WO2017037626A1 - 行走机构及装配该行走机构的电动助力车和玩具 - Google Patents

行走机构及装配该行走机构的电动助力车和玩具 Download PDF

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Publication number
WO2017037626A1
WO2017037626A1 PCT/IB2016/055191 IB2016055191W WO2017037626A1 WO 2017037626 A1 WO2017037626 A1 WO 2017037626A1 IB 2016055191 W IB2016055191 W IB 2016055191W WO 2017037626 A1 WO2017037626 A1 WO 2017037626A1
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WO
WIPO (PCT)
Prior art keywords
seat
bracket
electric bicycle
forearm
walking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2016/055191
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English (en)
French (fr)
Inventor
陈丽冰
李少麟
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to JP2016568972A priority Critical patent/JP6339699B2/ja
Priority to US15/501,322 priority patent/US10442479B2/en
Priority to KR1020167032677A priority patent/KR101943180B1/ko
Priority to EP16840937.3A priority patent/EP3345811B1/en
Publication of WO2017037626A1 publication Critical patent/WO2017037626A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1072—Arrangements for adjusting the seat rotating the whole seat around a vertical axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/14—Endless-track automobiles or trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/0224—Non-manual adjustments, e.g. with electrical operation
    • B60N2/02246—Electric motors therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/0224—Non-manual adjustments, e.g. with electrical operation
    • B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
    • B60N2/14—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable rotatable, e.g. to permit easy access
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
    • B60N2/16—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable height-adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/24—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles for particular purposes or particular vehicles
    • B60N2/38—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles for particular purposes or particular vehicles specially constructed for use on tractors or like off-road vehicles
    • B60N2/39—Seats tiltable to compensate for roll inclination of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/75—Arm-rests
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/02—Endless track vehicles with tracks and additional ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
    • B60N2210/50—Inertial sensors

Definitions

  • the present invention relates to a running mechanism, and more particularly to a stairway that can safely move up and down a plurality of different angles, up and down slopes, climbing obstacles, walking a rough walking path, and assembling Electric bicycles and toys with the walking mechanism. Background technique
  • Tracked walking mechanisms are commonly used in equipment such as wheelchairs or toys to propel wheelchairs and toys on the road. Due to the characteristics of its own design, the existing walking mechanism can only walk on a smooth pavement, but it is incapable of working on a complicated multi-path non-paved road. For example, in rugged rugged roads, high and low obstacles, up and down slopes, or even stairs with multiple layers and angles, existing walking mechanisms cannot be completed, and sometimes even dangerous.
  • the crawler type walking mechanism 1000 includes a crawler belt 1100 and a wheel 1200.
  • a crawler belt 1100 In the case of a staircase with a uniform angle of climb, there is a danger that the climber cannot climb or suddenly fall in the middle; as shown in FIG. At the top of the ladder, there is a danger of a sudden fall;
  • the crawler type walking mechanism 1000 has a crawler belt combination 1100 and 1200 like a tank car, which can walk on rough roads and cross obstacles, but the disadvantages are also like tanks.
  • the crawler type walking mechanism walks on a flat road.
  • the tracks on both sides will cling to the ground, so it is not smooth and flexible, and the track will also scratch the ground and cause damage.
  • Chinese Patent Publication No. CN103027803 A discloses an electric bicycle including a mobile seat portion, a body portion used as a seat bracket, a seat adjustment mechanism disposed under the seat, a vehicle bottom portion, and a crawler running mechanism
  • the crawler running mechanism includes two sets of crawlers respectively disposed below the two sides of the underbody portion, and each set of the crawler includes a front crawler and a rear crawler.
  • the bottom part of the vehicle is composed of two parts Divided, the two parts are movably connected by means of a connecting device and can be deflected relative to one another.
  • the crawler running mechanism further includes an active extending crawler track disposed outside the front crawler belt, and a fixed upper ladder crawler belt disposed outside the rear crawler belt, and the free end of the fixed upper crawler track is at an angle with respect to the rear crawler belt.
  • the utility model realizes the walking on the non-paved road surface by using a plurality of crawler type traveling mechanisms and the balance member, but has a certain effect, but is relatively cumbersome and high in cost.
  • the present invention is directed to the various technical problems existing in the prior art described above, and provides a novel traveling mechanism which not only has the functions of a conventional traveling mechanism but also can safely climb an angle. Inconsistent stairs, easy to walk on rugged roads and able to cross different obstacles.
  • an object of the present invention is to provide various types of electric bicycles equipped with the traveling mechanism of the present invention, which not only have a conventional traveling mechanism, but also various technical problems existing in the prior art described above. Function, it is also safe to climb stairs with inconsistent angles, easy to walk on rugged roads and to cross different obstacles without danger.
  • the present invention is directed to the various technical problems existing in the prior art described above, and provides a novel toy equipped with the traveling mechanism of the present invention, which not only has the functions of a conventional traveling mechanism It is also safe to climb stairs with inconsistent angles, to easily walk on rough roads and to cross different obstacles without danger.
  • the running mechanism is characterized in that: the running mechanism comprises:
  • each of the walking The assembly includes a crawler belt and two synchronous wheels of different diameters disposed in the crawler belt to allow the traveling mechanism to walk freely on stairs, rugged roads and all-terrain ground under the action of the driving device and the controller .
  • the two synchronous wheels having different diameters are fixed to one shaft so that the two synchronous wheels having different diameters are simultaneously rotated.
  • the two synchronous wheels of different diameters are respectively provided with fixing plates which are rotated by bearings relative to the fixed plates.
  • a synchronized crawler belt is provided between the traveling components to transmit power between the synchronizing wheels to achieve synchronous transmission.
  • a synchronizing wheel connecting member is disposed between the two synchronous wheels having different diameters to transmit the power between the two synchronous wheels having different diameters.
  • the traveling mechanism further includes a forearm drive shaft mounted on the bracket and disposed between the two synchronous wheels having different diameters.
  • both ends of the forearm drive shaft are coupled to the fixed plate to swing the fixed plate when the forearm drive shaft rotates.
  • the traveling mechanism further includes a forearm movable mechanism including a first forearm driving electric push rod and a second forearm driving electric push rod connected to the forearm drive shaft to drive the The forearm drive shaft swings.
  • the traveling mechanism further includes a universal wheel that is coupled to the forearm drive shaft through a connecting member to swing under the driving of the forearm movable mechanism.
  • the crawler belt is provided with a plurality of protruding teeth.
