A transport device

Abstract

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

Description

Technical Field

[0001] The present invention relates to the technical field of wheelchairs, and in particular to a transport device. Background Art

[0002] According to my country's population statistics in recent years, in 2018, the total population of my country aged 65 and above accounted for 11.94%. These elderly people rely heavily on wheelchairs for daily travel; and due to traffic accidents, unexpected events, and illnesses, a large number of people have lost their ability to walk. These elderly groups and groups that have lost their ability to walk have led to an increasing demand for wheelchairs in society. And most of this group of people need to rely entirely on wheelchairs for most of the time, so the comfort and safety of wheelchairs are very important.

[0003] Most existing wheelchairs are designed so that the rear wheels are used as power wheels to propel the wheelchair forward, while the front wheels are used as steering wheels and are set as universal wheels to facilitate steering with the rear wheels of the wheelchair. For example, CN102755230B discloses an electric wheelchair, including a pedal, with front axle seats formed on both sides of the front end of the pedal and rear axle seats formed on both sides of the rear end; a battery box connected to a pair of rear axle seats, with left and right wheel motors arranged in the battery box, and the left and right wheel motor shafts of the left and right wheel motors respectively fixing the left and right walking wheels; a pair of front frames, each including a front steering wheel arm, a front frame arm and a folding mechanism; a pair of rear frames, one end of the pair of rear frames is hinged to the side of the battery box, and the other end is connected by a rear frame connecting rod, a rear universal wheel seat is fixed to the other end, and a rear universal wheel seat is arranged on the rear universal wheel seat; a seat fixed to a seat bracket; a backrest hinged to the seat; a pair of armrests and an armrest locking mechanism, a controller is arranged on the armrest, and the controller is wirelessly matched with a controller host.

[0004] The universal wheels are flexible in rotation, and the rotation of the two universal wheels symmetrically arranged on the left and right do not interfere with each other. When turning, they move in the direction in which they need to turn according to the direction of the pressure and thrust on the ground. Because of the above characteristics, when the universal wheels encounter potholes on the road, the friction between the left and right wheels and the ground is often not simultaneous and in different directions due to bumps, so the two universal wheels will rotate in different directions, or even in different directions, and they will conflict with each other during the movement, causing the wheelchair to be unable to turn forward normally, and may even cause the wheelchair to lose balance and roll over, causing harm to the person sitting in the wheelchair.

[0005] Mecanum wheels are wheels that can support all-round movement. They can rely on the direction and speed of each wheel. The final synthesis of these forces can produce a resultant force vector in any required direction, thereby ensuring that the load-bearing platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. Its use can shorten the size of the space required for wheelchair movement and steering, and can still achieve smooth movement in all directions in a small environment. Based on this feature, it is widely used in the field of robotics and forklifts and other mechanisms that need to move and turn flexibly in a small environment. Mecanum wheels are also used in wheelchairs. For example, CN106943248B discloses a multifunctional wheelchair, which includes a chassis structure, a manned platform and an inclination adjustment mechanism, wherein the manned platform is arranged on the top of the chassis structure, and the inclination adjustment mechanism is arranged at the bottom of the manned platform; the manned platform includes: a seat, a gyroscope, a controller and a push handle, the gyroscope is arranged at the bottom of the seat, and the controller is fixed on the armrest; the chassis structure includes: a chassis, a human-powered driving device, a Mecanum wheel, a pedal, an anti-tilt device, a horizontal inclination adjustment box bracket and a battery box, and the human-powered driving device includes: a bracket, a human-powered driving wheel, a rotating shaft, a chain plate, a first bearing seat and a bearing; the inclination adjustment mechanism is arranged under the seat, and includes a worm gear assembly, a worm, a first motor, a connecting frame, a second bearing seat, a third bearing seat and a connecting plate. The wheelchair sets the four wheels as Mecanum wheels, and controls the wheelchair to move forward, backward and turn when the power is sufficient by controlling the independent motors of each Mecanum wheel.

[0006] However, this setting makes it difficult to ensure the normal control and rotation of the four wheels of the wheelchair when the wheelchair is not fully charged, so the direction of movement is prone to uncertainty. In addition, when all four wheels are Mecanum wheels, when encountering some rough ground, multiple wheels fail to contact the ground at the same time, or the angles of contact with the ground are different, it is easy for the four wheels to have difficulty in forming a combined force or the direction of the combined force deviates, causing the wheelchair to fail to move in the expected direction of control, and then lose control and cause danger.

