical, for example, and the shape of the second friction point 102 may be semi-spherical, for example, to form a smooth surface. Preferably, the height of the first friction point 101 is greater than the height of the second friction point 102. When encountering a small stone during traveling or turning, the small stone enters a buffer gap formed around the first friction point 101, so that the small stone can be contacted with the second friction point 102 which is lower in the buffer gap, but not contacted with the first friction point 101 which is higher. The steering wheel 100 is mainly stressed and supported by the first higher friction point 101 in the travelling process, so that when the small stones are encountered, the influence of the particle size of the small stones on the steering of the wheel is reduced, and the jolt is reduced. Some stones with particle sizes smaller than the height difference between the first friction point 101 and the second friction point 102 are located in the buffer space 103, and are not contacted with the first friction point 101 and the second friction point 102, so that the travelling of the wheels is not influenced, and the transfer device can stably cope with the stones when encountering the stones in the travelling process, and therefore jolt in the transfer process is not caused. And under the condition of encountering a rainy road surface, rainwater can enter a gap between the first friction point 101 and the second friction point 102, and as the second friction point 102 is not contacted with the ground, the point pressure on the ground caused by the first friction point 101 is larger, and the static friction force of the contact between the first friction point 101 and the ground is larger, so that the running process is more stable. However, such an arrangement may increase the probability of adhesion of the adhesive to the sub-wheel in special situations, such as on a ground surface where the adhesive is present, for example, in a rainy day or on a ground surface where the undried asphalt is present.

According to a preferred embodiment, the steering wheel 100 is provided with a first pattern of uneven undulations in a manner that reduces the local pressure when in contact with rough ground. Preferably, the power wheel is also provided with a first pattern. The first pattern includes a first concave portion 105 and a first convex portion 104 surrounding an outer circumference of the first concave portion 105, wherein a curvature of the first concave portion 105 is greater than a curvature of the first convex portion 104. Preferably, a smooth curve-formed non-abrupt curved surface with double curvature is formed between the first convex portion 104 and the first concave portion 105. So that when the stone particles touch uneven ground or road surface and meet obstacles such as stones, the adhesive force between the stone particles and the wheel sleeve can generate nonlinear dynamic change, and the contact force between the stones and the wheels can not be suddenly changed in the process of rotating the wheels, so that the stones are not easy to sink into the wheel sleeve to be clamped. Such an arrangement, on the one hand, increases the friction between the steering wheel 100 and the ground, and thus increases the stability of the transfer device during travel. On the other hand, when the first steering wheel 110 and the second steering wheel 120 move on the uneven ground, the first convex part 104 and the first concave part 105 form shape complementation with the uneven ground, so that the occurrence of a point contact scene in the moving process of the sub-wheel 130 can be reduced, the fact that most of the sub-wheel 130 is in line contact with the ground in the bumping process is ensured, and in the case of line contact, the first convex part 104 and the first concave part 105 can form more structural contact with the ground of the uneven ground, so that the sub-wheel 130 can be in full friction contact with the ground, and rolling friction force pushing the sub-wheel 130 to move towards the direction to be steered can still be generated by pushing the first power wheel 210 and the second power wheel 220 through the sub-wheel 130. In this case, the sub wheels 130 do not move in a direction different from the direction to be steered due to a short point contact with the ground, which prevents the transfer device from being steered, and can protect the transfer device from being locked when the uneven ground is steered. In addition, the arrangement of the first pattern with double curvatures can reduce the probability of adhesion of the adhesion substances, the adhesion substances adhere to the surfaces of the steering wheels to prevent the steering wheels from rotating, and particularly for the Mecanum wheels with a plurality of sub-wheels, gaps exist between adjacent sub-wheels, when the adhesion substances adhere to the surfaces of one sub-wheel, the adhesion substances can enter between the adjacent sub-wheels to be plugged along with the rotation of the sub-wheel, so that the rotation resistance of the adjacent sub-wheels is increased, and even the use of the Mecanum wheels is difficult to rotate due to direct clamping. And the setting of first pattern can avoid the material adhesion to the child wheel on, consequently even when walking on the clay ground in rainy day, also can avoid clay adhesion to the directive wheel to make transfer device can adapt to the use of more scenes.