  • An electric bicycle includes a body portion and a seat, wherein the electric bicycle includes the aforementioned running mechanism to allow the electric bicycle to arbitrarily walk on a stair, a rough road, and an all-terrain ground using the traveling mechanism.
  • the electric bicycle further includes a seat adjustment mechanism coupled to the seat, configured to be adjusted up and down in a direction perpendicular to the body portion, parallel to the The horizontal adjustment of the body part or the rotation of the seat is such that the seat is moved up, down, left and right or in a direction of 0° to 360°, for example 90°, 180. Or 360.
  • the rotation In one embodiment of the inventive electric bicycle, the seat adjustment mechanism includes a seat balancing mechanism that includes:
  • a seat balance pusher that is placed under the seat to urge the seat to move in one or both directions;
  • a balance sensing member for sensing whether the seat has a deviation and transmitting the information to the control unit
  • control unit electrically connected to the seat balance push rod and the balance sensing member to receive information sent by the balance sensing member, and control the seat balance push rod according to the information to maintain the The balance of the seat described.
  • the balance sensing member is a gyroscope.
  • the seat adjustment mechanism includes a seat rotation mechanism that includes:
  • a rotating bracket connected to the connecting bracket, the ball bearing is connected at the joint; and a screw rod is disposed at one end of the driving device, and is driven by the driving device to drive the Rotate the bracket to rotate.
  • the seat adjustment mechanism further includes a gear disposed at one end of the rotating bracket and configured to rotate in cooperation with the rotating lever.
  • the drive device is a geared motor.
  • the electric bicycle shown further includes an armrest disposed on the bracket at a front of the seat for facilitating a user to support and control the electric motor through a button provided on the armrest. Moped.
  • the present invention still further discloses a toy comprising the aforementioned running mechanism for allowing the toy to walk freely on stairs, rugged roads and all-terrain ground using the walking mechanism.
  • the function of the new running mechanism can be greatly expanded and increased.
  • the walking mechanism of the invention adopts a half-track and half-wheel walking mode, and combines the advantages of the track and the wheel with a novel operation concept, and can adapt to different road surfaces and stairs with different angles. And safe and without danger.
  • the newly assembled pair of universal wheels of the present invention can utilize the action of the universal wheel at a large angle, so that the traveling mechanism can adapt to different road conditions.
  • the present invention uses an electric push rod as a power source so that the forearm can be freely stopped at any position without adding any safety lock.
  • An electric push rod is arranged on the seat balance mechanism of the electric bicycle using the traveling mechanism of the present invention.
  • the electric push rod will raise the seat, so that the seat can be greatly placed behind, so that the passenger The focus is sharply behind, which increases security.
  • the seat rotation mechanism allows the passenger to turn off the front and rear of the car at any time, or rotate the seat to any position it needs, which is convenient and flexible.
  • the toy using the traveling mechanism of the present invention can also have the above-mentioned advantages, and can overcome complicated road conditions and safely and stably walk in different road conditions.
  • Figure lb shows a dangerous situation when the walking mechanism of the prior art reaches the top of the stairs
  • Figure lc shows the dangerous situation of the prior art walking mechanism when crossing the obstacle
  • Figure 2a is the running mechanism of the present invention Top view
  • Figure 2b is a side view of the running mechanism of the present invention.
  • Figure 3a is a top plan view of the running mechanism of the present invention, and shows the components of the mechanism
  • Figure 3b is a side view of the running mechanism of the present invention, and shows the components of the mechanism
  • Figure 4a is a plan view of the forearm movable mechanism of the present invention, and shows the components of the mechanism
  • Figure 4b is a side view of the forearm movable mechanism of the present invention, and shows the components of the mechanism
  • Figure 5a is the seat balance of the present invention a top view of the mechanism, and showing the components of the mechanism
  • Figure 5b is a side view of the seat balancing mechanism of the present invention, and showing the components of the mechanism
  • Figure 6a is a top view of the seat rotation mechanism of the present invention, and shows Figure 6b is a side view of the seat rotation mechanism of the present invention, and shows the assembly of the mechanism
  • Figure 7a is a schematic view of the operation of the forearm movement mechanism when walking on a flat road;
  • Figure 7b is a schematic view of the operation of the forearm moving mechanism when walking on a rough road
  • Figure 7c is a schematic view of the operation of the forearm moving mechanism when climbing the stairs
  • Figure 7d is a schematic view of the operation of the forearm moving mechanism when crossing an obstacle or improving the visual field
  • Figure 8a is a schematic view of the operation of the seat balancing mechanism when walking on a horizontal plane
  • Figure 8b is a schematic view of the operation of the seat balance mechanism when the ladder is above or below the step
  • Figure 8c is a schematic view of the operation of the seat balance mechanism when the slope is up or lying down
  • Figure 9a is a schematic view showing the operation of the electric bicycle of the present invention in the case where the seat is rotated to the center to facilitate the passenger to get on and off the upper and lower seats without being blocked on both sides;
  • Figure 9b is a schematic view showing the electric bicycle of the present invention on a flat road with a universal wheel touched to the ground for a sliding mode;
  • Figure 9c is a schematic view showing the rugged mode of the electric bicycle of the present invention on a rough road with four-wheel drive for four-wheel drive;
  • Figure 9d is a schematic view showing the improvement mode of the electric bicycle of the present invention when the passenger wants to take a higher object or wants to talk with a friend in the same line of sight;
  • Figure 9e is a schematic view showing the lying mode of the electric bicycle of the present invention when the passenger wants to lie down and rest;
  • Figure 9f is a schematic view showing the climbing mode of the electric bicycle of the present invention when going up and down the stairs;
  • Figure 9g shows the electric bicycle of the present invention reaching the top of the ladder, the middle part of the body is a two-wheel structure Mode, so it will be very smooth and safe when landing;
  • Figure 9h is a schematic view showing the front-rear reverse mode that can be employed when the passenger wants to climb the stairs when the electric bicycle of the present invention is going up and down the stairs;
  • Fig. 10 is a schematic view showing the electric bicycle of the present invention, in which an armrest is added in front of the seat. detailed description
  • stairs refers to stairs with the same or different angles of the steps.
  • the "cracked road and all-terrain ground” refers to terrain with smooth road surface or undulating road surface, rugged terrain or various slopes. .
  • the traveling mechanism 1 of the present invention includes a left deceleration drive motor 11 and a right deceleration drive motor 12 (drive mechanisms of 11 and 12, which may be other drive mechanisms such as an engine of a car, etc.). Since the driving principles on both sides are the same, only the operation of one side is described here. Other known structures and fittings of known electric bicycles are not described).
