Wheeled walking mover

 

(57) Abstract:

Usage: the invention relates to the propulsion of vehicles, namely, mobility wheelchair and freight carriages for stairs and ledges. The invention: the basis of the invention is the provision of a high permeability mover on the ledges and stair flights regardless of the direction of movement with less material and energy intensity and structural simplicity and manufacturability of the device containing fixed on the drive shaft 1 to the hub 2, which is symmetric to the center of the circle through 120 posted by hinges 3 and 5, connecting the hub with the middle parts of the two shoulders of the levers 6 and 8, and the axis of the hinge 3 is installed movably in the radial direction of the hub. The first lever 6 with one end connected with the rear part of the Shoe 13, the other end to the front part of the Shoe 11, the rear portion of which is pivotally connected with one end of a further lever 7, the other end of which is pivotally connected with the front part of the Shoe 12, and the lever 8 similarly connects the shoes 12 and 13. The hinges 10 on each Shoe equidistant from its ends, and the distance between them is less than the distance between the hinges on the hub, the salvage money, namely, the device for driving wheel and cargo carriages for stairs and ledges.

Known wheel-walking mover containing a hub mounted on it a cross, in the radial rays (arms) which is articulated on axes set support (support shoes) in the form of a truncated segment of a cylinder, and the rotation mechanism supports in the form of identical toothed wheels arranged in pairs at the hub opposite the slotted ends of the axes of shoes, one of which is connected to the hub is stationary and the other rotatable, and gears mounted on each end of the axis with the possibility of axial movement by the actuator for simultaneous alternate engagement with the fixed rotary toothed wheels (see ed.St. USSR N 455876, CL 60 In 19/00, 1979).

A significant disadvantage of the known propulsion during the implementation of the walking course is the presence of substantial amounts of energy to synchronize the positions of support shoes associated with open gear pairs, exposed to pollution and increased friction in the gearing; a significant consumption due to the use of monofunctional components: levers only to transmit the force of gravity from the hub rabotosposobnom, if the Shoe is mounted on the ledge to the end, because when you try discontinuing support the bottom of the Shoe will turn and slip off the ledge Shoe interacting with him.

Also known propulsion to overcome obstacles that contains two internal link (lever) mounted on the shaft means to rotate at each end of which has a hinged outer link, the free ends of each pair have a common hinge is installed on the roller and a freely rotatable support Shoe; at least two rollers simultaneously interact with the guide and drive internal links are chain transfer (see U.S. patent N 2292298, CL N. CL.305-1, 1940).

A significant drawback of this thruster is a large energy consumption due to friction losses in the open pair of roller guide and a large mass due to mnogoplemennosti: at least four shoes, ten arms, four rollers, guide. Besides the well-known mover has insufficient permeability due to software (FAQ guide) change the position of the shoes, as accidental slip on the stairs will lead to the accumulation of h reduces permeability due to turning and frustration with the steps of the Shoe, installed on her toe part.

In recent years a wheeled walking mover containing two internal link (arm), established by means on the control shaft can be rotated, at each end of the lever has pivotally support Shoe associated middle part of the hinge pull another lever, the levers are connected with the shaft through a differential.

A significant difference of the workflow of this thruster is the ability to alternate walking and wheel movement phases depending on the force of resistance that allows you to get under the stairs (in one direction of shaft rotation trajectory of the centre, close to a straight line parallel to the tops of the stairs, with a significant take-away end of the Shoe over the edge of the step ensures that the move without slipping off.

A significant disadvantage of the known propulsion is constructive complexity and intensity, due to the significant number of items: four anchor Shoe, the details of the differential mechanism to change the shape, twelve hinges, four traction. A large number of friction pairs (twelve in the hinges, two in the pair of levers to the shaft, two in differential and stairs depends on the direction of rotation of the propeller, in particular, if he starts to interact with the step with the toe of his Shoe, then the trajectory of the center of the shaft close to a straight line, if the heel part of the trajectory is essentially nonlinear, and significantly below the height overcome ledge. It should be mentioned that a relatively complex design makes the use of expensive materials and equipment in the manufacture, which increases the cost of the goods to low-income consumers chronically ill and disabled, the state budget organizations: hospitals, nursing homes, boarding houses.

