WO2019196047A1 - Walking carrier mechanism and carrier device - Google Patents

Abstract

Disclosed is a walking carrier mechanism (10), comprising a wheel (11) and a support component (12), wherein the wheel (11) comprises a tire (111), a rim (112) and a hub (113). The tire is fixedly arranged on the periphery of the rim; the rim rotatably surrounds the periphery of the hub; and the support component is driven by a drive mechanism and in transmission connection with the hub so as to drive the wheel to cross a barrier. Further disclosed is a carrier device, comprising an object stage, a drive mechanism and a walking carrier mechanism, wherein the drive mechanism is movably connected to the object stage; and the walking carrier mechanism is in transmission connection with the drive mechanism. The walking carrier mechanism is only composed of the wheel and the support component, and thus the whole structure thereof is compact and occupies a small space. During travelling, the rim drives the tire to rotate, and during barrier crossing, the support component is supported against the ground to lift the wheel to cross a barrier, so that various drive functions are integrated, and the problem that a drive mechanism for a carrier device has a loose structure and occupies a large space is solved, thereby satisfying the requirement of miniaturization-oriented development of the carrier device.

Description

Walking carrier and carrier Technical field

The present application belongs to the technical field of transportation devices, and more particularly to a walking carrier and a carrier.

Background technique

The carrier means a transport device for carrying people or cargo. It is especially convenient for patients with mobility problems, elderly people and people with disabilities in the lower limbs. However, traditional carriers are only suitable for walking on flats or slopes without climbing. Building, obstacle function. However, steps, stairs or gullies are often encountered in the living environment, which greatly limits the scope of use of the carrier.

At present, in order to solve the above problems, some vehicles having functions such as climbing stairs and stairs have appeared on the market, and they generally adopt a planetary wheel type or a crawler type moving structure, but whether it is a planetary wheel type or a crawler type carrier device, The drive mechanism has a loose structure and a large space, which cannot meet the requirements of the development of the carrier in the direction of miniaturization.

technical problem

The purpose of the present application is to provide a traveling carrying mechanism and a carrying device, which aim to solve the technical problem that the driving mechanism of the carrying device is loose in structure and occupying a large space in the prior art.

Technical solution

The present application provides a walking carrier for a carrier, the carrier comprising a stage, and a drive mechanism movably coupled to the stage, the walking carrier comprising:

a wheel comprising a tire, a rim and a hub, the tire being fixed to an outer circumference of the rim, the rim being rotatable around an outer circumference of the hub;

A support assembly for urging the wheel over an obstacle, the support assembly being driven to the drive mechanism and drivingly coupled to the hub.

Further, the walking carrier further includes:

An in-wheel motor, the hub motor being mounted in the hub and drivingly coupled to the rim.

Further, the walking carrier further includes:

a drive shaft, one end of the drive shaft is drivingly coupled to the drive mechanism through the support assembly, and the other end of the drive shaft is drivingly coupled to the rim through the hub.

Further, a mounting groove is defined in an outer peripheral wall of the hub, and one end of the driving shaft is connected with a transmission gear received in the mounting groove, and an inner peripheral wall of the rim is protruded and protruded therein A ring gear in the mounting groove is described, the ring gear meshing with the transmission gear.

Further, the walking carrier further includes:

a bracket fastened to the stage, the bracket being movably coupled to a locking assembly, the locking assembly being securely coupled to the rim or the hub.

Further, the rim protrudes outwardly from the protruding portion, and the bracket is sleeved at a distance between the protruding portion and the hub, and a first positioning groove is defined in an inner peripheral wall of the protruding portion. a second positioning slot is defined in the outer peripheral wall of the hub, the locking assembly includes a first positioning protrusion adapted to the first positioning slot, and a second matching slot with the second positioning slot The positioning protrusions may extend into the first positioning groove to form a positioning, and the second positioning protrusion may protrude into the second positioning groove to form a positioning.