  • the controller instructs the energy to drive the deceleration drive motor 11 (the energy source may be battery, gasoline or solar energy, etc.), 11 will drive the shaft 110 to rotate, and the small synchronous wheel 111 and the large synchronous wheel 112 are simultaneously fixed on the shaft 110, so 111 and 112 will rotate at the same time.
  • the power of the large timing wheel 112 drives the small timing wheel 113 through the synchronous track 143.
  • the fixed plates 162 and 163 hold the timing wheels 112 and 113 in place, and the two fixed plates are provided with bearings between the shaft and the plate to allow the shaft to rotate between the plates.
  • the fixing plate 162 and the fixing plate 161 are formed at an angle to be fixed, and the angle thereof depends on actual needs, and may be, for example, 20°, 30° or 40°.
  • the drive motor 11 drives the small synchronizing wheel 111 to rotate, its power will drive the small synchronizing wheel 114 through the transmission synchronizing track 141.
  • the fixed plate 161 and the body bracket 10 hold the timing wheels 111 and 114 in place, and the two fixed plates and brackets are provided with bearings between the shaft and the plate to allow the shaft to rotate between the plates.
  • the synchronous wheel connector 15 When power is transmitted to the small synchronizing wheel 114, power is transmitted to the large synchronizing wheel 115 through the synchronizing wheel connector 15.
  • the synchronous wheel connector 15 is used for synchronous connection.
  • the both ends of the synchronous wheel connecting member 15 are provided with bearings for the purpose of allowing the power of the driving geared motor 11 to pass through the small synchronous wheel 114 to the large synchronous wheel 115, and the forearm driving shaft 20 between the two wheels is freely rotated. .
  • the power of the large synchronizing wheel 115 drives the small synchronizing wheel 116 through the synchronizing track 142.
  • the fixed plates 164 and 165 hold the timing wheels 115 and 116 in place, and the fixed plate 164 is provided with a bearing between the shaft and the plate to allow the shaft to rotate between the plates.
  • the fixed plate 165 is simultaneously attached to the fixed plate 164 and the forearm drive shaft 20. That is to say, when the current arm drive shaft 20 rotates, its power will simultaneously drive the fixed plates 164 and 165 to swing, and this swinging motion does not affect the rotation of the drive geared motor 11 to all the synchronous wheels and the synchronous track.
  • the forearm movable mechanism 2 includes a left forearm driving electric push rod 21 and a right forearm driving electric push rod 22 (the engine structure of 21 and 22, which may be other engine structures such as a geared motor or a hydraulic push rod, etc.). Since the driving principles of the left and right sides are the same, only the operation of the left side will be described here.
  • the seat balance mechanism 3 includes a seat balance pusher 30 (a drive mechanism of 30, which may be another drive mechanism such as a geared motor or a hydraulic push rod, etc.) and a balance sensing member such as a gyroscope 33 (the gyroscope 33) It can be two-dimensional, it can be three-dimensional. If you need to use a three-dimensional gyroscope, you only need to add more than one putter so that the seat can swing back and forth.
  • a seat balance pusher 30 a drive mechanism of 30, which may be another drive mechanism such as a geared motor or a hydraulic push rod, etc.
  • a balance sensing member such as a gyroscope 33 (the gyroscope 33) It can be two-dimensional, it can be three-dimensional. If you need to use a three-dimensional gyroscope, you only need to add more than one putter so that the seat can swing back and forth.
  • the gyroscope 33 When the gyroscope 33 receives the information of the forward or backward tilt, an instruction is issued to the seat balance pusher 30 to elongate or shorten.
  • the rear end of the seat balance push rod 30 is connected to the movable connecting bracket 301, the front end is connected to the movable connecting member 302, and the movable connecting member 302 is also connected to the seat telescopic electric push rod 31. That is to say, the telescopic action of the push rod 30 pushes the push rod 31 forward or backward through the connecting member 302.
  • the end thereof is connected with the movable connecting bracket 311, and the connecting member 302 is provided with one side belt pulley 303 on both sides, and the semicircular plate 32 is disposed below the belt side pulley 303, and the semicircular plate 32 will be fixed on the body frame 10. That is to say, when the seat telescopic electric push rod 31 is pushed or pulled by the seat balance push rod 30, the two belt side pulleys 303 of the shaft body will have a fixed track along the two semi-circular plates 32 forward or backward. The ground roll causes the seat telescopic electric push rod 31 to swing forward or backward without deviating from the track.
  • the seat rotation mechanism 4 includes a driving device such as a reduction motor 43, and the front end of the reduction motor 43 is connected to a screw shaft 431 (this mechanism may be other power mechanisms such as a toothed linear push rod, etc.).
  • the reduction motor 43 is fixed to the connection bracket 41, and the connection bracket 41 is fixed to the foremost end of the seat telescopic electric push rod 31.
  • a gear 421 is disposed at the bottom of the rotating bracket 42, and the rotating bracket 42 is coupled to the connecting bracket 41, and a flat ball bearing is disposed at the joint, that is, the rotating bracket 42 is rotatable freely on the connecting bracket 41.
  • the auger 43 rotates the gear 421 to rotate the rotary bracket 42 above the gear.
  • a seat can be installed thereon to be an electric bicycle, or a toy can be mounted thereon to make a walking toy such as a toy car, a toy tank, and the like.
  • a walking toy such as a toy car, a toy tank, and the like.
  • the present invention is described on the basis of an electric bicycle, that is, a seat 100 is mounted on the rotating bracket 42.
  • a seat 100 is mounted on the rotating bracket 42.
  • the seat telescopic electric push rod 31 will first push the seat To the highest, the seat rotation mechanism 4 is used to rotate the seat 90 degrees to the middle of the wheelchair, after which the seat telescopic electric push rod 31 is shortened to the shortest (see Figure 8a), in which case there is no obstruction on both sides of the seat. With the shortest seat position, it is most convenient for passengers to get on and off the wheelchair.
  • Flat road walking mode In order to enable the wheelchair to travel flexibly indoors or on a flat road, the forearm drive motorized push rods 21 and 22 will simultaneously contract to the shortest position, so that the pair of forearms are lifted up (see Figure 7a).
  • the overall size of the wheelchair is small, making it easier for wheelchairs to enter and leave the narrower environment.
  • the universal wheel 213 will fully land, propping up the two large synchronous wheels 115 in front to make it off the ground.
  • the walking mode of the wheelchair becomes driven by the two large synchronous wheels 112 at the rear, and the two universal wheels 213 are steered by the front, so that the wheelchair can be very flexible and can turn in a narrow road.
