Triangular crawler wheel deviation rectifying device

Abstract

The invention relates to a triangular crawler wheel deviation rectifying device, and belongs to the technical field of all-terrain obstacle crossing wheelchairs. The wheelchair comprises a wheelchair body, a base, a first mounting frame, a motion deviation rectifying structure, a spring damper, a loading wheel set, a tensioning wheel, a crawler belt ring, a giant tooth belt wheel, a second mounting frame, a differential mechanism structure, a driving motor, a transmission gear, an ECU control panel, an operation handle, a positioning frame and a power battery module. The guide wheel, the loading wheel set, the tensioning wheel and the crawler belt ring are in synchronous transmission, the crawler belt ring vibrates when moving on the ground, the tensioning wheel rolls on the inner side of the crawler belt ring through the first arm rod and the connecting arm, and the tensioning degree of the crawler belt ring is changed; and at the moment, a first buffer spring and a second buffer spring of a first spring rod and a second spring rod can drive the tensioning wheel to generate angle change along with the crawler belt ring, the tensioning wheel is always in contact support with the inner side of the crawler belt ring, the tensioning degree is kept within a constant value range, and then normal transmission of the crawler belt ring is guaranteed.

Description

Technical Field

[0001] The invention relates to a triangular track wheel deviation correction device, belonging to the technical field of all-terrain obstacle-crossing wheelchairs. Background Art

[0002] The all-terrain obstacle-crossing wheelchair is a wheelchair structure suitable for all-terrain off-road and high-mobility walking capabilities. It mainly serves the elderly and disabled people with mobility problems. Since ordinary wheelchairs on the market are not able to adapt to complex terrains such as stairs, ramps, and bumpy roads, the all-terrain obstacle-crossing wheelchair came into being, which can provide users with better walking assistance capabilities.

[0003] After searching, according to the invention patent with Chinese patent publication number CN201910807595.4, a triangular track wheel and its swing correction device, method and system are disclosed. The triangular track wheel in the invention patent controls the lateral swing angle of the guide wheel group in the horizontal plane through the swing adjustment structure, thereby compensating for the problem of inconsistent tension force inside and outside the rubber track caused by manufacturing errors and solving the problem of lateral deviation. However, during the transmission process of the track, the tension on the inner side of the track will change due to the vibration of the guide wheel group and the road wheel group during transmission. Too loose or too tight will affect the normal transmission. The triangular track wheel swing correction device cannot adaptively adjust the tension on the inner side of the track according to the track when it is transmitted on the ground. Therefore, a triangular track wheel correction device is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a triangular track wheel correction device, which has the advantage of adaptively adjusting the tension of the inner side of the track during track transmission, so as to solve the problems that the existing triangular track wheel swing correction device is not convenient for adaptively adjusting the tension of the inner side of the track, and the track vibrates during transmission, resulting in the tension being too loose or too tight, which affects the normal transmission.