Further, the support assembly includes:

a support member for abutting against the obstacle and supporting the wheel over the obstacle, the support member being fastened to the driving mechanism;

Connecting a shaft, one end of the connecting shaft is fastened to the hub, and the other end of the connecting shaft is rotatably connected to the support.

Further, when the walking carrier includes a drive shaft, the drive shaft is disposed in the connecting shaft.

Further, a first limiting slot is defined in the inner peripheral wall of the rim, and a second limiting slot is defined in the outer peripheral wall of the hub, and the first limiting slot and the second limiting slot are one by one Positively, and a plurality of balls are accommodated at intervals between the first limiting slot and the second limiting slot.

The present application also provides a carrier device including a stage, a drive mechanism movably coupled to the stage, and the travel carrier, the travel carrier being in driving connection with the drive mechanism.

Beneficial effect

The utility model has the beneficial effects that the walking carrier and the carrying device have the advantages that the walking carrier is composed only of the wheel and the supporting component, the whole structure is compact, the occupied space is small, the tire is rotated by the rim when traveling, and the ground is supported by the supporting component when the obstacle is reached. In turn, the wheel is lifted over the obstacle, so that a plurality of driving functions are integrated, which effectively solves the technical problem that the driving mechanism of the carrier device is loose and takes up a large space, and satisfies the requirement that the carrier device develops toward miniaturization.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only the present application. For some embodiments, other drawings may be obtained from those skilled in the art without departing from the drawings.

1 is a perspective view of a walking carrier according to Embodiment 1 or 2 of the present application;

2 is a front view of the walking carrier according to the first or second embodiment of the present application;

3 is a schematic diagram of the working principle of the walking carrier according to the first or second embodiment of the present application;

4 is a perspective exploded view of the walking carrier according to the first embodiment of the present application;

FIG. 5 is a perspective exploded view of the walking carrier according to the second embodiment of the present application; FIG.

Figure 6 is a cross-sectional view taken along line I-I of Figure 1;

Figure 7 is a front elevational view showing the support member of the support assembly according to the first or second embodiment of the present invention rotated by a certain angle;

Figure 8 is a perspective view of the walking carrier according to the third or fourth embodiment of the present application;

9 is a perspective exploded view of a walking carrier according to a third embodiment of the present application;

10 is a perspective exploded view of a walking carrier according to Embodiment 4 of the present application;

Figure 11 is a perspective view of the bracket in the walking carrier of the third or fourth embodiment of the present application.

Among them, the various reference numerals in the figure:

2—step, 10—walking carrier, 11—wheel, 12—support assembly, 13—drive shaft, 14—bracket, 111—tire, 112—rim, 113—wheel, 114—toothed ring, 115—ball, 121 - support member, 122 - connecting shaft, 130 - transmission gear, 140 - locking assembly, 141 - first positioning projection, 142 - second positioning projection, 1121 - extension, 1122 - first limiting slot, 1131 - mounting slot, 1132 - second positioning slot, 1133 - second limiting slot, 11210 - first positioning slot.

Embodiments of the invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

It is to be noted that when an element is referred to as being "fixed" or "in" another element, it can be directly on the other element or indirectly. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element.

It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top" The orientation or positional relationship of the "bottom", "inside", "outside" and the like is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present application and simplified description, and does not indicate or imply the indicated device. Or the components must have a particular orientation, constructed and operated in a particular orientation, and thus are not to be construed as limiting.

Moreover, the terms "first", "second", and the like are used for the purpose of description only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include one or more of the features either explicitly or implicitly. In the description of the present application, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

The walking carrier provided by the present application will now be described:

Embodiment 1:

Referring to FIGS. 1 through 4 and 7, the traveling carrier 10 for a carrier includes a wheel 11 and a support assembly 12, wherein the carrier (not shown) includes a stage and a drive mechanism, the stage For carrying a person or thing, the driving mechanism is movably connected to the stage; the wheel 11 includes a tire 111, a rim 112 and a hub 113, the tire 111 is fixedly disposed on the outer circumference of the rim 112, and the rim 112 surrounds the outer circumference of the hub 113 and is rotatable The hub 113 rotates, the support assembly 12 is driven by the drive mechanism, and the support assembly 12 is drivingly coupled to the hub 113 for driving the wheel 11 past an obstacle, such as the step 2. It can be understood that the tire 111 is not limited to an inflatable rubber member, and the tire 111 may be a solid rubber member, a wood member or a steel member, etc., which is not limited herein.