[0007] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the inventor studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0008] In view of the shortcomings of the prior art, the present invention provides a transfer device, including wheels that use rolling friction instead of sliding friction to assist the movement of the transfer device, the wheels include a power wheel for providing power and a steering wheel for steering, the power wheel and the steering wheel jointly bear the weight of the transfer device and cooperate with each other to complete the transfer action. The power wheel includes a first power wheel and a second power wheel that are independent and opposite to each other, and the steering wheel includes a first steering wheel and a second steering wheel that are independent and opposite to each other, wherein the first steering wheel and the second steering wheel are both configured as Mecanum wheels, and the first steering wheel and the second steering wheel are configured in a mirror-symmetrical manner.

[0009] The advantages of such a configuration are as follows: the two Mecanum wheels serving as driven steering wheels are driven to rotate by the power wheel, and the Mecanum wheels do not need to be driven by a separate motor, which can simplify the control of the wheelchair and reduce the manufacturing and maintenance costs; and the Mecanum wheels will not deflect relative to the axial direction of the transfer device during the steering process, so the steering process is stable, and when encountering rough ground, the normal steering process of the wheelchair is not easily affected by the deflection, so that the wheelchair can adapt to the rough ground and turn smoothly on the rough ground.

[0010] According to a preferred embodiment, the steering wheel further comprises a wheel sleeve arranged on the sub-wheel, and the wheel sleeve is provided with a plurality of friction points in a manner capable of increasing the friction coefficient between the steering wheel and the contact surface.

[0011] The advantage of such a configuration is that by increasing the friction between the steering wheel and the ground, the steering wheel can be made more stable during steering and movement, and can adapt to the use of more special ground. For example, when the friction coefficients of the ground on which the first steering wheel and the second steering wheel are located are different, the friction coefficients between the first steering wheel and the second steering wheel and the ground increase, thereby making the difference in friction coefficients between the first steering wheel and the second steering wheel relatively smaller, and then the difference in friction between the first steering wheel and the second steering wheel relative to the ground is reduced, and the first steering wheel and the second steering wheel can remain stable and adapt to the push of the power wheel and move toward the direction to be steered.

[0012] According to a preferred embodiment, the friction points include at least a first friction point and a second friction point, the first friction point and the second friction point have different heights, the first friction points are arranged in a manner to be buffered when encountering small particle obstacles to form a plurality of buffer spaces, wherein the second friction points are arranged in the buffer space in a manner to prevent particles from being stuck in the buffer space.

[0013] The advantages of such a setting are: the first friction point and the second friction point can increase the friction coefficient with the ground, and the buffer space formed by the first friction point can accommodate a part of obstacles with smaller particle size, thereby avoiding the influence of such obstacles on the travel of the steering wheel; and the influence of larger obstacles on the travel direction will be reduced due to the existence of the buffer space. The setting of the second friction point allows the larger obstacles entering the buffer space to be supported by the second friction point, and there are also gaps between the second friction points. Through such an irregular gap setting, the point pressure on the irregular obstacles in the buffer space can be reduced, so that the irregular obstacles will not be stuck in the buffer space.

[0014] According to a preferred embodiment, a non-flat undulating first pattern is provided on the steering wheel in a manner capable of reducing local pressure when in contact with rough ground, wherein the first pattern includes a first concave portion and a first convex portion surrounding the outer periphery of the first concave portion, wherein the curvature of the first concave portion is greater than the curvature of the first convex portion.

[0015] According to a preferred embodiment, the transition between the first convex portion and the first concave portion is configured as a non-abrupt curved surface with double curvature formed by a smooth curve in a manner that can produce continuous contact with a rough ground surface.

[0016] The advantages of this setting are: it can increase the contact area with rugged ground, so that sufficient friction can be generated with the ground during steering, and some forces that hinder the steering wheel from moving in the direction to be turned will be offset or reduced, thereby facilitating the steering wheel to move in the correct direction to be turned under the push of the power wheel.