It is also known device that can be used for its intended purpose as a wheeled walking mover. The device comprises a rotor (hub) with attached radially cranks (levers), each of which end pivotally connected with a middle of the connecting rod (base Shoe), and a mechanism for changing the position of the anchor shoes, made in the form of a rotor mounted eccentric to the hub and connected with the end of each Shoe swivel lever (see Krainev, A. F. Dictionary-reference mechanisms. M. engineering, 1987, S. 301).

A significant drawback of the device is cops: four anchor Shoe, details eccentric mechanism controlling the position of shoes, 13 hinges, 8 levers. A large number of friction pairs (pair of hinges, levers, rotor) reduces the efficiency of the device, and the smoothness and permeability depend on the direction of rotation: if he starts to interact with the step with the toe of his Shoe, then the trajectory of the centre is close to a straight line if the heel part of the trajectory is essentially nonlinear and below the height overcome the ledge.

The purpose of the invention to provide a high permeability mover on the ledges and stair flights regardless of the direction of movement with less material and energy intensity, as well as structural and technological simplicity of the device.

For this purpose wheeled walking mover containing-installed on the shaft of the hub and at least two spaced symmetrically relative to the center of the support Shoe, each of which is connected pivotally with the two levers, has a number of arms equal to the number of support shoes, and the first lever one end of which is connected with the back in the direction of rotation of the mover of the first Shoe, the other end of the front part of the subsequent Shoe, rear portion of which is pivotally connected one to the than levers installed the middle part on the hub can be rotated in the plane of rotation of the propeller by means of hinges, placed on the hub evenly spaced around the circumference, to the same joints on each Shoe equidistant from its ends, and the distance between them is less than the distance between the hinges on the hub connecting arms connected to the Shoe. In addition, at least one lever is made with the possibility of progressive unidirectional movement of its ends relative to the hub. According to the first embodiment, the average hinge of the lever is installed movably in the radial direction of the hub, the second option it is made elastic in the plane of rotation of the propeller by the third variant it is made in the form of articulated dvuhtomnika, the links of which one end is installed with the possibility of rotation on the axis of the hub, on the fifth variant of this instrument, executed in the first embodiment, spring-loaded linear elastic element mounted radially on the hub, one end of which is placed in its groove, the other in the slot of the lever. According to the sixth embodiment of the propulsion soles of the shoes are formed are attached thereto an annular elastic tape having a trough between them.

The advantage of the proposed device is that due to the trapezoidal hinge connection of each Shoe with a nave Adelaide in a predetermined ratio among all shoes. In combination with the presence of consoles on each Shoe (i.e., the ends that extend beyond the hinge connecting levers), the driver implements the wheel-walking the course, effective permeability and smoothness when moving on the stairs and off-road, without special differential mechanisms control the position of the shoes. In addition, the proposed propulsion works effectively if there are only two installed diametrically opposite, shoes, two arms and six hinges, i.e., has ten pairs of friction less, which means higher efficiency in comparison with the prototype and overcomes (as shown by comparative tests) steps greater height. The use of a spring-loaded lever or the performance of its elastic provides additional effect: to stabilize the drag torque of the stepper phase of motion, reducing its maximum value in the initial period, which reduces the torque required for driving, i.e., allows you to use the drive of lower power. Use as soles of shoes annular elastic tape simplifies the manufacturing technology and the replacement of worn-out treads, increases the contact area, and thus reduces the depth gauge while moving the project for foreign objects (clumps of soil, branches, garbage) when driving on unprepared surfaces.

In Fig. 1 shows the thruster, side view; Fig.2 section a-a in Fig.1; Fig.3 is an example of executing the sole support Shoe; Fig.4 installation option arm on the hub; Fig. 5 cross-section B-B in Fig.4; Fig.6 the propulsion devices with two supporting pads; Fig.7 performing arm of the thruster of Fig.8 section b-b In Fig.7; Fig.9 scheme movement on the plane of the device with three support pads; Fig.10 scheme movement on the plane of the device with two supporting pads; Fig.11 the scheme of movement of the device with three anchor shoes on the stairs, and Fig.12 the scheme of movement of the device with two supporting pads on the ladder; Fig.13-15 photofragments laboratory tests mover with three support pads; Fig.16-18 photofragments laboratory tests mover with two pivot shoes.