Referring to FIG. 3 , in the embodiment of the present application, the step 2 of the traveling carrier 10 is taken as an example to illustrate the working principle of the walking carrier 10: when the tire 111 is at the edge of the first step, due to the first stage The blocking of the steps causes the rim 112 to stop rotating, and then the support assembly 12 drives the hub 113 to rotate about the central axis of the wheel 11 under the drive of the drive mechanism, and then the bottom surface of the support assembly 12 abuts against the top surface of the first step, and The wheel 11 is lifted under the reaction force of the first step, and then the support assembly 12 continues to rotate to drive the hub 113 to drive the rim 112 and the tire 111 forwardly until the outer circumferential surface of the tire 111 contacts the top surface of the first step. At this time, the support assembly 12 and the hub 113 stop rotating, and the rim 112 continues to drive the tire 111 to rotate until the tire 111 abuts against the edge of the second step, so that the action of the upper step 2 can be completed by repeating the alternate steps. In addition, since the principle of the lower step 2 of the traveling carrier 10 is similar to that of the upper step 2, it will not be described herein.

Compared with the prior art, the walking carrier 10 provided by the embodiment of the present application has the beneficial effects that the traveling carrier 10 is only composed of the wheel 11 and the support assembly 12, and the whole structure is compact, occupying a small space, and is driven by the rim 112 during traveling. The tire 111 rotates, and when the obstacle is overcome, the ground is supported by the support assembly 12 to lift the wheel 11 and climb over the obstacle, so that various driving functions are integrated, which effectively solves the technical problem that the driving mechanism of the carrier device is loose and takes up a large space, and satisfies The requirements for the development of the carrier in the direction of miniaturization.

Further, in the embodiment of the present application, the walking carrier 10 further includes an in-wheel motor (not shown) mounted in the hub 113, and the hub motor is drivingly coupled to the rim 112. Specifically, the hub motor is housed in a cavity located in the center of the hub 113. The hub of the hub motor passes through the hub 113 and is fastened to the rim 112. When the shaft rotates, the rim 112 is rotated. At this time, the rim 112 and the hub The 113 is slidably coupled and the rim 112 causes the tire 113 to rotate together, thereby driving the carrier forward. The use of a hub motor here makes the structure of the walking carrier 10 more compact, reducing the footprint of the entire mechanism.

Further, referring to FIG. 2, FIG. 4 and FIG. 7, in the embodiment of the present application, the support assembly 12 includes a support member 121 and a connecting shaft 122, wherein the support member 121 is fastened to the driving mechanism for The obstacle abuts and supports the wheel 11 over the obstacle, one end of the connecting shaft 122 is fastened to the hub 113, and the other end of the connecting shaft 122 is rotatably coupled to the support 121. Specifically, the outer cross-section of the support member 121 may be triangular, rectangular or dumbbell-shaped. Of course, the support member 121 may have other shapes in other embodiments of the present application, depending on the specific circumstances and needs. Optionally, one end of the connecting shaft 122 is disposed on the center of gravity of the support member 121, and the other end of the connecting shaft 122 is fastened to the side wall edge of the hub 113. When the driving mechanism applies an external force to the support member 121, the support member 121 can rotate around the connecting shaft 122, and can also drive the connecting shaft 122 to drive the hub 113 to rotate about the central axis of the wheel 11, thereby making the obstacle-moving action of the traveling carrier 10 more flexible. Increased the ability of the entire organization to overcome obstacles.