[0017] According to a preferred embodiment, a second pattern along the axial direction of the sub-wheel is provided on the sub-wheel of the steering wheel, and the second pattern includes a plurality of raised circumferential lines starting from one end of the sub-wheel close to the central axis of the wheelchair and extending toward one end of the sub-wheel away from the central axis of the wheelchair, wherein the plurality of circumferential lines are gathered at a first end of the sub-wheel close to the central axis and dispersed at a second end of the sub-wheel toward the outside of the wheelchair in a manner that the stones can be extended toward the outside of the wheelchair.

[0018] According to a preferred embodiment, the winding line is arranged as a curve spirally wound around the axial direction of the sub-wheel in a manner that it can adapt to the rolling of the sub-wheel when encountering a particle obstacle and gradually push the particle obstacle to the outside of the sub-wheel.

[0019] The advantage of this arrangement is that when encountering granular obstacles, the surrounding wire will guide the moving direction of the granular obstacles and gradually push them toward the outside of the wheel during the rotation process, so that the obstacles that should have been under the wheel to hinder the wheel's rotation will move to the outside of the wheel due to the existence of the surrounding wire and will not be run over by the wheel. This enables the wheel to have a certain automatic obstacle avoidance function and increase the stability during the travel process.

[0020] According to a preferred embodiment, an obstacle clearing mechanism is provided on the sides of the steering wheel and the power wheel, and the obstacle clearing mechanism includes at least a plurality of cleaning whiskers whose one end is connected to the outer side of the steering wheel and the power wheel and the other end is flush with the side of the steering wheel and the power wheel in contact with the ground.

[0021] According to a preferred embodiment, the sweeping bar is made of a material that wears out quickly, so that during use, the sweeping bar that is flush with the contact surface between the tire and the ground will be worn out quickly and the sweeping bar will not prevent stones under the tire from being cleaned out of the tire.

[0022] According to a preferred embodiment, the cleaning surface is arranged to have a second convex portion and a second concave portion in a manner that increases the contact surface with obstacles so as to clear the obstacles.

[0023] The advantage of such a setting is that obstacles around the wheel can be cleared by the cleaning whiskers, and the cleaning surface of the second protrusion and the second recess can increase the contact area with the obstacle when encountering an irregular obstacle, so that with the cooperation of the ground, the obstacle can be better driven to rotate with the wheel, and the obstacle can be given centrifugal force, so that it can be thrown out when the cleaning surface gradually moves away from the obstacle. And due to the existence of the second protrusion and the second recess, the contact area between the obstacle and the cleaning surface becomes larger, so that it will not be easily squeezed into the space between the cleaning whiskers and clamped by the cleaning whiskers, thereby avoiding the situation where the obstacle cannot be thrown out due to the clamping of the cleaning whiskers based on centrifugal force. And the cleaning whiskers themselves will not hinder the movement of the wheel itself and the function of clearing obstacles.

[0024] Beneficial technical effects of the present invention:

[0025] First, the friction between the steering wheel and the ground can be increased by setting the first friction point and the second friction point, so that when the first steering wheel and the second steering wheel are on different grounds, the difference in rolling friction between the first steering wheel and the second steering wheel is reduced, so that the first steering wheel and the second steering wheel can be turned synchronously and stably in the direction to be turned; and the first friction point and the second friction point with different heights and a certain arrangement can increase the contact area with the ground on rough ground, so that the wrong point contact between the first steering wheel and the second steering wheel and the ground is reduced, reducing the probability of the first steering wheel and the second steering wheel moving in the wrong turning direction, ensuring correct and smooth steering on rugged ground.

[0026] Second, the winding line around the rotation axis of the sub-wheel can cooperate with the rotation of the sub-wheel to gradually guide obstacles on the sub-wheel movement path to the outside of the sub-wheel as the sub-wheel rotates, thereby automatically eliminating obstacles, improving the obstacle avoidance ability of the wheelchair, and ensuring the stability of the transfer device during use. The setting of the cleaning whisker can clean obstacles around the wheels during the rotation of the power wheel and the steering wheel, and the cleaning whisker of the steering wheel can help the steering wheel clean a clean section of the running path to prevent obstacles from affecting the stability of the transfer device.