  • Rugged road walking mode For driving on rough mountain roads, the forearm drive electric push rods 21 and 22 will simultaneously extend to the specified position, keeping the pair of forearms at an angle to the ground (see Figure 7b). , and the seat balance mechanism will start at the same time.
  • the wheelchair is basically the same as the four-wheel drive, and is also driven by four-wheel synchronous driving, which can easily travel on rough roads or climb out of the mud. But the difference is that when encountering a high obstacle, a pair of forearms will act as a tank-like vehicle, easily climbing across obstacles.
  • the present invention is specifically designed to enhance the mode by using the forearm to drive the electric push rods 21 and 22 to extend the longest at the same time, so that the pair of forearms support the vehicle body (see Fig. 7d). At the same time, the seat telescopic electric push rod will reach the longest, which will greatly enhance the passenger's field of vision.
  • Lying down mode In response to the needs of some passengers who need to use for a long time, the wheelchair of the present invention has a lie down mode that allows them to use this mode for rest when tired.
  • the forearm is used to drive the electric push rods 21 and 22 to simultaneously extend to a certain position, so that the forearm is completely attached to the ground (see FIG. 7c), and the seat rotating mechanism is used again.
  • the seat 100 is turned 180°, and then the seat reclining push rod 31 is pushed forward by the seat balance push rod 30 (see Fig. 8c). This series of movements will make it easy for passengers to lie down, because there is a pair of forearm support behind them, so it is very safe.
  • Wheelchair climbing mode (see Figure 9f): First, the forearm drive electric push rods 21 and 22 will simultaneously extend to a certain position, so that the forearms are completely attached (see Figure 7c), then the passengers have to control the rear two
  • the synchronized track 143 simultaneously touches the steps to climb. Since the middle portion of the wheelchair is in the form of two wheels, it can climb along each level of stairs, and the auxiliary function of the transmission synchronous track 141, so that the wheelchair of the present invention can climb the angle. Not the same stairs.
  • the pair of forearms in front because the two synchronous tracks 142 grip the angle of the ladder, play the role of driving the ladder, making the ladder more powerful.
  • the seat balancing mechanism 3 When the ladder is climbed up or down, the seat balancing mechanism 3 functions to maintain a vertical balance between the passenger and the ground (see Figure 8b).
  • Back-and-forth reversal mode Climbing back to the stairs can be difficult for some passengers, but to climb the ladder, the seat must be raised significantly, so that the center of gravity can be safely moved to the rear.
  • the rotating seat mechanism 4 uses the rotating seat mechanism 4 to rotate the seat 180 degrees to the front and rear.
