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CN200960945Y - A convertible star wheel and planetary wheel for climbing stairs - Google Patents

A convertible star wheel and planetary wheel for climbing stairs Download PDF

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Publication number
CN200960945Y
CN200960945Y CN 200620098761 CN200620098761U CN200960945Y CN 200960945 Y CN200960945 Y CN 200960945Y CN 200620098761 CN200620098761 CN 200620098761 CN 200620098761 U CN200620098761 U CN 200620098761U CN 200960945 Y CN200960945 Y CN 200960945Y
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China
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wheel
planetary
gears
central
gear
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Expired - Fee Related
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CN 200620098761
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Chinese (zh)
Inventor
吴昌林
贝恩海
赵德文
唐陶鑫
赵青
胡照
金强
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Abstract

The utility model relates to a star-wheel and planetary transferable wheel for climbing stairs including a wheel carrier with a radial pivoted arm and vehicle wheels (2), the vehicle wheels (2) are provided at the end of each pivoted arm of the wheel carrier, the wheel carrier is connected with the vehicle body via a central shaft (3), central gears (4) is provided on the central shaft (3), each central gear shaft is provided with a coaxial planetary gear (5), idler gear (8) are provided between the central gears (4) and each planetary gear (5) respectively, the central gears (4) intermesh the idler gears (8), the idler gears (8) intermesh the planetary gears (5), the wheel carrier is box body (1), the central gears (4), the idler gears (8) and the planetary gears (5) are provided inside the box body (1), the vehicle wheels are provided outside the box body (1). The wheel carrier of the utility model is box body, a planetary gear system comprising central gears, idler gears and planetary gears is provided inside the box body thereby the utility model has the compact structure and excellent stability.

Description

一种星轮行星轮可转换式登楼轮A convertible star wheel and planetary wheel for climbing stairs

技术领域technical field

本实用新型涉及无轨陆用车辆,具体涉及无轨陆用车辆的车轮,特别是既可在平地上平地行走,又可翻动登攀阶梯的登楼轮。The utility model relates to a trackless land vehicle, in particular to a wheel of the trackless land vehicle, in particular to a building climbing wheel which can not only walk on the flat ground, but also turn over the stairs.

背景技术Background technique

传统的无轨陆用车辆的车轮均是由单个车轮通过轴与车体联接,车轮连续与地面接触滚动实现车辆运行。设有这种车轮的车辆,只能在平坦的路面上行驶,一旦碰到较陡的凸起(如楼梯等),车辆运行就发生困难。The wheels of traditional trackless land vehicles are all connected to the vehicle body by a single wheel through an axle, and the wheels continuously contact and roll with the ground to realize the operation of the vehicle. Vehicles with such wheels can only run on flat roads. Once they run into steeper bumps (such as stairs, etc.), the vehicle will run into difficulties.

为了克服这一问题,人们进行了大量的研究工作,中国专利CN2051919U公开了“一种攀楼、平地多用车”,其通过在车身的横轴两端装上行星轮来实现,这种行星轮实际上是由4个小轮与轮架组成的一个从动轮系。这种结构的轮系虽可在人力推拉车上使用,但其运行时仅限于人力推拉车上应用,特别费劲,且不安全,因而很难推广应用。In order to overcome this problem, people have carried out a lot of research work. Chinese patent CN2051919U discloses "a multi-purpose vehicle for climbing buildings and leveling ground". In fact, it is a driven train consisting of 4 small wheels and a wheel frame. Though the wheel train of this structure can be used on the manpower push-pull cart, its running time is only limited to the application on the manpower push-pull cart, is particularly laborious, and unsafe, thereby is difficult to popularize and apply.