[0027] Third, the Mecanum wheels of the transfer device do not need to be controlled by a separate motor. The transfer device only needs to control the first power wheel and the second power wheel separately, so the control method of the transfer device is simple; and the first power wheel and the second power wheel are ordinary wheels, the control procedure is simple, and the maintenance cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the arrangement positions of the power wheel and the steering wheel of the present invention;

[0029] Figure 2 It is a schematic diagram of a preferred arrangement of friction points of the present invention;

[0030] Figure 3 This is another schematic diagram of a preferred arrangement of the friction points of the present invention.

[0031] Figure 4 is a schematic diagram of a preferred embodiment of the wraparound wire of the present invention;

[0032] Figure 5 is a schematic diagram of a preferred embodiment of the first convex portion and the first concave portion of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the obstacle removal mechanism of the present invention.

[0034] Reference numerals list

[0035] 100: Steering wheel 200: Power wheel 110: First steering wheel

[0036] 120: second steering wheel 210: first power wheel 220: second power wheel

[0037] 101: First friction point 102: Second friction point 103: Buffer space

[0038] 130: sub-wheel 131: winding line 104: first convex part

[0039] 105: first concave portion 140: obstacle removal mechanism 141: cleaning bead

[0040] 142: Cleaning surface DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-6 Provide detailed explanation.

[0042] Example 1

[0043] The present embodiment provides a transport device, including a wheel that replaces sliding friction with rolling friction to assist the movement of the transport device. The wheel includes a power wheel 200 for providing power and a steering wheel 100 for steering. The power wheel 200 and the steering wheel 100 jointly bear the weight of the transport device and cooperate with each other to complete transport actions such as forward, backward and steering. The power wheel 200 includes a first power wheel 210 and a second power wheel 220 that are independent of each other and arranged oppositely. The steering wheel 100 includes a first steering wheel 110 and a second steering wheel 120 that are independent of each other and arranged oppositely. Preferably, the size of the first power wheel 210 and the second power wheel 220 is larger than the first steering wheel 110 and the second steering wheel 120 to improve the propulsion effect of the first power wheel 210 and the second power wheel 220. The first steering wheel 110 and the second steering wheel 120 with smaller size can facilitate flexible steering. Preferably, the first power wheel 210 and the second power wheel 220 are ordinary wheels, which are simple to control, have low maintenance costs and long service life. Preferably, the first power wheel 210 and the second power wheel 220 are driven by different power components so that the first power wheel 210 and the second power wheel 220 can generate different rotation speeds, so that the moving direction of the transfer device can be changed by the speed difference between the first power wheel 210 and the second power wheel 220. Preferably, the first steering wheel 110 and the second steering wheel 120 are both configured as Mecanum wheels, and the first steering wheel 110 and the second steering wheel 120 are arranged in mirror symmetry. Preferably, the power wheel 200 provides power, while the steering wheel 100 does not have power, and only rotates in the direction of the power wheel 200 based on friction under the push of the power wheel 200 to assist in the steering of the transfer device. Preferably, the first steering wheel 110 and the second steering wheel 120 are arranged in mirror symmetry so that when the wheelchair is in the forward state and the backward state, the speed of the two first steering wheels 110 and the second steering wheels 120 moving in the left and right directions can be offset, thereby making the combined motion direction move forward or backward based on the action of the power wheel 200. Preferably, the two Mecanum wheels are fixedly arranged on the shaft of the carrying device through bearings, and the relative position of the wheel axle will not change. When the wheelchair encounters a bumpy road, the two front wheels will not rotate toward or away from each other relative to the shaft of the carrying device during the turning process. Therefore, when encountering bumps, it can remain stable and move in the turning direction according to the pushing action of the rear wheels when landing, instead of the two steering wheels 100 facing opposite directions and confronting each other when moving, making the wheelchair unable to move forward. The special structure of the Mecanum wheel can also enable it to adapt to the pushing speed of the rear wheel, and the left and right steering wheels 100 have different rotation speeds, so that the carrying transfer device produces a motion trajectory in the turning direction.