  • the telescopic electric pusher 31 of the seat When climbing up, the telescopic electric pusher 31 of the seat must be extended to the longest position, so that the seat has the largest swing, so that the passenger can be in the safest state.
  • the electric bicycle shown further includes an armrest 101 disposed on the frame and located in front of the seat 100.
  • the user can support the user, and the user can control the walking and/or climbing of the electric bicycle through a button (not shown) provided on the armrest 101, or control the lifting of the seat 100 as shown. And rotating, it is very convenient for the user to operate and use the electric bicycle.

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Abstract

一种行走机构（1），其包括支架；驱动装置，设在所述的支架上；控制器，设在所述的支架上；两组行走组件，分别装设在所述的支架的两端，其中所述的每一个行走组件包括履带和装设在所述的履带内的两个直径不相同的同步轮，以在驱动装置和控制器的作用下，使所述的行走机构在楼梯、崎岖路面及全地形地面上任意行走，还公开利用该行走机构的电动助力车和玩具。该行走机构解决了传统的行走机构的缺点，突破性地使用半轮子半履带的结合以及增加的万向轮的组合结构，使得该行走机构以及包括该行走机构的电动助力车和玩具可以适应不同的路面和不同角度的楼梯，非常方便，且安全可靠。

Description

说 明 书
行走机构及装配该行走机构的电动助力车和玩具 技术领域
本发明涉及一种行走机构， 更具体而言， 本发明特别涉及一种可以安全 地上下多层角度不一的楼梯， 上下斜坡、 攀越障碍物、 行走崎岖路面的履带 式行走机构， 以及装配有该行走机构的电动助力车和玩具。 背景技术
履带式行走机构普遍用于诸如轮椅或玩具之类的设备中， 用于推进轮椅 和玩具在路面上的行走。 现有的这样的行走机构由于其自身设计的特点， 只 能在平滑的铺装路面上行走， 而对于复杂的多路况的非铺装路面则显得无能 为力。 例如在凹凸不平的崎岖道路、 高低不一的障碍物、 上下斜坡， 甚至是 上下多层而且角度不一的楼梯时， 现有的行走机构无法完成， 甚至有时会发 生危险。
如图 la所示， 履带式行走机构 1000包括履带 1100和轮子 1200， 在攀 爬角度一致的楼梯的情况下， 会有出现中途无法攀上或突然下坠的危险； 如图 lb所示， 当到达梯顶时， 会出现突然下坠的危险；
如图 lc所示， 履带式行走机构 1000 虽然有着如坦克车般的履带组合 1100和 1200， 能行走于崎岖道路及跨越障碍， 但缺点亦如坦克车一样， 当 越过凸起物之时， 亦会有突然下坠的危险。 且履带式行走机构在平坦路面上 行走， 每当转弯时， 两边的履带会紧贴着地面， 所以极不畅顺和灵活， 而且 履带亦会紧刮着地面而造成破坏。
为此， 本领域的技术人员也提出了许多的解决方法。例如中国专利公开 号 CN103027803 A公开了一种电动助力车， 其包括移动式座椅部分， 用作 座椅支架的车身部分， 设置在座椅下面的座椅调节机构， 车底部分， 以及履 带行走机构，所述履带行走机构包括分别设置在所述车底部分两侧下面的两 组履带， 每一组所述履带包括前履带和后履带。所述车底部分由前后两个部 分组成， 该两个部分通过连接装置活动式连接并可相互相对偏转。所述履带 行走机构还包括分设在前履带外侧的活动伸延履带， 以及分设在后履带外侧 的固定上梯履带， 固定上梯履带的自由端相对后履带成一定角度。 其利用多 条履带式行走机构和平衡部件内实现对非铺装路面的行走， 具有一定的效 果， 但是其本身比较笨重， 成本高。
显然， 以上的这样的设计都使得这些轮椅或玩具的使用受到极大的限制 费发展。 因此， 有必要设计一种新的行走机构， 其不仅具有传统的行走机构 的功能， 还能够安全地攀爬角度不一致的楼梯， 方便地在崎岖的道路上行走 以及能跨越不同的障碍物而不会发生危险等功能。 发明内容
根据本发明的一个方面， 本发明的目的在于上述的现有技术中存在的各 种技术问题，提供一种新型的行走机构，其不仅具有传统的行走机构的功能， 还能够安全地攀爬角度不一致的楼梯， 方便地在崎岖的道路上行走以及能跨 越不同的障碍物。
根据本发明的另一个方面， 本发明的目的在于上述的现有技术中存在的 各种技术问题， 提供一种新型的电动助力车， 其装配有本发明的行走机构， 不仅具有传统的行走机构的功能， 还能够安全地攀爬角度不一致的楼梯， 方 便地在崎岖的道路上行走以及能跨越不同的障碍物而不会发生危险等功能。
根据本发明的再一个方面， 本发明的目的在于上述的现有技术中存在的 各种技术问题， 提供一种新型的玩具， 其装配有本发明的行走机构， 不仅具 有传统的行走机构的功能， 还能够安全地攀爬角度不一致的楼梯， 方便地在 崎岖的道路上行走以及能跨越不同的障碍物而不会发生危险等功能。
为实现上述目的， 本发明采用如下的技术方案：
行走机构， 其特征在于， 所述的行走机构包括：
支架，
驱动装置， 设在所述的支架上；
控制器， 设在所述的支架上；
两组行走组件， 分别装设在所述的支架的两端， 其中所述的每一个行走 组件包括履带和装设在所述的履带内的两个直径不相同的同步轮， 以在驱动 装置和控制器的作用下， 使所述的行走机构在楼梯、 崎岖路面及全地形地面 上任意行走。
在本发明的行走机构中，所述的两个直径不相同的同步轮都固定在一根 轴上， 以使得所述两个直径不相同的同步轮同时转动。
在本发明的行走机构中，所述的两个直径不相同的同步轮的分别设有固 定板， 其通过轴承使得所述的轴相对于所述的固定板转动。
在本发明的行走机构中， 所述的行走组件之间设有同步履带， 以将同步 轮之间的动力传递， 以实现同步的传送。
在本发明的行走机构中，所述的两个直径不相同的同步轮之间设有同步 轮连接件， 以将所述的两个直径不相同的同步轮之间的动力进行传送。
在本发明的行走机构中， 所述的行走机构还包括前臂驱动轴， 装设在所 述的支架上， 且设在所述两个直径不相同的同步轮之间。
在本发明的行走机构中， 所述的前臂驱动轴的两端与所述的固定板连 接， 以在所述的前臂驱动轴旋转时， 令所述的固定板摆动。