中国专利CN2209099Y公开的“登攀轮”,它为一种星轮行星轮可转换式登楼轮,该登攀轮包括具有3-8个放射状转臂的轮架、车轮,车轮设置在轮架各转臂的端部;轮架通过一中心轴与车身连接;在中心轴上设有中心齿轮,各车轮的轴上分别设有同轴从动齿轮(行星齿轮),中心齿轮与各行星齿轮之间分别设有惰轮,中心齿轮与惰轮相互啮合,惰轮与行星齿轮相互啮合。该登攀轮在中心齿轮的一端及轮架上各设有爪型离合器,中心齿轮在中心轴上能自由转动,中心轴上有花键的部分设有可轴向滑动的双面爪型离合器,在弹簧的压力下,与中心齿轮的离合器部分啮合,接受中心轴传递来的驱动力矩,实现平地上的运动。当车轮受到阶梯的阻挡时,由于车轮不能动,导致中心齿轮不能转动,这时双向爪型离合器在传动力矩的作用下,被迫与中心齿轮脱离,从而与固定在轮架上的爪型离合器啮合,使轮架向阶梯上翻转。The "climbing wheel" disclosed in Chinese patent CN2209099Y is a convertible star-wheel planetary wheel. The climbing wheel includes a wheel frame and wheels with 3-8 radial arms. The wheels are arranged on each arm of the wheel frame The end of the wheel; the wheel frame is connected with the body through a central shaft; a central gear is provided on the central shaft, and coaxial driven gears (planetary gears) are respectively provided on the shafts of each wheel, and the central gear and each planetary gear are respectively An idler gear is provided, the sun gear and the idler gear are meshed with each other, and the idler wheel and the planetary gear are meshed with each other. The climbing wheel is equipped with claw clutches on one end of the central gear and on the wheel frame. The central gear can rotate freely on the central shaft, and the splined part of the central shaft is provided with a double-sided claw clutch that can slide axially. Under the pressure of the spring, it meshes with the clutch part of the central gear, accepts the driving torque transmitted by the central shaft, and realizes the movement on the flat ground. When the wheel is blocked by the ladder, the center gear cannot rotate because the wheel cannot move. At this time, the two-way jaw clutch is forced to disengage from the sun gear under the action of the transmission torque, so as to be connected with the dog clutch fixed on the wheel frame. Engage to flip the wheel frame up the steps.

该登攀轮能广泛应用于人力推拉车,轮椅、自行车、摩托车、小汽车等多种类型车辆,使车辆既能在平地运行自如,又能登攀阶梯。但该登攀轮存在以下缺陷:1.中心齿轮、惰轮、行星齿轮所组成的行星齿轮系为开式齿轮,易受外界干扰,影响登攀轮工作的稳定性;2.离合器为自动转换方式,结构复杂,可靠性差;3.离合器结构复杂且在转臂内部,整体结构不紧凑。The climbing wheel can be widely used in various types of vehicles such as human push-pull vehicles, wheelchairs, bicycles, motorcycles, cars, etc., so that the vehicles can not only run freely on flat ground, but also climb stairs. But this climbing wheel has the following defects: 1. The planetary gear train composed of central gear, idler gear and planetary gear is an open gear, which is easily affected by external interference and affects the stability of the climbing wheel; 2. The clutch is an automatic conversion mode, The structure is complex and the reliability is poor; 3. The clutch structure is complex and is inside the rotating arm, and the overall structure is not compact.

发明内容Contents of the invention

本实用新型所要解决的技术问题是:提供一种星轮行星轮可转换式登楼轮,该登楼轮的行星齿轮系为闭式齿轮,不受外界干扰,稳定性好。The technical problem to be solved by the utility model is to provide a switchable star wheel and planetary wheel for climbing stairs. The planetary gear system of the climbing wheel is a closed gear, which is free from external interference and has good stability.

本实用新型解决上述技术问题所采用的技术方案是:The technical solution adopted by the utility model to solve the problems of the technologies described above is:

一种星轮行星轮可转换式登楼轮,它包括具有放射状转臂的轮架、车轮,车轮设置在轮架各转臂的端部;轮架通过一中心轴与车身连接;在中心轴上设有中心齿轮,各车轮的轴上分别设有同轴行星齿轮,中心齿轮与各行星齿轮之间分别设有惰轮,中心齿轮与惰轮相互啮合,惰轮与行星齿轮相互啮合;轮架为箱体,中心齿轮、惰轮、行星齿轮设置在箱体内,中心齿轮的轴、惰轮的轴、行星齿轮的轴支撑在箱体上,车轮设置在箱体外部。The utility model relates to a switchable star-wheel planetary wheel, which includes a wheel frame with radial arms and wheels, and the wheels are arranged at the ends of each arm of the wheel frame; the wheel frame is connected with the vehicle body through a central shaft; on the central shaft There is a central gear, and coaxial planetary gears are respectively arranged on the shafts of each wheel, and idler gears are respectively provided between the central gear and each planetary gear, and the central gear and the idler gears are meshed with each other, and the idler gears are meshed with the planetary gears; the wheel frame It is a casing, and the central gear, the idler gear, and the planetary gear are arranged in the casing, the shaft of the central gear, the shaft of the idler wheel, and the shaft of the planetary gear are supported on the casing, and the wheels are arranged outside the casing.