[0044] According to a preferred embodiment, the steering wheel 100 also includes a wheel sleeve arranged on the sub-wheel 130, and a plurality of undulating friction points are arranged on the wheel sleeve. The friction points can increase the rolling friction between the steering wheel 100 and the ground, so that the steering wheel 100 can adapt to more special ground conditions. For example, when the two steering wheels 100 have different friction coefficients against the ground on the left and right sides during the steering process, the wheel sleeve with a small friction coefficient increases the difference between the static friction between the first steering wheel 110 and the left ground and the rolling friction between the second steering wheel 120 and the right ground, so that the relative rotation of the first steering wheel 110 and the second steering wheel 120 relative to the ground is not synchronized, thereby affecting the steering process, and may even cause the steering movement to fail to complete. The steering wheel set 100 with greater friction can increase the static friction between the first steering wheel 110 and the second steering wheel 120 and the ground, so that the difference in friction coefficient between the left and right sides of the ground becomes negligible, to ensure that under such special ground, the two steering wheels 100 can adapt to the push of the two rear wheels that steer in a differential manner, rotate together in the direction in which steering is required, and cooperate with the rear wheels to steer smoothly on the ground with different friction coefficients.

[0045] According to a preferred embodiment, the friction points include at least a first friction point 101 and a second friction point 102. The first friction point 101 and the second friction point 102 have different heights. The first friction point 101 and the second friction point 102 have different shapes. The first friction point 101 and the second friction point 102 have different widths. The first friction point 101 and the second friction point 102 are arranged in a certain manner to form a buffer space 103 that can accommodate pebbles. When encountering pebbles, it can play a certain buffering role and reduce bumps. Preferably, the outer peripheries of the first friction point 101 and the second friction point 102 are both set to a smooth arc shape so that when encountering pebbles, the pebbles will not be stuck in the buffer gap. Preferably, the arrangement shape of the first friction point 101 and the second friction point 102 can be, for example, a hexagonal, pentagonal or other circular shape around the first friction point 101, and the second friction point 102 is filled in the center of the circular shape, so that when a small stone enters the buffer gap, it can be supported by the second friction point 102 without excessive contact with the side of the first friction point 101, resulting in being stuck in the gap of the first friction point 101 and difficult to escape. Preferably, the shape of the first friction point 101 can be, for example, a semi-elliptical or hemispherical shape, and the shape of the second friction point 102 can be, for example, a hemispherical shape, to form a smooth surface. Preferably, the height of the first friction point 101 is greater than the height of the second friction point 102. When encountering a small stone while traveling or turning, the small stone will enter the buffer gap formed by the first friction point 101, so that the small stone will contact the lower second friction point 102 in the buffer gap instead of the higher first friction point 101. During the travel of the steering wheel 100, the main force is supported by the higher first friction point 101, so when encountering small stones, the effect of the particle size of the small stones on the steering of the wheel will be reduced, thereby reducing the bumps. When some stones with a particle size smaller than the height difference between the first friction point 101 and the second friction point 102 are located in the buffer space 103, they will not affect the travel of the wheel because they are neither in contact with the first friction point 101 nor the second friction point 102, so that the transfer device can smoothly deal with such small stones during the travel, thereby not causing bumps during the transfer process. In addition, when encountering a rainy road, rainwater can enter the gap between the first friction point 101 and the second friction point 102. Since the second friction point 102 is not in contact with the ground, the point pressure caused by the first friction point 101 on the ground is greater, and the static friction between the first friction point 101 and the ground is greater, so that the travel process will be more stable. However, such a configuration may increase the probability of adhesive substances adhering to the sub-wheels in some special scenarios, such as on a ground with adhesive substances, for example, a muddy ground on a rainy day or a ground with wet asphalt.