[0005] The present invention is implemented according to the following technical scheme: a triangular track wheel correction device, characterized in that it includes a wheelchair body 1, a base 2, a first mounting frame 3, a motion correction structure 4, a spring damper 5, a road wheel group 6, a tension wheel 7, a track ring 8, a giant tooth pulley 9, a second mounting frame 10, a differential structure 11, a drive motor 12, a transmission gear 13, an ECU control panel 15, an operating handle 16, a positioning frame 21, and a power battery module 23; the ECU control panel 15 and the operating handle 16 are installed on the upper part of the wheelchair body 1, the power battery module 23 is installed on the wheelchair body 1, the ECU control panel 15 is connected to the power battery module 23, the base 2 is installed at the bottom of the wheelchair body 1, and the second mounting frame 10 is installed at the bottom of the base 2 The driving motor 12 is mounted on the side of the second mounting frame 10, the differential structure 11 is mounted on the inner side of the second mounting frame 10, the driving motor 12 is connected to the differential structure 11, and the transmission gears 13 are meshed with each other and are mounted on both sides of the second mounting frame 10. The spring damper 5 is mounted on the bottom of the base 2, the first mounting frame 3 is mounted on the outer side of the base 2, the positioning frame 21 is mounted on the outer side of the first mounting frame 3, the road wheel group 6 is mounted on the positioning frame 21, the giant tooth pulley 9 is mounted on the first mounting frame 3, the inner side of the track ring 8 is provided with an inner tooth layer 22, and the track ring 8 is meshed with the giant tooth pulley 9 through the inner tooth layer 22 and is mounted on the giant tooth pulley 9, the tensioning wheel 7 is mounted on the motion correction structure 4, and the tensioning wheel 7 and the road wheel group 6 are both in contact with the inner tooth layer 22, and the motion The dynamic correction structure 4 is installed on the first mounting frame 3, and the dynamic correction structure 4 includes a first arm 401, a connecting arm 402, a first spring rod 403, a second spring rod 404, a first limiter 405, a second arm 406, a connecting frame 407, and a second limiter 408; the first arm 401 is installed on the side of the first mounting frame 3, the connecting arm 402 is installed on the left end of the first arm 401, the second spring rod 404 is fixedly connected to the inner side of the connecting arm 402, the tensioning wheel 7 is installed at the end of the connecting arm 402, the first spring rod 403 is installed on the first arm 401, one end of the first limiter 405 is connected to the first spring rod 403, and the other end is connected to the second spring rod 404, and the second arm 406 is installed on the side of the first mounting frame 3. A guide wheel 14 is installed at the end of the second arm 406, and a connecting frame 407 is installed in the middle of the second arm 406. A second limit member 408 is installed at the upper end of the connecting frame 407. The second limit member 408 includes a limit gear roller 4081 and a correction plate 4082. The limit gear roller 4081 is installed at the upper end of the connecting frame 407. The limit gear roller 4081 is meshed with the track ring 8 for transmission. The correction plate 4082 is installed at the upper end of the connecting frame 407. A roller group 4083 is installed at the end of the correction plate 4082. The roller group 4083 is slidably fitted with the outer side of the track ring 8. The motion correction structure 4 is used to maintain the stability of the tension of the track ring 8 through the tensioning wheel 7 and prevent the track ring 8 from being offset during transmission through the correction plate 4082.

[0006] A slider No. 1 is installed on the first spring rod 403 of the motion correction structure 4, and a buffer spring No. 18 is installed on both the left and right ends of the first spring rod 403. The first limit member 405 includes a slot plate 4051 and a support rod 4052. One end of the slot plate 4051 is installed on the slider No. 17, and the other end of the slot plate 4051 is installed with the support rod 4052. A slider No. 2 is installed on the second spring rod 404, and the other end of the support rod 4052 is connected to the slider No. 2 19. Both ends of the second spring rod 404 are installed with a buffer spring No. 20. The buffer spring No. 18 and the buffer spring No. 20 are used to elastically support the slot plate 4051 and the support rod 4052, so as to achieve the self-resetting effect of the first arm rod 401 and the connecting arm 402 when the tensioning wheel 7 swings.

[0007] The differential structure 11 includes a first bevel gear 1101, a second bevel gear 1102, a third bevel gear 1103, and a fourth bevel gear 1104; the first bevel gear 1101 is mounted on the left inner wall of the second mounting frame 10, the end of the first bevel gear 1101 is fixedly connected to the output end of the drive motor 12, the second bevel gear 1102 is mounted on the inner wall of the second mounting frame 10, the first bevel gear 1101 is meshed with the second bevel gear 1102, the other shaft end of the second bevel gear 1102 is coaxially fixed with the transmission gear 13, and the first bevel gear 1101 is meshed with the second bevel gear 1102. There are two transmission gears 13 meshing with the shaft ends of the second bevel gear 1102, the third bevel gear 1103 is installed at the other end of the second bevel gear 1102, the fourth bevel gear 1104 is installed on the inner side of the second mounting frame 10, the third bevel gear 1103 is meshed with the fourth bevel gear 1104, and the differential structure 11 is used to form a differential through the third bevel gear 1103, the two fourth bevel gears 1104 and the second bevel gear 1102 combined structure, so that the left and right wheel braking produces a speed difference to achieve a steering effect, thereby ensuring driving stability.