在本发明的行走机构中， 所述的行走机构还包括前臂活动机构， 其包括 第一前臂驱动电动推杆和第二前臂驱动电动推杆， 与所述的前臂驱动轴连 接， 以驱动所述的前臂驱动轴摆动。
在本发明的行走机构中， 所述的行走机构还包括万向轮， 其通过连接件 与所述的前臂驱动轴连接， 以在前臂活动机构的驱动下摆动。
在本发明的行走机构中， 所述的履带上设有多个突齿。
电动助力车， 包括车身部分和座椅， 其中， 所述的电动助力车包括前述 的行走机构， 以使所述的电动助力车利用所述的行走机构在楼梯、 崎岖路面 及全地形地面上任意行走。
在发明的电动助力车的一个实施例中，所述的电动助力车还包括座椅调 节机构， 与所述的座椅连接， 配置成以垂直于所述车身部分的方向上下地调 节、 平行于所述车身部分的水平调节或者以旋转的方式调节座椅， 以使得所 述的座椅上下左右移动或以 0° 至 360 ° 的方向的转动调节， 例如 90° 、 180。 或 360。 的转动。 在发明的电动助力车的一个实施例中，所述座椅调节机构包括座椅平衡 机构， 其包括：
座椅平衡推杆， 设在座椅的下面， 以推动座椅在一个方向或两个方向移 动；
平衡感应件， 用于感应座椅是否有偏离的信息， 并将该信息发送至控制 单元； 以及
控制单元， 与所述的座椅平衡推杆以及所述的平衡感应件电连接， 以接 收所述平衡感应件发出的信息， 并根据该信息控制所述的座椅平衡推杆， 以 保持所述的座椅的平衡。
在发明的电动助力车的一个实施例中， 所述的平衡感应件为陀螺仪。 在发明的电动助力车的一个实施例中，所述的座椅调节机构包括座椅旋 转机构， 其包括：
连接支架， 与所述的座椅平衡推杆的一端固定连接；
驱动装置， 固定在所述的连接支架上；
旋转支架， 与所述的连接支架连接， 其连接处设有走珠轴承； 以及 螺旋杆， 设在所述的驱动装置的一端， 其在所述的驱动装置的驱动下旋 转， 带动所述的旋转支架旋转。
在发明的电动助力车的一个实施例中， 所述的座椅调节机构还包括齿 轮， 设在所述旋转支架的一端， 并与所述的旋转杆配合转动。
在发明的电动助力车的一个实施例中， 所述的驱动装置为减速电机。 较佳地， 所示的电动助力车还包括扶手， 设在所述的支架上， 位于所述 的座椅的前方， 以方便使用者扶持并通过设在所述扶手上的按钮控制所述的 电动助力车。
本发明还进一步公开一种玩具， 其包括前述的行走机构， 以使所述的玩 具利用所述的行走机构在楼梯、 崎岖路面及全地形地面上任意行走。
结合以上的新设计的行走机构， 可以使得新的行走机构的功能大大的扩 展和增加。
本发明的行走机构采取半履带半轮子的行走方式， 以全新颖的运行概 念，将履带和轮子的好处集于一身，能够适应不同的路面和不同角度的楼梯， 而且安全无危险。 本发明新装配的一对万向轮， 可以很大角度的利用万向轮 的作用， 使所述的行走机构能适应不同的路况。 而且， 本发明采用电动推杆 作为动力来源，使前臂可以随意停留在任何位置，而无需增加任何的安全锁。
利用本发明的行走机构的电动助力车的座椅平衡机构上设置了一支电 动推杆， 当上下楼梯时， 电动推杆会将座椅升高， 令座椅能大幅度摆后， 使 乘客的重心大幅偏后， 令安全性大增。 而座椅旋转机构会令乘客随时将车头 和车尾对掉， 或将座椅旋转至其所需要的任何位置， 方便灵活。
利用本发明的行走机构的玩具也能具备上述有点， 能克服复杂的路面情 况， 安全而稳当地在不同的路况下行走 。 附图说明
为更清楚地说明本发明，以下结合附图对本发明进行详细的阐述，其中： 图 la所示为现有技术的行走机构攀爬角度不一的楼梯时出现的危险情 况；
图 lb所示为现有技术的行走机构到达楼梯顶时出现的危险情况； 图 lc所示为现有技术的行走机构在越过障碍物时出现的危险情况； 图 2a为本发明的行走机构的俯视图；
图 2b为本发明的行走机构侧视图；
图 3a为本发明的行走机构的俯视图， 并示出该机构的组件；
图 3b为本发明的行走机构的侧视图， 并示出该机构的组件；
图 4a为本发明的前臂活动机构的俯视图， 并示出该机构的组件； 图 4b为本发明的前臂活动机构的侧视图， 并示出该机构的组件； 图 5a为本发明的座椅平衡机构的俯视图， 并示出该机构的组件； 图 5b为本发明的座椅平衡机构的侧视图， 并示出该机构的组件； 图 6a为本发明的座椅旋转机构的俯视图， 并示出组成这机构的组件； 图 6b为本发明的座椅旋转机构的侧视图， 并示出该机构的组件； 图 7a为于平路行走时， 前臂活动机构的运作示意图；
图 7b为于崎岖道路行走时， 前臂活动机构的运作示意图；
图 7c为于攀爬楼梯时， 前臂活动机构的运作示意图； 图 7d为于跨越障碍物或提高视野时， 前臂活动机构的运作示意图； 图 8a为于水平面上行走时， 座椅平衡机构的运作示意图；
图 8b为于梯级之上或下斜坡时， 座椅平衡机构的运作示意图； 图 8c为于上斜坡或躺下时， 座椅平衡机构的运作示意图；
图 9a所示为本发明的电动助力车在将座椅旋转至中央后， 方便乘客在 两边并无遮挡的情况下上下座椅的上下车的运作示意图；
图 9b所示为本发明的电动助力车在平坦道路上， 以万向轮子触地作平 路滑行模式的示意图；
图 9c所示为本发明的电动助力车在崎岖道路上， 以四轮驱动作四驱行 走的崎岖模式的示意图；
图 9d所示为本发明的电动助力车当乘客想拿取较高的物件， 或希望与 朋友在同一视线交谈时的提高模式的示意图；
图 9e所示为本发明的电动助力车当乘客想躺下来休息时的躺下模式的 示意图；
图 9f所示为本发明的电动助力车在上下楼梯时的攀梯模式的示意图； 图 9g所示为本发明的电动助力车到达梯顶时， 其车身的中间部份是以 两个轮子般的结构模式， 所以着陆时会非常平稳和安全；
图 9h所示为本发明的电动助力车在上下楼梯时， 若乘客想面向楼梯攀 爬时， 可采用的前后逆转模式的示意图； 以及
图 10所示为本发明的电动助力车的示意图， 其中座椅前加设了扶手。 具体实施方式
下面结合附图给出本发明较佳实施例， 以详细说明本发明的技术方案。 在本文中， 所述的 "楼梯 "是指梯级的角度相同或不同的楼梯， 所述"崎 岖路面及全地形地面"是指具路面平滑或路面具有起伏、 崎岖不平或者具有 各种坡度的地形。
参照图 1-图 6b，本发明的行走机构 1包括左减速驱动电机 11和右减速 驱动电机 12 ( 11和 12的驱动机构， 可以是其它驱动机构， 如汽车的引擎 等）。 因两侧的驱动原理相同， 所以在此只描述其中一侧的运作过程 （本文 对公知电动助力车的其它公知结构和配件不作描述）。
当控制器指示能源驱动减速驱动电机 11 (能源可以是电池、汽油或是太 阳能等）， 11会带动轴 110转动， 小同步轮 111与大同步轮 112同时固定在 轴 110之上， 因此 111与 112会同时转动。 大同步轮 112的动力， 会通过同 步履带 143带动小同步轮 113。 固定板 162和 163会将同步轮 112和 113固 定在适当位置， 两块固定板在轴与板子之间设有轴承， 让轴可于板子之间转 动。 固定板 162与固定板 161会形成一定角度而固定紧接， 其角度视乎实际 需要而定， 例如可以是 20° 、 30 ° 或 40° 等。