[0046] According to a preferred embodiment, a non-flat undulating first pattern is provided on the steering wheel 100 in a manner that can reduce the local pressure when in contact with the rugged ground. Preferably, the first pattern is also provided on the power wheel. The first pattern includes a first concave portion 105 and a first convex portion 104 surrounding the outer periphery of the first concave portion 105, wherein the curvature of the first concave portion 105 is greater than the curvature of the first convex portion 104. Preferably, a non-mutated curved surface with a hyperbolic curvature formed by a smooth curve is provided between the first convex portion 104 and the first concave portion 105. This allows the adhesion between the stone particles and the wheel sleeve to undergo a nonlinear dynamic change when the stone particles touch the uneven ground or encounter obstacles such as stones on the road surface, so that during the rotation of the wheel, the contact force between the stone and the wheel will not undergo a sudden change, and the stone is not easy to sink into the wheel sleeve and get stuck. Such a setting can, on the one hand, increase the friction between the steering wheel 100 and the ground, thereby increasing the stability of the transfer device during its travel. On the other hand, when the first steering wheel 110 and the second steering wheel 120 move on the rough ground, the first convex part 104 and the first concave part 105 form a complementary shape with the rough ground, which can reduce the occurrence of point contact scenes of the sub-wheel 130 during the movement, and ensure that most of the contact between the sub-wheel 130 and the ground is line contact during the bumpy process. In addition, in the case of line contact, the shaping of the first convex part 104 and the first concave part 105 can form more structural contact with the rough ground to ensure that the sub-wheel 130 can have sufficient friction contact with the ground, so that through the push of the first power wheel 210 and the second power wheel 220, the sub-wheel 130 can still generate rolling friction with the ground to push the sub-wheel 130 to move in the direction to be turned. In this case, the sub-wheel 130 will not produce a movement different from the direction to be turned due to the short-term point contact with the ground, which will hinder the turning of the transfer device, and can protect the transfer device from being stuck when turning on the uneven ground. In addition, the setting of the first pattern with hyperbolic curvature can reduce the probability of adhesion of adhesive substances. Adhesive substances adhere to the surface of the steering wheel and hinder the rotation of the steering wheel. Especially for a Mecanum wheel with multiple sub-wheels, there are gaps between adjacent sub-wheels. When a sticky substance adheres to the surface of a sub-wheel, the adhesive substance will enter between adjacent sub-wheels as the sub-wheel rotates, increasing the rotation resistance of the adjacent sub-wheels, or even directly getting stuck and difficult to rotate, affecting the use of the Mecanum wheel. The setting of the first pattern can prevent substances from adhering to the sub-wheels, so even when walking on a clay ground on a rainy day, it can prevent clay from adhering to the steering wheel, so that the transfer device can be used in more scenarios.

[0047] According to a preferred embodiment, the sub-wheel 130 of the steering wheel 100 is provided with a second pattern along the axial direction of the sub-wheel 130, and the second pattern includes a plurality of winding lines 131 starting from one end of the sub-wheel 130 close to the central axis of the wheelchair and extending toward one end of the sub-wheel 130 away from the central axis of the wheelchair. Such a setting makes it possible that when the steering wheel 100 encounters a stone, the two winding lines 131 gradually dispersed outward can gradually push the stone to the outside of the wheelchair as the steering wheel 100 rotates, and finally thrown out of the side of the wheel by centrifugal force, so as not to affect the movement of the transfer device. Preferably, the plurality of winding lines 131 gather at the first end of the sub-wheel 130 close to the central axis and gradually disperse at the second end of the sub-wheel 130 facing the outside of the wheelchair. Such a setting makes it possible that when the stone winding lines 131 move toward the side of the wheel under the action of the stone winding lines 131, they will not move toward the opposite side of the two steering wheels 100, but toward the opposite side of the two steering wheels 100, so that the stone will be thrown out of the outside of the transfer device, and will not enter the inside of the transfer device. This can prevent stones from entering the interior of the transfer device, causing damage to the workpieces or functional devices inside and affecting the normal function of the transfer device. In addition, the surrounding wire 131 set on the sub-wheel 130 will not gradually push the stones to the gap between the two sub-wheels 130 to affect the rotation of the sub-wheel 130 and the normal function of the steering wheel 100. Preferably, the convergence and dispersion directions of the surrounding wire 131 can be flexibly adjusted according to different steering wheel 100 settings and the position of the functional component relative to the steering wheel 100.

[0048] According to a preferred embodiment, the plurality of wrapping wires 131 are inclined along the rotation direction of the first steering wheel 110, so that the wrapping wires 131 can gradually push the stone forward and finally push the stone to the outside of the sub-wheel 130 to adapt to the rotation of the sub-wheel 130 when the sub-wheel 130 rotates forward, without the stone being stuck between the two wrapping wires 131 and entering under the sub-wheel 130, and entering the gap between the sub-wheel 130 to block the rotation of the sub-wheel 130. Preferably, the arrangement of the first friction point 101 can be implemented in the shape of a plurality of wrapping wires 131.