[0008] The working principle of a triangular track wheel deviation correction device is as follows: the power battery module 23 provides electric energy, and the wheelchair body 1 can be moved forward, backward and turned by controlling the operating handle 16, and the ECU control panel 15 is operated to realize the whole vehicle driving, steering, braking and various operation instructions. The ECU control panel 15 is combined with the Internet technology to realize the functions of positioning, navigation, emergency call and recommendation of scenic spots according to personal preferences, and is equipped with a full lighting control system to facilitate lighting operation, and supports mobile phone remote control to achieve diversified operation control effects;

[0009] Operate the ECU control panel 15 to start the drive motor 12. The drive motor 12 drives the first bevel gear 1101 structure. The first bevel gear 1101 is meshed to drive one of the second bevel gears 1102. Then, one of the second bevel gears 1102 coaxially drives the third bevel gear 1103, so that the third bevel gear 1103 is meshed to drive two fourth bevel gears 1104 at the same time. At this time, the two fourth bevel gears 1104 are meshed to drive another second bevel gear 1102. One end of the two second bevel gears 1102 drives two of the transmission gears 13 respectively. The two transmission gears 13 are meshed to drive the other four transmission gears 13. Then, a transmission wheel assembly is provided on the side of the four giant toothed pulleys 9 facing the transmission gear 13. The four transmission gears 13 are used to drive the four giant toothed pulleys 9 respectively. The giant toothed pulleys 9 are meshed with the track ring 8 to achieve the effect that the four track rings 8 drive the wheelchair body 1 to move.

[0010] The tensioning wheel 7 is in contact with the inner side of the track ring 8 for transmission, and swings at an angle as the track ring 8 is deformed. At this time, the track ring 8 applies force to the tensioning wheel 7, controlling the tensioning wheel 7 to drive the connecting arm 402 and the first arm 401 to swing at an angle. At this time, the connecting arm 402 pushes the support rod 4052 to drive the second slider 19 to squeeze the second buffer spring 20 and slide on the second spring rod 404. The first arm 401 pushes the first slider 17 to squeeze the first buffer spring 18 and slide on the first spring rod 403, thereby maintaining the angular amplitude of the connecting arm 402 and the first arm 401, so that the tensioning wheel 7 controls the tension of the track ring 8 within a constant range, avoiding the problem of excessive deformation of the track ring 8 on bumpy roads that affects the transmission effect.

[0011] At the same time, the track ring 8 is attached to the limiting gear roller 4081 and the roller group 4083 for transmission. The limiting gear roller 4081 and the roller group 4083 can maintain the stability of the transmission of the track ring 8. Then, two correcting plates 4082 are attached to the front and rear sides of the track ring 8 to limit the moving distance of the track ring 8 in the front and rear directions, thereby achieving the effect of correcting and limiting the track ring 8.

[0012] The present invention has the following beneficial effects:

[0013] 1. The triangular track wheel correction device provides driving power through the ECU control panel and the power battery module. The guide wheel, the road wheel group, the tension wheel and the track ring are driven synchronously. The track ring vibrates when traveling on the ground. The tension wheel rolls on the inner side of the track ring through the first arm and the connecting arm, and the tension of the track ring changes. At this time, the No. 1 buffer spring and the No. 2 buffer spring of the first spring rod and the second spring rod will drive the tension wheel to change the angle with the track ring, always contacting and supporting the inner side of the track ring, maintaining the tension within a constant value range, and thus ensuring the normal transmission of the track ring.