Wheeled walking mover contains (Fig.1 and 2) mounted on the drive shaft 1 to the hub 2, which is symmetric relative to the center, i.e., around the circumference of the 120aboutposted hinges 3-5 connecting the hub 2 middle parts of the two shoulders of the levers 6-8, and the axis of the hinge 3 is posted in the radial groove 9 of the hub, and the angle of rotation of the levers is (when the rotation of the propeller of Fig.1 counterclockwise) of the Shoe 11, and the left end of the rear part of the Shoe 13, the lever 7 ends connected with the rear part of the Shoe 11 and the front part 12 and the lever 8 is similarly connected by the ends of the shoes 12 and 13. The distance between the hinges on each Shoe, such as Shoe 12, is less than the distance between the hinges on the hub 2, in particular between the hinges 4 and 5, i.e., each Shoe is connected with the swivel hub isosceles trapezoid with the formation of obtuse angles with the adjacent levers. In addition, the distance between the hinges of the Shoe is less than its length, and they installed symmetrically to the middle of the Shoe. In the example of execution according to Fig.1 the distance between the hinge 10 is equal to 1/3 the length of the Shoe. Each Shoe provided with a sole with tread, and a variant of the sole according to Fig.3 involves the use of an annular elastic tape 14 with the protector, the length of which provides free deflection in the radial direction toward the center of the thruster. To adjust the moment of resistance shahaney mover is provided with an elastic element, which in Fig. 4 and 5 is made in the form of a spring 15, one end of which is installed in the groove of the hub 2, and the other in the slot of the lever 6, the axis of the hinge which is placed in the groove 9 of the hub. On the embodiment shown in Fig. 6, the elastic e the rims. Execution of the lever (Fig.7 and 8) in the form of articulated dvuhtomnika composed of links 17 and 18, exclude, as in Fig.6, the necessity of using additional degrees of freedom hinge 3 by means of the groove 9, as shown in Fig.1. The mobility of the hinge 3 in the groove 9 (Fig.1,2); the use of one of the elastic arm 16 (Fig. 6); the execution of a single lever two-tier (Fig.7,8) this technical equivalents, providing the possibility of progressive unidirectional movement of the ends of the at least one arm relative to the hub. Therefore, in the first paragraph of the formula and introduced a generalized notion of the sign, causing simultaneous rotation of the levers relative to the average position shown in Fig.1 and 6. The need for this sign clearly explains the middle diagram in Fig.10. At a constant distance b between the hinges 10 supporting the shoes 11 and 12 and the rigid levers mover rotation of the links from the dotted position of the secondary circuit is only possible when reducing the distance between the hinges of the hub 2, as reduced to the value of b1the distance between the axes connecting the hinges 10 links 11 and 12. This feature of the proposed propulsion characteristic of propulsion with any to the Cove relatively centrally symmetric position in Fig.1 is implemented only subject to availability unidirectional movement of the ends of at least one arm, compensatory changes mentioned distance b1. The rotation of each bearing Shoe on the hinge 10 is implemented within constraints: the angle between the plane of the Shoe, and the axes of the levers associated with it, should not be less than the 90aboutwith regard to what is selected and the required angle of rotation of each lever in the lugs on the hub.

The thruster operates as follows.