[0049] According to a preferred embodiment, an obstacle removal mechanism 140 is provided on the side of the steering wheel 100, so that during the travel, obstacles close to the wheel can be removed by the rotation of the wheel, reducing the impact of the obstacles on the travel and steering process of the wheel, and being able to clear a clean travel route for the power wheel 200 in advance. Preferably, an obstacle removal mechanism 140 is provided on the side of the power wheel 200, so as to remove obstacles around the power wheel 200 during the rotation of the power wheel 200. Preferably, the obstacle removal mechanism 140 includes at least a cleaning whisker 141. One end of the cleaning whisker 141 is connected to the outer side surfaces of a pair of steering wheels 100 that are away from each other, and the other end is flush with the side of the steering wheel 100 that is in contact with the ground. One end of the cleaning whisker 141 is connected to the outer side surfaces of a pair of power wheels 200 that are away from each other, and the other end is flush with the side of the power wheel 200 that is in contact with the ground. The cleaning whiskers 141, which are flush with the contact surface between the wheel and the ground, can completely contact obstacles near the wheel and will not be too long to affect the normal operation of the wheel. When the wheel rotates, if there is an obstacle near the wheel, it will contact the cleaning whiskers 141. During the rotation of the wheel, the cleaning whiskers 141 will also rotate at the same time, thereby driving the obstacle to rotate. Subsequently, the obstacle is thrown away from the wheel due to the action of centrifugal force, thereby avoiding the impact of the obstacle on the wheel.

[0050] According to a preferred embodiment, the cleaning whiskers 141 are made of a material that wears out quickly, so that during use, the cleaning whiskers 141 that are initially flush with the contact surface between the tire and the ground will be quickly worn out due to frequent contact with the ground, and then the stones that are cleaned to the outside of the wheel by the wheel's own structure, such as the wrapping wire 131, are located on the ground and thus have different heights, and can contact the cleaning whiskers 141 and be thrown away from the wheel by the cleaning whiskers 141. In this way, the use of the cleaning whiskers 141 and the wrapping wire 131 will not interfere with each other, but can cooperate with each other to clean up obstacles together.

[0051] According to a preferred embodiment, the side of the cleaning whiskers 141 that contacts the ground near the power wheel 200 and the steering wheel 100 is configured as a cleaning surface 142 with a plurality of irregular notches. Preferably, the cleaning whiskers 141 that contact the ground near the power wheel 200 and the steering wheel 100 are configured not to be flush with each other, but to cooperate with each other to form a continuous cleaning surface 142 with a second convex portion and a second concave portion. This allows the cleaning whiskers 141 to increase the contact area between the ground and the obstacle when cleaning whiskers 141 clean obstacles on the ground, so that the obstacle can rotate with the cleaning whiskers 141 as the wheel rotates under the support force of the ground and the pressure of the cleaning whiskers 141, and move in the direction of the centrifugal force when the pressure of the cleaning whiskers 141 is removed, without staying in the cleaning whiskers 141. If the cleaning surface 142 is flat, and the shape of the obstacle is generally irregular, when the cleaning surface 142 contacts the obstacle, the obstacle will enter under the cleaning surface 142 due to the support force of the ground and the pressure provided by the flat cleaning surface 142, and will be stuck between the multiple cleaning whiskers 141. When the cleaning whiskers 141 are away from the ground, the obstacle will stay in the cleaning whiskers 141 due to the clamping of the multiple cleaning whiskers 141, and will not be easily thrown out of the wheelchair. By setting the second protrusion and the second recess, it is possible to increase the contact between the cleaning surface 142 and the obstacle, and prevent the obstacle from being stuck in the cleaning whiskers 141, so that the cleaning whiskers 141 can be thrown out of the obstacle. Preferably, the transition between the second protrusion and the second recess is a non-sudden curved surface, so that the irregular obstacle can easily slide into the second recess when in contact with the second protrusion without being stuck in the cleaning whiskers 141 forming the second protrusion. Preferably, the second convex portion and the second concave portion can be the same shape as the first convex portion 104 and the first concave portion 105. And through such a configuration, the surface of the sweeping whiskers 141 can be kept clean even in rainy days, reducing the probability of mud on the road surface being stained on the sweeping whiskers 141, and helping to reduce the probability of the sweeping whiskers being thrown up to or around the transfer device by the centrifugal force when the wheels rotate.