[0014] 2. The triangular track wheel correction device is configured with a limit gear roller to synchronously mesh with the track ring, and then two correction plates are slidably fitted to the outer side of the track ring through a roller group, so as to limit the track ring within the spacing range of the connecting frame, thereby further increasing the correction effect of the track ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a schematic structural diagram of the wheelchair body of the present invention;

[0017] Figure 3 This is a schematic diagram of the triangular crawler structure in the present invention from a top view perspective;

[0018] Figure 4 This is a schematic diagram of the triangular crawler structure of the present invention when viewed from above;

[0019] Figure 5 It is a schematic diagram of the connection structure between the motion deviation correction structure and the tensioning wheel of the present invention;

[0020] Figure 6 It is a schematic diagram of the matching structure of the second spring rod, the second buffer spring and the second slider in the motion correction structure of the present invention;

[0021] Figure 7 It is a schematic diagram of the connection structure between the guide wheel and the second arm of the present invention;

[0022] Figure 8 It is a schematic diagram of the differential structure of the present invention.

[0023] The numbers in the figure are: 1: wheelchair body, 2: base, 3: first mounting frame, 4: motion correction structure, 401: first arm, 402: connecting arm, 403: first spring rod, 404: second spring rod, 405: first limiter, 4051: slot plate, 4052: support rod, 406: second arm, 407: connecting frame, 408: second limiter, 4081: limit gear roller, 4082: correction plate, 4083: roller group, 5: spring damper, 6: road wheel group, 7: tension wheel, 8: track ring, 9: giant tooth pulley, 10: second mounting frame, 11: differential structure, 1101: first bevel gear, 1102: second bevel gear, 1103: third bevel gear, 1104: fourth bevel gear, 12: drive motor, 13: transmission gear, 14: guide wheel, 15: ECU control panel, 16: operating handle, 17: slider No. 1, 18: buffer spring No. 1, 19: slider No. 2, 20: buffer spring No. 2, 21: positioning frame, 22: inner tooth layer, 23: power battery module. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the content of the present invention is not limited to the scope of the embodiments.

[0025] Example 1: Figure 1-8As shown, a triangular track wheel correction device includes a wheelchair body 1, a base 2, a first mounting frame 3, a motion correction structure 4, a spring damper 5, a road wheel group 6, a tension wheel 7, a track ring 8, a giant tooth pulley 9, a second mounting frame 10, a differential structure 11, a drive motor 12, a transmission gear 13, an ECU control panel 15, an operating handle 16, a positioning frame 21, and a power battery module 23; the ECU control panel 15 and the operating handle 16 are mounted on the upper part of the wheelchair body 1, the power battery module 23 is mounted on the wheelchair body 1, the ECU control panel 15 is connected to the power battery module 23, the base 2 is mounted on the bottom of the wheelchair body 1, the second mounting frame 10 is mounted on the bottom of the base 2, and the drive motor 12 is mounted on the second mounting frame 10. The second mounting frame 10 is on the side, the differential structure 11 is mounted on the inner side of the second mounting frame 10, the drive motor 12 is connected to the differential structure 11, and the transmission gears 13 are meshed with each other and are mounted on both sides of the second mounting frame 10. The spring damper 5 is mounted on the bottom of the base 2, the first mounting frame 3 is mounted on the outer side of the base 2, the positioning frame 21 is mounted on the outer side of the first mounting frame 3, the load-bearing wheel group 6 is mounted on the positioning frame 21, the giant tooth pulley 9 is mounted on the first mounting frame 3, the inner side of the track ring 8 is provided with an inner tooth layer 22, and the track ring 8 is meshed with the giant tooth pulley 9 through the inner tooth layer 22 and is mounted on the giant tooth pulley 9, the tensioning wheel 7 is mounted on the motion correction structure 4, the tensioning wheel 7 and the load-bearing wheel group 6 are both in contact with the inner tooth layer 22, and the motion correction structure 4 is installed On the first mounting frame 3, the motion correction structure 4 includes a first arm 401, a connecting arm 402, a first spring rod 403, a second spring rod 404, a first limiter 405, a second arm 406, a connecting frame 407, and a second limiter 408; the first arm 401 is installed on the side of the first mounting frame 3, the connecting arm 402 is installed on the left end of the first arm 401, the second spring rod 404 is fixedly connected to the inner side of the connecting arm 402, the tensioning wheel 7 is installed at the end of the connecting arm 402, the first spring rod 403 is installed on the first arm 401, one end of the first limiter 405 is connected to the first spring rod 403, and the other end is connected to the second spring rod 404, the second arm 406 is installed on the side of the first mounting frame 3, and the second arm A guide wheel 14 is installed at the end of the rod 406, the connecting frame 407 is installed in the middle of the second arm 406, the second limit member 408 is installed at the upper end of the connecting frame 407, and the second limit member 408 includes a limit gear roller 4081 and a correction plate 4082. The limit gear roller 4081 is installed at the upper end of the connecting frame 407, the limit gear roller 4081 is meshed with the track ring 8 for transmission, the correction plate 4082 is installed at the upper end of the connecting frame 407, and the ends of the correction plate 4082 are installed with roller groups 4083, and the roller groups 4083 are slidably fitted with the outer side of the track ring 8. The motion correction structure 4 is used to maintain the stability of the tension of the track ring 8 through the tensioning wheel 7 and prevent the track ring 8 from being offset during transmission through the correction plate 4082.