Further, referring to FIG. 4, in the embodiment of the present application, a first limiting slot 1122 is defined in an inner peripheral wall of the rim 112, and a second limiting slot 1133 is defined in an outer peripheral wall of the hub 113. The first limiting slot 1122 is opposite to the second limiting slot 1133, that is, the slot of the first limiting slot 1122 faces the slot of the second limiting slot 1133, and the first limiting slot 1122 and the second slot The plurality of balls 115 are accommodated at the interval of the limiting groove 1133, that is, the ball rim 112 and the hub 113 are meshed by the balls 115, thereby preventing rigid contact between the rim 112 and the hub 113, and ensuring the rim 112 and the hub 113. It is smoother when rotated relative to each other. Here, two first limiting slots 1122 are defined in the inner peripheral wall of the rim 112. The two first limiting slots 1122 are spaced apart and extend circumferentially along the inner peripheral wall of the rim 112, correspondingly at the hub 113. Two second limiting slots 1133 are also defined in the outer peripheral wall. The two second limiting slots 1133 are spaced apart and extend circumferentially along the outer peripheral wall of the hub 113. Thus, the connection between the rim 112 and the hub 113 is more stable and Reliable, of course, in the other embodiments of the present application, one or more first limiting slots 1122 may be formed on the inner peripheral wall of the rim 112, and may be opened on the outer peripheral wall of the hub 113. One or more second limiting slots 1133 are not limited herein.

Embodiment 2:

Referring to FIG. 1 , FIG. 2 , FIG. 5 and FIG. 6 , the embodiment of the present application is substantially the same as the walking carrier 10 disclosed in the first embodiment, except that the traveling carrier 10 further includes a driving shaft 13 . For example, the drive shaft 13 is used in place of the above-described hub motor to drive the rim 112 to rotate. Here, one end of the drive shaft 13 is drivingly coupled to the drive mechanism through the support assembly 12, and the other end of the drive shaft 13 is drivingly coupled to the rim 112 through the hub 113.

Further, referring to FIG. 5 and FIG. 6 , in the embodiment of the present application, a mounting groove 1131 is defined in the outer peripheral wall of the hub 113. The driving shaft 13 is disposed in the connecting shaft 122, and one end of the driving shaft 13 is connected. There is a transmission gear 130. The transmission gear 130 is received in the mounting groove 1131. The other end of the drive shaft 13 is sequentially connected to the driving mechanism through the hub 113, the connecting shaft 122 and the support member 121, and at the same time, the inner peripheral wall of the rim 112. A toothed ring 114 is convexly disposed, and the ring gear 114 extends into the mounting groove 1131 and meshes with the transmission gear 130. Specifically, the ring gear 114 may be fastened to the inner peripheral wall of the rim 112, or the ring gear 114 may be integrally formed with the rim 112, and the inner peripheral wall of the ring gear 114 is provided with a tooth groove, and the tooth groove and the outer peripheral wall of the transmission gear 130 The upper teeth are fitted. When the driving mechanism drives the driving shaft 13 to rotate, the driving shaft 13 drives the transmission gear 130 to rotate, and the transmission gear 130 transmits power to the rim 112 through the ring gear 114 to drive the tire 111 to rotate. In this way, the structure of the walking carrier 10 is made more compact, reducing the space occupied by the entire mechanism.

Further, referring to FIG. 5, in the embodiment of the present application, at least two first limiting slots 1122 are defined in the inner peripheral wall of the rim 112, and at least two second openings are formed on the outer peripheral wall of the hub 113. The limiting slot 1133, wherein at least two second limiting slots 1133 are distributed on opposite sides of the mounting slot 1131. In this way, the stability and reliability of the rotation of the rim 112 along the outer peripheral wall of the hub 113 is improved.

Embodiment 3:

Referring to FIG. 8 , FIG. 9 and FIG. 11 , the embodiment of the present application is substantially the same as the walking carrier 10 disclosed in the first embodiment, except that the walking carrier 10 further includes a bracket 14 , a bracket 14 and the above-mentioned carrier. The table is fastened to support the walking carrier 10, and a locking assembly 140 is movably coupled to the bracket 14. The locking assembly 140 can be fastened to the rim 112 or the hub 113 to lock the rim 112 or the hub. The role of 113.