[0052] It should be noted that the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention description and its drawings are illustrative and do not constitute a limitation of the claims. The protection scope of the present invention is defined by the claims and their equivalents.

Claims

1. A transfer device, comprising wheels that use rolling friction instead of sliding friction to assist the transfer device in moving, the wheels comprising a power wheel (200) for providing power and a steering wheel (100) for steering, the power wheel (200) and the steering wheel (100) jointly bear the weight of the transfer device and cooperate with each other to complete the transfer action, characterized in that: The power wheel (200) comprises a first power wheel (210) and a second power wheel (220) which are independently and oppositely arranged, and the steering wheel (100) comprises a first steering wheel (110) and a second steering wheel (120) which are independently and oppositely arranged, wherein the first steering wheel (110) and the second steering wheel (120) are both Mecanum wheels, and the first steering wheel (110) and the second steering wheel (120) are arranged in mirror symmetry. The steering wheel (100) is provided with a non-flat undulating first pattern in a manner capable of reducing local pressure when in contact with a rough ground, the first pattern comprising a first concave portion (105) and a first convex portion (104) surrounding the first concave portion (105), wherein the curvature of the first concave portion (105) is greater than the curvature of the first convex portion (104), The transition between the first convex portion (104) and the first concave portion (105) is configured as a non-abrupt curved surface with double curvature formed by a smooth curve in a manner that enables continuous contact with the rough ground. The sub-wheel (130) of the steering wheel (100) is provided with a second pattern along the axial direction of the sub-wheel (130), the second pattern comprising a plurality of circumferential lines (131) starting from one end of the sub-wheel (130) close to the central axis of the wheelchair and extending toward one end of the sub-wheel (130) away from the central axis of the wheelchair, wherein the plurality of circumferential lines (131) are gathered at a first end of the sub-wheel (130) close to the central axis and dispersed at a second end of the sub-wheel (130) toward the outside of the wheelchair in a manner that the stones can be extended toward the outside of the wheelchair, and the plurality of circumferential lines (131) are inclined along the rotation direction of the first steering wheel (110).

2. The transfer device according to claim 1, characterized in that: The steering wheel (100) further comprises a wheel sleeve arranged on the sub-wheel (130), wherein the wheel sleeve is provided with a plurality of friction points in a manner capable of increasing the friction coefficient between the steering wheel (100) and the contact surface.

3. The transfer device according to claim 2, characterized in that: The friction points at least include a first friction point (101) and a second friction point (102), the first friction point (101) and the second friction point (102) having different heights, the first friction point (101) being arranged in a manner to be buffered when encountering small particle obstacles to form a plurality of buffer spaces (103), wherein the second friction points (102) are arranged in the buffer space (103) in a manner to prevent particles from being stuck in the buffer space (103).

4. The transfer device according to claim 1, characterized in that: The winding line (131) is arranged as a curve spirally wound around the axial direction of the sub-wheel (130) in such a manner that it can adapt to the rolling of the sub-wheel (130) when encountering a particle obstacle and gradually push the particle obstacle to the outside of the sub-wheel (130).

5. The transfer device according to claim 1, characterized in that: An obstacle clearing mechanism (140) is provided on the side of the steering wheel (100) and the power wheel (200), and the obstacle clearing mechanism (140) comprises at least a plurality of cleaning whiskers (141) one end of which is connected to the outer side of the steering wheel (100) and the power wheel (200) and the other end of which is flush with the side of the steering wheel (100) and the power wheel (200) in contact with the ground.

6. The transfer device according to claim 5, characterized in that: The cleaning whiskers (141) are made of a material that wears out quickly, so that during use, the cleaning whiskers (141) flush with the contact surface between the tire and the ground will be worn out quickly, thereby preventing the cleaning whiskers (141) from preventing stones under the tire from being cleaned out of the tire.

7. The transfer device according to claim 6, characterized in that: The cleaning bar (141) is provided with a cleaning surface (142) having a plurality of irregular notches on a surface close to the power wheel (200) and the steering wheel (100) that contacts the ground in a manner that increases the contact surface with obstacles so as to remove the obstacles.

Images