According to a preferred embodiment, the sub-wheel 130 of the steering wheel 100 is provided with a second pattern along the axial direction of the sub-wheel 130, the second pattern comprising a plurality of encircling lines 131 starting from the end of the sub-wheel 130 near the central axis of the wheelchair and extending towards the end of the sub-wheel 130 remote from the central axis of the wheelchair. The arrangement mode is that under the condition that the steering wheel 100 encounters stones, the stones can be gradually pushed to the outside of the wheelchair by the two gradually outwards dispersed surrounding lines 131 along with the rotation of the steering wheel 100 and finally thrown out of the side surfaces of the wheels by centrifugal force, so that the movement of the transfer device cannot be influenced. Preferably, the plurality of circumferential wires 131 are gathered at a first end of the sub-wheel 130 near the central axis and gradually dispersed at a second end of the sub-wheel 130 toward the outside of the wheelchair. By means of the arrangement mode, stones cannot face the opposite faces of the two steering wheels 100 when moving towards the side faces of the wheels under the action of the stone encircling wire 131, but face the opposite faces of the two steering wheels 100, so that the stones can be thrown out of the transfer device, and cannot enter the transfer device. Therefore, stones can be prevented from entering the transfer device, and damage is caused to the workpieces or functional devices in the transfer device, so that normal function of the transfer device is affected. Also, the encircling line 131 provided on the sub-wheels 130 does not gradually push stones onto the gap between the two sub-wheels 130, affecting the rotation of the sub-wheels 130 and the normal function of the steering wheel 100. Preferably, the direction of aggregation and dispersion of the circumferential wires 131 can be flexibly adjusted depending on the different steering wheel 100 arrangement and the position of the functional components relative to the steering wheel 100.

According to a preferred embodiment, the plurality of circumferential wires 131 are inclined in the direction of rotation of the first turning wheel 110 such that the circumferential wires 131 can gradually push the stone forward and eventually to the outside of the sub-wheel 130 in response to the rotation of the sub-wheel 130 in the case that the sub-wheel 130 rotates forward, without catching the stone between the two circumferential wires 131 and under the sub-wheel 130, and the entering between the gaps of the sub-wheel 130 such that the rotation of the sub-wheel 130 is caught. Preferably, the arrangement of the first friction points 101 may be implemented in the shape of a number of circumferential lines 131.

According to a preferred embodiment, the side of the steering wheel 100 is provided with an obstacle clearing mechanism 140 to clear obstacles near the wheels by means of the rotation of the wheels during traveling, reduce the influence of the obstacles on the traveling and steering of the wheels, and enable a clean travel path for the power wheel 200 in advance. Preferably, the side of the power wheel 200 is provided with a barrier removal mechanism 140 to remove barriers around the power wheel 200 during rotation of the power wheel 200. Preferably, the obstacle clearing mechanism 140 includes at least a cleaning whisker 141. One end of the cleaning whisker 141 is connected to the outer side surfaces of the pair of steering wheels 100 facing away from each other, and the other end is flush with the surface of the steering wheels 100 contacting the ground. One end of the cleaning whisker 141 is connected to the outer side surface of the pair of power wheels 200 facing away from each other, and the other end is flush with the surface of the power wheels 200 contacting the ground. The cleaning whisker 141 which is flush with the contact surface of the wheel and the ground can completely contact with the obstacle near the wheel, the normal operation of the wheel is not influenced due to overlong cleaning whisker 141, when the wheel rotates, if the wheel accessory is provided with the obstacle, the cleaning whisker 141 can be contacted with the cleaning whisker 141, and the cleaning whisker 141 can also rotate simultaneously in the process of rotating the wheel, so that the obstacle is driven to rotate, and then the obstacle is thrown away from the wheel due to the action of centrifugal force, so that the influence of the obstacle on the wheel is avoided.

According to a preferred embodiment, the cleaning whisker 141 is made of a material which wears out relatively quickly, so that during use, the cleaning whisker 141 which is initially flush with the contact surface of the tyre with the ground wears out quickly due to frequent contact with the ground, and further, stones which are cleaned to the outside of the wheel due to the structure of the wheel itself, such as the circumferential wire 131, have different heights due to being located on the ground, can contact with the cleaning whisker 141 and be thrown away from the wheel by the cleaning whisker 141. So that the cleaning whisker 141 and the circumferential line 131 are not interfered with each other, but can cooperate with each other to clean obstacles together.

According to a preferred embodiment, the cleaning whisker 141 is arranged as a cleaning surface 142 with a number of irregular notches near the side of the power wheel 200 and the steering wheel 100 that is in contact with the ground. Preferably, the plurality of cleaning whiskers 141 are disposed not flush with each other near the face of the power wheel 200 and the steering wheel 100 that contacts the ground, but cooperate with each other to form a continuous cleaning face 142 with a second convex portion and a second concave portion. So that the contact area of the ground with the obstacle can be increased when the cleaning whisker 141 cleans the obstacle on the ground, so that the obstacle can follow the cleaning whisker 141 to rotate with the rotation of the wheel under the action of the supporting force of the ground and the pressure of the cleaning whisker 141, and can move with the direction of the centrifugal force when the pressure of the cleaning whisker 141 is removed, without staying in the cleaning whisker 141. If the cleaning surface 142 is flush, but the shape of the obstacle is generally irregular, when the cleaning surface 142 contacts the obstacle, the obstacle enters under the cleaning surface 142 due to the supporting force of the ground and the pressure provided by the planar cleaning surface 142, and is clamped between the cleaning whiskers 141, and when the cleaning whiskers 141 are far away from the ground, the obstacle stays in the cleaning whiskers 141 due to the clamping of the cleaning whiskers 141, so that the obstacle is not easy to be thrown out of the wheelchair. Through the arrangement of the second convex part and the second concave part, the contact between the cleaning surface 142 and the obstacle can be increased, the obstacle can be prevented from being blocked into the cleaning whisker 141, and the cleaning whisker 141 can be conveniently thrown out of the obstacle. Preferably, the transition between the second convex portion and the second concave portion is a curved surface that is not abrupt, so that the irregular obstacle can easily slide into the second concave portion without being caught in the cleaning whisker 141 forming the second convex portion when contacting the second convex portion. Preferably, the second convex portion and the second concave portion can be the same shape as the first convex portion 104 and the first concave portion 105. In addition, through the arrangement mode, the surface of the cleaning whisker 141 can be kept clean in the running process in the rainy day, the probability that soil on the road surface is stained on the cleaning whisker 141 is reduced, and the probability that the cleaning whisker throws rainwater stained with dirt above or around the transfer device by centrifugal force along with rotation of the wheels is reduced.