Further, referring to FIG. 11 , in the embodiment of the present application, the rim 112 is outwardly convexly provided with a protruding portion 1121 , and the bracket 14 is sleeved at a distance between the protruding portion 1121 and the hub 113 , and is extended. The first positioning groove 11210 is defined in the inner peripheral wall of the portion 1121, and the second positioning groove 1132 is defined in the outer peripheral wall of the hub 113. The locking assembly 140 includes a first positioning protrusion 141 and a second positioning protrusion 142. The first positioning protrusion 141 is adapted to the first positioning slot 11210, the second positioning protrusion 142 is adapted to the second positioning slot 1132, and the first positioning protrusion 141 can extend into the first positioning slot 11210. The second positioning protrusion 142 can extend into the second positioning groove 1132 to form a positioning. Specifically, a plurality of first and second positioning grooves 11210 are formed on the inner peripheral wall of the protruding portion 1121. The plurality of first positioning grooves 11210 are circumferentially arranged along the inner peripheral wall of the protruding portion 1121, and at the same time, at the hub 113. The outer peripheral wall is provided with a plurality of second positioning grooves 1132 which are connected end to end. The plurality of second positioning grooves 1132 are circumferentially arranged along the outer peripheral wall of the hub 113. When the locking rim 112 needs to be locked, the bracket 14 drives the first positioning protrusion. The second positioning protrusion 142 is separated from the second positioning groove 1132, and the second positioning protrusion 142 is separated from the second positioning groove 1132 by the first positioning groove 1121. The hub 113 is rotatable about the central axis of the wheel 11; when the hub 113 is required to be locked, the bracket 14 drives the second positioning protrusion 142 into the second positioning slot 1132 at the corresponding position, so that the bracket 14 is fastened to the hub 113, thereby When the hub 113 is locked, the hub 113 stops rotating. At this time, the first positioning protrusion 141 is separated from the first positioning groove 11210, and the rim 112 is rotatable about the central axis of the wheel 11. In this way, the switching of the carrier traveling action and the obstacle crossing action is realized.

Embodiment 4:

Referring to FIG. 8 , FIG. 10 and FIG. 11 , the embodiment of the present application is substantially the same as the walking carrier 10 disclosed in the second embodiment, except that the walking carrier 10 further includes a bracket 14 , the bracket 14 and the carrier. The table is fastened to support the walking carrier 10, and a locking assembly 140 is movably coupled to the bracket 14. The locking assembly 140 can be fastened to the rim 112 or the hub 113 to lock the rim 112 or the hub. The role of 113.

Further, referring to FIG. 11 , in the embodiment of the present application, the rim 112 is outwardly convexly provided with a protruding portion 1121 , and the bracket 14 is sleeved at a distance between the protruding portion 1121 and the hub 113 , and is extended. The first positioning groove 11210 is defined in the inner peripheral wall of the portion 1121, and the second positioning groove 1132 is defined in the outer peripheral wall of the hub 113. The locking assembly 140 includes a first positioning protrusion 141 and a second positioning protrusion 142. The first positioning protrusion 141 is adapted to the first positioning slot 11210, the second positioning protrusion 142 is adapted to the second positioning slot 1132, and the first positioning protrusion 141 can extend into the first positioning slot 11210. The second positioning protrusion 142 can extend into the second positioning groove 1132 to form a positioning. Specifically, a plurality of first and second positioning grooves 11210 are formed on the inner peripheral wall of the protruding portion 1121. The plurality of first positioning grooves 11210 are circumferentially arranged along the inner peripheral wall of the protruding portion 1121, and at the same time, at the hub 113. The outer peripheral wall is provided with a plurality of second positioning grooves 1132 which are connected end to end. The plurality of second positioning grooves 1132 are circumferentially arranged along the outer peripheral wall of the hub 113. When the locking rim 112 needs to be locked, the bracket 14 drives the first positioning protrusion. The second positioning protrusion 142 is separated from the second positioning groove 1132, and the second positioning protrusion 142 is separated from the second positioning groove 1132 by the first positioning groove 1121. The hub 113 is rotatable about the central axis of the wheel 11; when the hub 113 is required to be locked, the bracket 14 drives the second positioning protrusion 142 into the second positioning slot 1132 at the corresponding position, so that the bracket 14 is fastened to the hub 113, thereby When the hub 113 is locked, the hub 113 stops rotating. At this time, the first positioning protrusion 141 is separated from the first positioning groove 11210, and the rim 112 is rotatable about the central axis of the wheel 11. In this way, the switching of the carrier traveling action and the obstacle crossing action is realized.