上述方案中,登楼轮还包括离合器;中心轴上设有花键或导向平键;离合器包括与中心轴花键联接或导向平键联接的离合器活动端和与轮架固定连接的离合器固定端。In the above scheme, the stair climbing wheel also includes a clutch; the central shaft is provided with a spline or a guide flat key; the clutch includes a clutch movable end connected with the central shaft spline or a guide flat key and a clutch fixed end fixedly connected with the wheel frame.

上述方案中,离合器为牙嵌离合器或齿式离合器。In the above scheme, the clutch is a dog clutch or a dog clutch.

上述方案中,离合器设置在箱体与车身之间。In the above solution, the clutch is arranged between the box body and the vehicle body.

本实用新型登楼轮与现有技术相比,具有以下优点:Compared with the prior art, the utility model climbing wheel has the following advantages:

1、轮架为箱体,中心齿轮、惰轮、行星齿轮所组成的行星齿轮系设置在箱体内,结构紧凑,稳定性好。1. The wheel frame is a box body, and the planetary gear train composed of a central gear, an idler wheel and a planetary gear is arranged in the box body, which has a compact structure and good stability.

2、中心轴与轮架之间设有离合器,结构简单,稳定性好。其工作原理为:在平地上行走时,离合器活动端、固定端分离,整个结构为行星轮结构,中心齿轮接受中心轴传递来的驱动力矩转动,通过惰轮驱动行星齿轮从而使车轮转动,实现平地上的行走。当遇到阶梯等障碍时,拨动离合器活动端在中心轴滑动,使离合器活动端、固定端结合,离合器锁死中心轴和轮架,此时整个结构转换为星轮结构,轮架接受中心轴传递来的驱动力矩转动,整个轮架和齿轮系向阶梯等障碍翻转。2. There is a clutch between the central shaft and the wheel frame, which has a simple structure and good stability. Its working principle is: when walking on flat ground, the movable end and the fixed end of the clutch are separated, and the whole structure is a planetary gear structure. The central gear receives the driving torque transmitted from the central shaft to rotate, and the planetary gear is driven by the idler gear to make the wheel rotate. Walking on flat ground. When encountering obstacles such as stairs, the movable end of the toggle clutch slides on the central shaft, so that the movable end and the fixed end of the clutch are combined, and the clutch locks the central shaft and the wheel frame. At this time, the entire structure is converted into a star wheel structure, and the wheel frame accepts the center The driving torque transmitted by the shaft rotates, and the entire wheel carrier and gear train turn over obstacles such as stairs.

3、离合器设置在轮架与车身之间,有利于对离合器的控制,同时,由于离合器设置在箱体的外部,不会影响行星齿轮系的工作。3. The clutch is arranged between the wheel carrier and the vehicle body, which is beneficial to the control of the clutch. At the same time, because the clutch is arranged outside the casing, it will not affect the work of the planetary gear train.

附图说明Description of drawings

图1、2、3为本实用新型实施例1的结构示意图Fig. 1, 2, 3 are the structural representations of the utility model embodiment 1

图4、5为本实用新型实施例1立体展开结构示意图Figures 4 and 5 are schematic diagrams of the three-dimensional unfolded structure of Embodiment 1 of the present utility model

图6为本实用新型实施例1使用状态的结构示意图Fig. 6 is a structural schematic diagram of the use state of Embodiment 1 of the utility model

图7为本实用新型实施例2立体展开结构示意图Figure 7 is a schematic diagram of the three-dimensional unfolded structure of Embodiment 2 of the utility model

具体实施方式Detailed ways

如图1、2、3所示的本实用新型实施例1,它包括具有3个放射状转臂的轮架、车轮2,车轮2设置在轮架各转臂的端部;轮架通过一中心轴3与车身连接,中心轴3由车身上的驱动轮9驱动。轮架为箱体1,车轮2设置在箱体1外部。The utility model embodiment 1 shown in Figure 1, 2, 3, it comprises the wheel frame with 3 radial rotating arms, wheel 2, and wheel 2 is arranged on the end of each rotating arm of wheel frame; The shaft 3 is connected with the vehicle body, and the central shaft 3 is driven by the driving wheel 9 on the vehicle body. The wheel frame is a box body 1, and the wheels 2 are arranged outside the box body 1.