当驱动减速电机 11带动小同步轮 111转动， 其动力会透过传动同步履 带 141带动小同步轮 114。 固定板 161和车身支架 10会将同步轮 111和 114 固定在适当位置， 两块固定板和支架在轴与板子之间设有轴承， 让轴可于板 子之间转动。
当动力传达至小同步轮 114，动力会透过同步轮连接件 15传达至大同步 轮 115。 换而言之， 小同步轮 114和大同步轮 115之间， 是靠同步轮连接件 15来同步连接。 而同步轮连接件 15的两端均设有轴承， 目的是让驱动减速 电机 11的动力通过小同步轮 114传至大同步轮 115的同时， 让两个轮子之 间的前臂驱动轴 20随意转动。
大同步轮 115的动力， 会透过同步履带 142带动小同步轮 116。 固定板 164和 165会将同步轮 115和 116固定在适当位置， 固定板 164在轴与板子 之间设有轴承， 让轴可于板子之间转动。 而固定板 165会同时与固定板 164 和前臂驱动轴 20紧接。 亦即是说， 当前臂驱动轴 20旋转时， 其动力会同时 带动固定板 164和 165摆动， 而这摆动动作， 并不会影响驱动减速电机 11 所传达至所有同步轮和同步履带的转动。
前臂活动机构 2包括左前臂驱动电动推杆 21和右前臂驱动电动推杆 22 (21和 22这发动机构， 可以是其他发动机构， 如减速电机或油压推杆等）。 因为左右两方的驱动原理相同， 所以在此只描述左方的运作情况。
当能源驱动前臂驱动电动推杆 21 伸长或缩短时， 动力会传达至连接件 212， 令其向前或后旋转。连接件 212会与前臂驱动轴 20和万向轮 213紧接， 即是说， 当动力传达至连接件 212时， 动力同时会令前臂驱动轴 20和万向 轮 213向前或后摆动。而前臂驱动轴 20的末端与固定板 165紧接，故当前臂 驱动电动推杆 21伸长或缩短的同时，固定板 165和万向轮 213亦会向前或后 摆动。
座椅平衡机构 3包括座椅平衡推杆 30 ( 30的驱动机构， 可以是其它的 驱动机构， 如减速电机或油压推杆等）和平衡感应件， 例如陀螺仪 33 (所述 陀螺仪 33可以是二维， 可以是三维。 若有需要采用三维的陀螺仪， 只需要 加多一支推杆， 令座椅可以前后左右摆动即可）。
当陀螺仪 33接收到向前或后倾斜的信息后， 便会发出指令给座椅平衡 推杆 30伸长或缩短。所述座椅平衡推杆 30的尾端会连接活动连接支架 301， 前端会连接活动连接件 302， 而活动连接件 302同时亦连接座椅伸缩电动推 杆 31。 即是说， 推杆 30的伸缩动作， 会透过连接件 302推动推杆 31向前或 后摆动。 为固定座椅伸缩电动推杆 31， 其末端会与活动连接支架 311连接， 而连接件 302的两边均配置各一个带边滑轮 303， 而带边滑轮 303的下方设 置半圆板 32， 而半圆板 32会固定在车身支架 10之上。 即是说， 当座椅伸缩 电动推杆 31被座椅平衡推杆 30所推或拉动时， 其杆身的两个带边滑轮 303 会沿着两块半圆板 32向前或后有固定轨道地滚动， 使座椅伸缩电动推杆 31 在不会偏离轨道的情况下向前或后摆动。
座椅旋转机构 4包括一个驱动装置， 例如减速电机 43， 而所述减速电机 43前端连接一支螺旋杆 431 (这机构可以是其他动力机构， 如带齿直线推杆 等）。 减速电机 43会固定在连接支架 41之上， 而连接支架 41会固定在座椅 伸缩电动推杆 31的最前端之上。 旋转支架 42的底部设置了一个齿轮 421， 而旋转支架 42会与连接支架 41连接， 而连接处设置一个平面走珠轴承， 即 是说， 旋转支架 42是可以在连接支架 41上面随意旋转。
当减速电机 43带动螺旋杆 43顺时或逆时方向旋转时， 螺旋杆 43会带 动齿轮 421旋转， 从而令齿轮之上的旋转支架 42转动。
基于上述的行走机构， 可以在上面装设座椅， 制成电动助力车， 也可以 在上面装设玩具， 制成可以行走的玩具， 例如玩具车， 玩具坦克等等。 为详 细论述本发明， 本文以电动助力车为基础进行描述， 即在旋转支架 42上装 设一座椅 100。 参见图 7a-9h， 本发明的电动助力车在各种情况下的运行过程如下： 上下轮椅的情况 （参见图 9a): 为了方便乘客上下轮椅， 座椅伸缩电动 推杆 31会先将座椅推至最高， 再利用座椅旋转机构 4令座椅 90度转至轮椅 中间， 之后座椅伸缩电动推杆 31会缩至最短（参见图 8a)， 在这情况下， 因 为座椅两旁并无遮挡， 加上座椅位处最矮， 所以最方便乘客上下轮椅。
平路行走模式 （参见图 9b): 为了使轮椅能于室内或平路上灵活行驶， 前臂驱动电动推杆 21和 22会同时收缩至最短， 令一对前臂向上收起（参见 图 7a)， 使轮椅整体变小， 方便轮椅进出较狭窄的环境。 同时， 万向轮 213 会完全着地， 撑起前方的两个大同步轮 115， 令其离地。 于是， 轮椅的行走 模式变成由后方的两个大同步轮 112着地驱动， 由前方的两个万向轮 213随 意转向， 所以轮椅会非常灵活， 并能于狭路转弯。
崎岖道路行走的模式 （参见图 9c): 为了在崎岖的山野道路行驶， 前臂 驱动电动推杆 21和 22会同时伸长至指定位置， 令一对前臂与地面保持一定 的角度 （参见图 7b)， 而座椅平衡机构会同时启动。 这种模式下， 轮椅基本 上与四驱车相同， 同样是以四轮同步驱动， 能轻易行驶于崎岖路面或从泥沼 中爬出。 但不同之处是， 当遇到较高的障碍物时， 一对前臂会担当坦克车般 的作用， 轻易攀爬跨越障碍。
提高模式 （参见图 9d): 因应乘客的需求， 如双腿不良于行的人士， 他 们无法自行拿取较高的物件， 或很希望与别人交谈时， 能以同一视线倾谈。 因此， 本发明特设这提高模式， 利用前臂驱动电动推杆 21和 22同时伸延至 最长， 令一对前臂把车身撑高 （参见图 7d所示）。 同时， 座椅伸缩电动推杆 会伸至最长， 令乘客的视野大大提高。
躺下模式 （参见图 9e): 因应一些需要长时间使用的乘客的需求， 本发 明的轮椅特设这躺下模式， 让他们在疲累时可以使用这模式作休息之用。 首 先， 为使轮椅平稳， 先利用所述的前臂驱动电动推杆 21和 22同时伸延至一 定位置， 使所述前臂完全贴地 （参见图 7c)， 再利用所述座椅旋转机构， 令 所述座椅 100做 180° 的转向， 之后再利用座椅平衡推杆 30将座椅伸缩电动 推杆 31向前推（参见图 8c)。 这一连串的动作， 会令乘客轻松躺卧之余， 因 为背后有一对前臂支撑， 所以非常的安全。 轮椅的攀梯模式（参见图 9f): 首先， 所述的前臂驱动电动推杆 21和 22 会同时伸延至一定位置， 使所述前臂完全贴地 （参见图 7c)， 然后乘客要控 制后方两条同步履带 143同时触碰梯级攀爬。 因为所述轮椅的中间部份是以 两个轮子般的结构模式， 所以能沿着每一级楼梯蜿蜒攀爬， 加上传动同步履 带 141的辅助作用， 因此本发明的轮椅能攀爬角度不一的楼梯。 而前方的一 对前臂， 因为两条同步履带 142紧抓着梯角， 担当着推动攀梯的作用， 令攀 梯时更加有力。