In addition, the present application also provides a carrier device including a stage, a driving mechanism and the above-mentioned walking carrier 10, wherein the driving mechanism is movably connected to the stage, and the traveling carrier 10 is drivingly connected to the driving mechanism.

Compared with the prior art, the carrying device provided by the embodiment of the present application has the beneficial effects that the traveling carrying mechanism 10 is adopted, so that the entire carrying device is compact in structure and can be made smaller in size, thereby effectively solving the driving of the carrying device. The technical problems of loose structure and large space occupy the requirements of the development of the carrier in the direction of miniaturization.

The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection of the present application. Within the scope.

Claims (10)

a walking carrier for a carrying device, the carrying device comprising a stage, and a driving mechanism movably coupled to the stage, wherein the walking carrier comprises: a wheel comprising a tire, a rim and a hub, the tire being fixed to an outer circumference of the rim, the rim being rotatable around an outer circumference of the hub; A support assembly for urging the wheel over an obstacle, the support assembly being driven to the drive mechanism and drivingly coupled to the hub. The walking carrier according to claim 1, wherein the walking carrier further comprises: An in-wheel motor, the hub motor being mounted in the hub and drivingly coupled to the rim. The walking carrier according to claim 1, wherein the walking carrier further comprises: a drive shaft, one end of the drive shaft is drivingly coupled to the drive mechanism through the support assembly, and the other end of the drive shaft is drivingly coupled to the rim through the hub. The walking carrier according to claim 3, wherein a mounting groove is defined in an outer peripheral wall of the hub, and one end of the driving shaft is connected to a transmission gear accommodated in the mounting groove, A ring gear projecting into the mounting groove is protruded from an inner peripheral wall of the rim, and the ring gear meshes with the transmission gear. The walking carrier of claim 2 or 3, wherein the walking carrier further comprises: a bracket fastened to the stage, the bracket being movably coupled to a locking assembly, the locking assembly being securely coupled to the rim or the hub. The walking carrying mechanism according to claim 5, wherein the rim protrudes outwardly from the protruding portion, and the bracket is sleeved at a space between the protruding portion and the hub, and the extending a first positioning slot is defined in the inner peripheral wall of the portion, and a second positioning slot is defined in the outer peripheral wall of the hub, the locking assembly includes a first positioning protrusion adapted to the first positioning slot, and a second positioning protrusion adapted to the second positioning slot, the first positioning protrusion can extend into the first positioning slot to form a positioning, and the second positioning protrusion can extend into the second positioning protrusion Positioning is formed in the positioning groove. The walking carrier of claim 5 wherein said support assembly comprises: a support member for abutting against the obstacle and supporting the wheel over the obstacle, the support member being fastened to the driving mechanism; Connecting a shaft, one end of the connecting shaft is fastened to the hub, and the other end of the connecting shaft is rotatably connected to the support. The walking carrier of claim 7 wherein said drive shaft is threaded within said connecting shaft when said travel carrier includes a drive shaft. The walking carrier of claim 5, wherein the inner peripheral wall of the rim is provided with a first limiting slot, and the outer peripheral wall of the hub is provided with a second limiting slot, the first limit The bit slot and the second limiting slot are directly opposite to each other, and a plurality of balls are accommodated at intervals between the first limiting slot and the second limiting slot. A carrying device, comprising a stage, and a driving mechanism movably coupled to the stage, characterized by further comprising the walking carrier according to any one of claims 1 to 9, the walking carrier and the vehicle Drive mechanism drive connection.