In Fig. 10, left, shown in solid lines in the diagram of forces acting on the propeller with a minimum number of anchor shoes and without elastic element in the schema. The power of the Pzacting on the drive shaft side of the vehicle consists of two equal components of the Pz1/Pz2operating from the hub 2, respectively on the left and right levers. While the left arm moment about the hinge 10 directed counterclockwise: MC1=Pz1l1that secures the lever in the left position. When summing up to the hub 2 from the shaft torque MINamounting to PB1district forces PINacting on the left lever on the side of the hub, provides a moment about the hinge 10: MB1=PB1l1directed clockwise clockwise moving the hub 2 and the Shoe 11 to the right relative to the stationary bottom of the Shoe 12. The isolation from the supporting surface of the left end of the Shoe 12 is prevented by the moment MC2=Pz2l3directed counterclockwise and in excess of in the opposite direction of the moment MB2= PB2l4due to the smallness of the force RB2(part of PIN), directed along the bottom of the left arm. As conversion propulsion in the form shown in dotted lines, the angle is increased within a blunt, and therefore increases and the torque Rz2regarding the right hinge of the Shoe 12, torque right lever clockwise. As a result, the mover will take the form of the average circuit of Fig.10, i.e., implements the step phase of the movement, while the step length is determined by the angle of rotation of the levers on the hub. In this position, the point of rolling resistance MSC=Pzlwith(in the scale of the circuits of Fig.10) three times decreased by reducing shoulder lwithregarding the left diagram and the propeller retaining this form will roll under the action of torque from the drive shaft in the position shown in the left diagram, i.e. will be set based on the ends of the shoes. In this position aniu Mschool=PzlWso the thruster under the action of the moments M from the forces directed along the upper arm and which components of the district torque forces PIN, turn clockwise shoes 11 and 12 relative to the lower hinge, i.e., implements the stepping motion component within angles of rotation of the arms on the hub, and then repeat the phase rolling. Thus, the trapezoidal two-arm connection of each support Shoe with the hub and having ends protruding beyond the limit megamerge distances (for example, the end of the l3in the left diagram of Fig.10) provide a wheel-walking mode of motion, which is accompanied by periodic moved forward (in the direction) end of the Shoe, not interacting with the supporting surface, which leads to the possibility of overcoming the propulsion speed of the ledge. When used in the device of the elastic element made according to Fig.4 or 6, the work associated with movement of the hub relative to the support Shoe in walking phase, decreases in the initial period and increases in the target, which reduces the maximum torque MINnecessary for the beginning of the step. In particular, the transition of propulsion (foster elastic element is aimed at restoring shape having a center of inversion, that will result in a smaller value of force fB1and thus torque MINnecessary for the implementation of the step within the left diagram. Upon further movement (transition to secondary circuit of Fig.10) rotate the lever clockwise will also moment from the vertical force Pzwhich compensates for the torque to change the shape of propulsion is defined by the stiffness of the elastic element. Climbing stairs mover also provides consistent implementation of wheeled and walking phases of the movement. Scheme of overcoming stairs driven with two supporting pads shown in Fig.12, from which it follows that during the implementation step, the drive shaft on a flat trajectory substantially approaches the ledge, reducing shoulder after rolling resistance to a value of lwiththen in the phase of rolling climbs on the step based on the Shoe by a double line. Discusses the nature of the movement photos prove the motion of the laboratory sample (Fig.16) obtained when the shutter is open the camera and pulsed light (Fig.17 and 18).

Based on the results of laboratory tests of propellers with two, three and four anchor pads can be concluded that the best variant is the situation of one of the elastic arm. In particular, its movement on a horizontal surface is characterized by a minimum vertical oscillation of the drive shaft (Fig.9 and 15), and the phase sequence in Fig.9 is implemented in the whole range of loads on the towing hook, including full slippage. Because of the similarity of the workflow device according to Fig. 10 and 9 tricycle propulsion in this plan is not commented.

Test device with three boots and ring the sole according to Fig.3 showed that the latter does not affect the permeability in the stairway (character movement is fully consistent with Fig.11 and 14), but significantly increases grip and maneuverability at movement on loose and marshy surfaces.

The invention can best be used for movement on the stairs, and threshold obstacles wheelchairs and Seating, including the ability to move in uncomfortable areas at entrances of buildings, as well as cargo trucks for maintenance of multi-storey premises that do not have lifts.

1. WHEELED WALKING MOVER containing-installed on the shaft of the hub and at least two arranged symmetrically about its center pivot Bashmet anchor shoes, and the first lever one end of which is connected with the rear portion in the direction of rotation of the propeller, the first Shoe, the other end of the front part of the subsequent Shoe, rear portion of which is pivotally connected with one end of a further lever, the other end of which is pivotally connected with the front part of the subsequent Shoe, the levers installed in the middle part on the hub can be rotated in the plane of rotation of the propeller by means of hinges placed on the hub evenly spaced around the circumference, hinges on each Shoe equidistant from its ends, and the distance between them is less than the distance between the hinges on the hub connecting arms connected to the Shoe, moreover, at least one lever mounted with the possibility of progressive unidirectional movement of its ends relative to the hub.

2. Mover under item 1, characterized in that for the steady unidirectional movement of the lever hinge securing it to the hub is installed movably in the radial direction relative to the hub.

3. Mover under item 1, characterized in that for the steady unidirectional movement of the lever the latter is made elastic in the plane of rotation of the propeller.

5. Mover under item 2, characterized in that it is provided with an elastic linear element mounted radially on the hub, one end of which is placed in its groove, the other in the slot of the lever.

6. Mover under item 1, characterized in that the soles of the shoes are formed are attached thereto an annular elastic tape having a trough between the pads.

 

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