当一直向上或向下爬梯， 所述的座椅平衡机构 3会发挥作用， 令乘客与 地面保持垂直平衡 （参见图 8b)。
到达梯顶的时候， 由于轮椅的中间部份是以两个轮子般的结构模式， 所 以当到达梯顶时， 轮椅并不会像全履带式的机构般发生突然下坠的危险（图 lb所示）， 而是非常平稳和安全地到达梯顶 （参见图 9g)。
下梯时的情况基本上与上梯时相同， 以同一个模式， 亦因为轮椅的中间 部份是以两个轮子般的结构模式， 所以下第一级楼梯时， 亦不会发生突然下 坠的危险 （参见图 9g)。
前后逆转模式 （参见图 9h): 由于背向楼梯而攀爬， 对于一些乘客来说 会比较困难， 但要前上攀梯， 一定要令座椅大幅升高， 使重心大幅向后方能 安全。 首先要利用旋转座椅机构 4， 使座椅 180度旋转至前后对掉。 当往上 攀爬时， 座椅的伸缩电动推杆 31必需要伸延至最长， 使座椅有最大的摆幅， 令乘客能处于最安全的状态。
如图 10所示， 进一步， 根据本发明的电动助力车的一个较佳的实施例， 所示的电动助力车还包括扶手 101，设在所述的车架上，位于所述的座椅 100 的前方， 以方便使用者扶持， 且使用者可以通过设在所述扶手 101上的按钮 (图中未示） 控制所述的电动助力车的行走和 /或攀爬， 或者控制所示座椅 100的升降和旋转， 非常方便使用者操作和使用该电动助力车。
以上接合的具体实施例对本发明的解决的技术问题、 技术方案和有益效 果进行了进一步详细的说明。应该理解的是， 以上所述仅为本发明的具体实 施例而已， 并不用于限制本发明， 凡在本发明的精神和原则之内， 所做的任 何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。

Claims

权利要求书
1、 行走机构， 其特征在于， 所述的行走机构包括：
支架，
驱动装置， 设在所述的支架上；
控制器， 设在所述的支架上；
两组行走组件， 分别装设在所述的支架的两端， 其中所述的每一个行走 组件包括履带和装设在所述的履带内的两个直径不相同的同步轮， 以在驱动 装置和控制器的作用下， 使所述的行走机构在楼梯、 崎岖路面及全地形地面 上任意行走。
2、 根据权利要求 1所述的行走机构， 其特征在于， 所述的两个直径不 相同的同步轮都固定在一根轴上， 以使得所述两个直径不相同的同步轮同时 转动。
3、 根据权利要求 2所述的行走机构， 其特征在于， 所述的两个直径不 相同的同步轮的分别设有固定板，其通过轴承使得所述的轴相对于所述的固 定板转动。
4、 根据权利要求 1所述的行走机构， 其特征在于， 所述的行走组件之 间设有同步履带， 以将同步轮之间的动力实现同步的传送。
5、 根据权利要求 1所述的行走机构， 其特征在于， 所述的两个直径不 相同的同步轮之间设有同步轮连接件， 以将所述的两个直径不相同的同步轮 之间的动力进行传送。
6、 根据权利要求 3所述的行走机构， 其特征在于， 所述的行走机构还 包括前臂驱动轴， 装设在所述的支架上， 且设在所述两个直径不相同的同步 轮之间。
7、 根据权利要求 6所述的行走机构， 其特征在于， 所述的前臂驱动轴 的两端与所述的固定板连接， 以在所述的前臂驱动轴旋转时， 令所述的固定 板摆动。
8、 根据权利要求 7所述的行走机构， 其特征在于， 所述的行走机构还 包括前臂活动机构， 其包括第一前臂驱动电动推杆和第二前臂驱动电动推 杆， 与所述的前臂驱动轴连接， 以驱动所述的前臂驱动轴摆动。
9、 根据权利要求 8所述的行走机构， 其特征在于， 所述的行走机构还 包括万向轮， 其通过连接件与所述的前臂驱动轴连接， 以在前臂活动机构的 驱动下摆动。
10、 根据权利要求 1所述的行走机构， 其特征在于， 所述的履带上设有 多个突齿。
11、 电动助力车， 包括车身部分和座椅， 其特征在于， 所述的电动助力 车包括权利要求 1-10任一所述的行走机构， 以使所述的电动助力车利用所 述的行走机构在楼梯、 崎岖路面及全地形地面上任意行走。
12、 根据权利要求 11 所述的电动助力车， 其特征在于， 所述的电动助 力车还包括座椅调节机构， 与所述的座椅连接， 配置成以垂直于所述车身部 分的方向上下地调节、平行于所述车身部分的水平调节或者以旋转的方式调 节座椅， 以使得所述的座椅上下左右移动或以 0° 至 360° 的方向的转动调 节。
13、 根据权利要求 12所述的电动助力车， 其特征在于， 所述座椅调节 机构包括座椅平衡机构， 其包括：
座椅平衡推杆， 设在座椅的下面， 以推动座椅在一个方向或两个方向移 动；
平衡感应件， 用于感应座椅是否有偏离的信息， 并将该信息发送至控制 单元； 以及
控制单元， 与所述的座椅平衡推杆以及所述的平衡感应件电连接， 以接 收所述平衡感应件发出的信息， 并根据该信息控制所述的座椅平衡推杆， 以 保持所述的座椅的平衡。
14、 根据要求 13所述的电动助力车， 其特征在于， 所述的平衡感应件 为陀螺仪。
15、 根据要求 13所述的电动助力车， 其特征在于， 所述的座椅调节机 构包括座椅旋转机构， 其包括：
连接支架， 与所述的座椅平衡推杆的一端固定连接；
驱动装置， 固定在所述的连接支架上； 旋转支架， 与所述的连接支架连接， 其连接处设有走珠轴承； 以及 螺旋杆， 设在所述的驱动装置的一端， 其在所述的驱动装置的驱动下旋 转， 带动所述的旋转支架旋转。
16、 根据要求 15所述的电动助力车， 其特征在于， 所述的座椅调节机 构还包括齿轮， 设在所述旋转支架的一端， 并与所述的旋转杆配合转动。
17、 根据要求 15所述的电动助力车， 其特征在于， 所述的驱动装置为 减速电机。
18、 根据要求 11 所述的电动助力车， 其特征在于， 所示的电动助力车 还包括扶手， 设在所述的支架上， 位于所述的座椅的前方， 以方便使用者扶 持并通过设在所述扶手上的按钮控制所述的电动助力车。
19、 玩具， 其特征在于， 所述的玩具装设有权利要求 1-10任一所述的 行走机构， 以使所述的玩具利用所述的行走机构在楼梯、 崎岖路面及全地形 地面上任意行走。
PCT/IB2016/055191 2015-09-01 2016-08-31 行走机构及装配该行走机构的电动助力车和玩具 Ceased WO2017037626A1 (zh)

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US15/501,322 US10442479B2 (en) 2015-09-01 2016-08-31 Moving mechanism and electric vehicles and toys equipping the same
KR1020167032677A KR101943180B1 (ko) 2015-09-01 2016-08-31 주행기구 및 그 주행기구가 장착되는 전기차와 장난감
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