[0026] A slider No. 1 is installed on the first spring rod 403 of the motion correction structure 4, and a buffer spring No. 18 is installed on both ends of the left and right sides of the first spring rod 403. The first limit member 405 includes a slot plate 4051 and a support rod 4052. One end of the slot plate 4051 is installed on the slider No. 17, and the other end of the slot plate 4051 is installed with the support rod 4052. A slider No. 2 is installed on the second spring rod 404, and the other end of the support rod 4052 is connected to the slider No. 2 19. Both ends of the second spring rod 404 are installed with a buffer spring No. 20. The buffer spring No. 18 and the buffer spring No. 20 are used to elastically support the slot plate 4051 and the support rod 4052, so as to realize the self-resetting effect of the first arm rod 401 and the connecting arm 402 when the tensioning wheel 7 swings.

[0027] The differential structure 11 includes a first bevel gear 1101, a second bevel gear 1102, a third bevel gear 1103, and a fourth bevel gear 1104; the first bevel gear 1101 is mounted on the left inner wall of the second mounting frame 10, the end of the first bevel gear 1101 is fixedly connected to the output end of the drive motor 12, the second bevel gear 1102 is mounted on the inner wall of the second mounting frame 10, the first bevel gear 1101 is meshed with the second bevel gear 1102, the other shaft end of the second bevel gear 1102 is coaxially fixed with the transmission gear 13, and the second bevel gear 1102 is fixed to the transmission gear 13. There are two transmission gears 13 meshing with the shaft end of the bevel gear 1102, the third bevel gear 1103 is installed on the other end of the second bevel gear 1102, the fourth bevel gear 1104 is installed on the inner side of the second mounting frame 10, the third bevel gear 1103 is meshed with the fourth bevel gear 1104, and the differential structure 11 is used to form a differential through the third bevel gear 1103, the two fourth bevel gears 1104 and the second bevel gear 1102 combined structure, so that the left and right wheel braking produces a speed difference to achieve a steering effect, thereby ensuring driving stability.