如图1、2、3、4、5所示,在中心轴3上设有中心齿轮4,3个车轮2的轴上分别设有同轴行星齿轮5,中心齿轮4与各行星齿轮5之间分别设有惰轮8,中心齿轮4与惰轮8相互啮合,惰轮8与行星齿轮5相互啮合。箱体1由两个半箱体组成,中心齿轮4、惰轮8、行星齿轮5设置在箱体1内,中心齿轮4的轴、惰轮8的轴、行星齿轮5的轴支撑在箱体1上。As shown in Figures 1, 2, 3, 4, and 5, a central gear 4 is provided on the central shaft 3, and coaxial planetary gears 5 are respectively provided on the shafts of the three wheels 2. Between the central gear 4 and each planetary gear 5 Idling gears 8 are respectively arranged between them, and the sun gear 4 and the idler gear 8 are meshed with each other, and the idler gear 8 and the planetary gear 5 are meshed with each other. The box 1 is composed of two half boxes, the central gear 4, the idler 8, and the planetary gear 5 are arranged in the box 1, and the shaft of the central gear 4, the shaft of the idler 8, and the shaft of the planetary gear 5 are supported in the box. 1 on.

登楼轮还包括牙嵌离合器;中心轴3上设有花键;离合器包括与中心轴3花键联接的离合器活动端6和与箱体1固定连接的离合器固定端7。离合器设置在箱体1与车身之间。The climbing wheel also includes a jaw clutch; the central shaft 3 is provided with splines; the clutch includes a clutch movable end 6 splined with the central shaft 3 and a clutch fixed end 7 fixedly connected with the casing 1 . The clutch is arranged between the casing 1 and the vehicle body.

如图6所示,它为具有本实用新型登楼轮的轮椅,本实用新型登楼轮的中心轴3与轮椅的车身10连接,驱动轮9由链条驱动。本实用新型登楼轮还可用于手推车、自行车、摩托车、汽车等车辆上。As shown in Figure 6, it is the wheelchair with the climbing wheel of the utility model, and the central axis 3 of the climbing wheel of the utility model is connected with the vehicle body 10 of the wheelchair, and the driving wheel 9 is driven by a chain. The climbing wheel of the utility model can also be used on vehicles such as handcarts, bicycles, motorcycles, and automobiles.

如图7所示的本实用新型实施例2,它的离合器为齿式离合器,离合器包括与中心轴3花键联接的离合器活动端6和与箱体1固定连接的离合器固定端7。As shown in Figure 7, the utility model embodiment 2, its clutch is a tooth clutch, and the clutch includes a clutch movable end 6 splined with the central shaft 3 and a clutch fixed end 7 fixedly connected with the casing 1 .

本实用新型的轮架的转臂数可设计为3-8个中任一种,转臂数越多,运行起来越平稳、上下阶梯,轮架更容易翻转,但安装工艺越复杂。The number of rotating arms of the wheel frame of the present utility model can be designed as any of 3-8. The more the number of rotating arms, the more stable the operation, the upper and lower steps, the easier turning of the wheel frame, but the more complicated the installation process.

本实用新型登楼轮的中心轴3上也可设计有导向平键,离合器活动端6与中心轴3导向平键联接。Also can be designed with guiding flat key on the central shaft 3 of the climbing wheel of the utility model, clutch movable end 6 is connected with central shaft 3 guiding flat keys.

Claims (4)

1, a kind of star-wheel satellite gear reversible type is stepped on the building wheel, and it comprises wheel carrier, the wheel (2) with radial pivoted arm, and wheel (2) is arranged on the end of each pivoted arm of wheel carrier; Wheel carrier is by a center shaft (3) and body contact; On center shaft (3), be provided with sun gear (4), be respectively equipped with coaxial planetary wheel (5) on the axle of each wheel (2), be respectively equipped with idle pulley (8) between sun gear (4) and each planetary wheel (5), sun gear (4) is meshing with each other with idle pulley (8), and idle pulley (8) is meshing with each other with planetary wheel (5); It is characterized in that: wheel carrier is casing (1), sun gear (4), idle pulley (8), planetary wheel (5) are arranged in the casing (1), the axle bearing of the axle of the axle of sun gear (4), idle pulley (8), planetary wheel (5) is on casing (1), and wheel (2) is arranged on casing (1) outside.
2, the building wheel of stepping on as claimed in claim 1, it is characterized in that: it also comprises power-transfer clutch; Center shaft (3) is provided with spline or dive key; Power-transfer clutch comprises power-transfer clutch movable end (6) that connects with center shaft (3) splined or dive key and the power-transfer clutch fixed end (7) of captiveing joint with wheel carrier (1).
3, the building wheel of stepping on as claimed in claim 2, it is characterized in that: power-transfer clutch is denture clutch or tooth clutch.
4, the building wheel of stepping on as claimed in claim 2, it is characterized in that: power-transfer clutch is arranged between casing (1) and the vehicle body.
CN 200620098761 2006-09-01 2006-09-01 A convertible star wheel and planetary wheel for climbing stairs Expired - Fee Related CN200960945Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200620098761 CN200960945Y (en) 2006-09-01 2006-09-01 A convertible star wheel and planetary wheel for climbing stairs