It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A transfer device comprising wheels for assisting movement of the transfer device by rolling friction instead of sliding friction, the wheels comprising a power wheel (200) for providing power and a steering wheel (100) for steering, the power wheel (200) and the steering wheel (100) together carrying the weight of the transfer device and cooperating with each other to perform the transfer action, characterized in that the power wheel (200) comprises a first power wheel (210) and a second power wheel (220) arranged independently and opposite each other, the steering wheel (100) comprises a first steering wheel (110) and a second steering wheel (120) arranged independently and opposite each other, wherein the first steering wheel (110) and the second steering wheel (120) are each arranged as a mecanum wheel, and the first steering wheel (110) and the second steering wheel (120) are arranged mirror-symmetrically,

The steering wheel (100) is provided with a first pattern of uneven relief, which comprises a first concave part (105) and a first convex part (104) surrounding the periphery of the first concave part (105), wherein the radian of the first concave part (105) is larger than that of the first convex part (104), in a manner capable of reducing the local pressure when the steering wheel is contacted with the rugged ground,

The transition between the first convex portion (104) and the first concave portion (105) is configured as a non-abrupt curved surface having a double curvature formed of a smooth curve in such a manner that continuous contact with a rough ground can be generated,

Be provided with on sub-wheel (130) of steering wheel (100) along sub-wheel (130) axial second line, the second line includes a plurality of start in sub-wheel (130) be close to wheelchair axis one end towards sub-wheel (130) keep away from around line (131) that the one end of wheelchair axis extends, wherein, a plurality of around line (131) are gathered and are dispersed at sub-wheel (130) towards the second end outside the wheelchair at sub-wheel (130) in the first end that sub-wheel (130) is close to the axis according to the mode that can outwards extend the stone towards the wheelchair, a plurality of around line (131) are followed the direction of rotation slope of first steering wheel (110).

2. The transfer device according to claim 1, wherein the steering wheel (100) further comprises a wheel hub arranged on the sub-wheel (130), the wheel hub being provided with friction points in such a way that the friction coefficient of the steering wheel (100) with the contact surface can be increased.

3. A transfer device according to claim 2, characterized in that the friction points comprise at least a first friction point (101) and a second friction point (102), the first friction point (101) being at a different height than the second friction point (102), the first friction point (101) being arranged to form a number of buffer spaces (103) in such a way that it is possible to obtain a buffer when encountering small particle obstacles, wherein the second friction point (102) is arranged in the buffer spaces (103) in such a way that it is possible to prevent particles from getting stuck in the buffer spaces (103).

4. A transfer device according to claim 1, characterized in that the encircling line (131) is arranged as a curve spiralling around the sub-wheel (130) in such a way that it is able to adapt the sub-wheel (130) to roll and gradually push the particulate obstacle outwards of the sub-wheel (130) when encountering the particulate obstacle.

5. The transfer device according to claim 1, wherein the sides of the steering wheel (100) and the power wheel (200) are provided with a barrier removal mechanism (140), the barrier removal mechanism (140) comprising at least a number of cleaning whiskers (141) with one end connected to the outer side of the steering wheel (100) and the power wheel (200) and the other end flush with the side of the steering wheel (100) and the power wheel (200) in contact with the ground.

6. A transfer device according to claim 5, wherein the cleaning whiskers (141) are made of a material that wears relatively quickly, so that during use the cleaning whiskers (141) that are flush with the contact surface of the tyre with the ground wear quickly so that the cleaning whiskers (141) do not prevent stones under the tyre from being cleaned out of the tyre.

7. A transfer device according to claim 6, characterized in that the surface of the cleaning whisker (141) which is in contact with the ground near the power wheel (200) and the steering wheel (100) is provided with a cleaning surface (142) with a plurality of irregular notches in such a way that the contact surface with obstacles can be increased for cleaning obstacles.