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Application Number Priority Date Filing Date Title
CN 200620098761 CN200960945Y (en) 2006-09-01 2006-09-01 A convertible star wheel and planetary wheel for climbing stairs

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102328680A (en) * 2011-08-04 2012-01-25 谢哲 Inner planetary gear type stair climbing device
CN102700591A (en) * 2012-05-11 2012-10-03 山东交通职业学院 Travel driving mechanism for walking up and down stairs
CN102860906A (en) * 2011-07-05 2013-01-09 谢哲 Wheelchair capable of climbing stairs
CN103587567A (en) * 2013-11-01 2014-02-19 安徽工贸职业技术学院 Wheel for going up and going down stairway
CN104044658A (en) * 2014-06-26 2014-09-17 北京林业大学 Novel walking mechanism of novel wheel and leg combined type mobile robot
CN104802846A (en) * 2015-05-16 2015-07-29 吕瑞刚 Power stair climbing vehicle
CN104948709A (en) * 2014-03-24 2015-09-30 李军委 Differential bevel gear driving type multi-wheel carrier
CN104948699A (en) * 2014-03-24 2015-09-30 李军委 Differential cross axle driving type multi-wheel carrier
CN105905150A (en) * 2016-05-16 2016-08-31 重庆交通大学 Multifunctional carrying assisting trolley
CN107582262A (en) * 2017-09-06 2018-01-16 东北大学 It is a kind of it is new can speeling stairway wheelchair
CN107049625B (en) * 2017-04-28 2018-12-04 广西大学 Stair ground two-use wheel chair
CN108945012A (en) * 2018-09-03 2018-12-07 深圳市诚朗科技有限公司 A kind of transport carriage of express delivery short distance transport
CN109397982A (en) * 2018-12-08 2019-03-01 新乡北方车辆仪表有限公司 A kind of multifunctional turnover runner based on built-up gear system
CN112428747A (en) * 2020-10-17 2021-03-02 兰州理工大学 Radial telescopic wheel mechanism adaptable to stairs with different heights

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102860906A (en) * 2011-07-05 2013-01-09 谢哲 Wheelchair capable of climbing stairs
CN102328680A (en) * 2011-08-04 2012-01-25 谢哲 Inner planetary gear type stair climbing device
CN102700591A (en) * 2012-05-11 2012-10-03 山东交通职业学院 Travel driving mechanism for walking up and down stairs
CN103587567A (en) * 2013-11-01 2014-02-19 安徽工贸职业技术学院 Wheel for going up and going down stairway
CN104948709A (en) * 2014-03-24 2015-09-30 李军委 Differential bevel gear driving type multi-wheel carrier
CN104948699A (en) * 2014-03-24 2015-09-30 李军委 Differential cross axle driving type multi-wheel carrier
CN104044658A (en) * 2014-06-26 2014-09-17 北京林业大学 Novel walking mechanism of novel wheel and leg combined type mobile robot
CN104802846A (en) * 2015-05-16 2015-07-29 吕瑞刚 Power stair climbing vehicle
CN105905150A (en) * 2016-05-16 2016-08-31 重庆交通大学 Multifunctional carrying assisting trolley
CN107049625B (en) * 2017-04-28 2018-12-04 广西大学 Stair ground two-use wheel chair
CN107582262A (en) * 2017-09-06 2018-01-16 东北大学 It is a kind of it is new can speeling stairway wheelchair
CN108945012A (en) * 2018-09-03 2018-12-07 深圳市诚朗科技有限公司 A kind of transport carriage of express delivery short distance transport
CN109397982A (en) * 2018-12-08 2019-03-01 新乡北方车辆仪表有限公司 A kind of multifunctional turnover runner based on built-up gear system
CN109397982B (en) * 2018-12-08 2023-09-22 新乡北方车辆仪表有限公司 Multifunctional turning wheel based on combined gear train
CN112428747A (en) * 2020-10-17 2021-03-02 兰州理工大学 Radial telescopic wheel mechanism adaptable to stairs with different heights
CN112428747B (en) * 2020-10-17 2022-09-23 兰州理工大学 Radial telescopic wheel mechanism adaptable to stairs with different heights

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