Claims

1. A triangular track wheel deviation correction device, characterized in that: The wheelchair comprises a wheelchair body (1), a base (2), a first mounting frame (3), a motion correction structure (4), a spring damper (5), a road wheel set (6), a tension wheel (7), a track ring (8), a giant tooth pulley (9), a second mounting frame (10), a differential structure (11), a drive motor (12), a transmission gear (13), an ECU control panel (15), an operating handle (16), a positioning frame (21), and a power battery module (23); the ECU control panel (15), the operating handle (16 ) is mounted on the upper part of the wheelchair body (1), the power battery module (23) is mounted on the wheelchair body (1), the ECU control panel (15) is connected to the power battery module (23), the base (2) is mounted on the bottom of the wheelchair body (1), the second mounting frame (10) is mounted on the bottom of the base (2), the drive motor (12) is mounted on the side of the second mounting frame (10), the differential structure (11) is mounted on the inner side of the second mounting frame (10), the drive motor (12) is connected to the differential structure (11), and the transmission gear (13) are mounted on both sides of the second mounting frame (10) in meshing relationship with each other, the spring damper (5) is mounted on the bottom of the base (2), the first mounting frame (3) is mounted on the outside of the base (2), the positioning frame (21) is mounted on the outside of the first mounting frame (3), the road wheel group (6) is mounted on the positioning frame (21), the giant toothed pulley (9) is mounted on the first mounting frame (3), an inner tooth layer (22) is provided on the inner side of the track ring (8), and the track ring (8) is meshed with the giant toothed pulley (9) through the inner tooth layer (22) and is mounted on The jumbo gear pulley (9) is mounted on the tensioning wheel (7) on the motion correction structure (4), the tensioning wheel (7) and the road wheel group (6) are both in contact with the inner tooth layer (22), the motion correction structure (4) is mounted on the first mounting frame (3), and the motion correction structure (4) comprises a first arm (401), a connecting arm (402), a first spring rod (403), a second spring rod (404), a first stopper (405), a second arm (406), a connecting frame (407), and a second stopper (408);The first arm (401) is mounted on the side of the first mounting frame (3), the connecting arm (402) is mounted on the left end of the first arm (401), the second spring rod (404) is fixedly connected to the inner side of the connecting arm (402), the tensioning wheel (7) is mounted on the end of the connecting arm (402), the first spring rod (403) is mounted on the first arm (401), one end of the first limiting member (405) is connected to the first spring rod (403), and the other end is connected to the second spring rod (404), the second arm (406) is mounted on the side of the first mounting frame (3), the end of the second arm (406) is equipped with a guide wheel (14), the connecting frame (407) is mounted in the middle of the second arm (406), and the second limiting member (40 8) is installed at the upper end of the connecting frame (407), the second limiting member (408) includes a limiting toothed roller (4081) and a correction plate (4082), the limiting toothed roller (4081) is installed at the upper end of the connecting frame (407), the limiting toothed roller (4081) is meshed with the track ring (8) for transmission, the correction plate (4082) is installed at the upper end of the connecting frame (407), a roller group (4083) is installed at each end of the correction plate (4082), the roller group (4083) is slidably fitted with the outer side of the track ring (8), and the motion correction structure (4) is used to maintain the tension of the track ring (8) stable through the tensioning wheel (7) and prevent the track ring (8) from deflecting during transmission through the correction plate (4082). ; 2. The triangular track wheel deviation correction device according to claim 1 is characterized in that: A first slider (17) is installed on the first spring rod (403) of the motion correction structure (4), and a first buffer spring (18) is installed on both the left and right ends of the first spring rod (403). The first position-limiting member (405) comprises a slot plate (4051) and a support rod (4052). One end of the slot plate (4051) is installed on the first slider (17), and the other end of the slot plate (4051) is installed with the support rod (4052). The second spring rod (404 ) is installed with a No. 2 slider (19), the other end of the support rod (4052) is connected to the No. 2 slider (19), and both ends of the second spring rod (404) are installed with a No. 2 buffer spring (20). The No. 1 buffer spring (18) and the No. 2 buffer spring (20) are used to elastically support the slot plate (4051) and the support rod (4052), so as to achieve a self-resetting effect when the first arm rod (401) and the connecting arm (402) swing with the tensioning wheel (7).

3. The triangular track wheel deviation correction device according to claim 1 is characterized in that: The differential structure (11) comprises a first bevel gear (1101), a second bevel gear (1102), a third bevel gear (1103), and a fourth bevel gear (1104); the first bevel gear (1101) is mounted on the left inner wall of the second mounting frame (10); the end of the first bevel gear (1101) is fixedly connected to the output end of the drive motor (12); the second bevel gear (1102) is mounted on the inner wall of the second mounting frame (10); the first bevel gear (1101) is meshed with the second bevel gear (1102); the other shaft end of the second bevel gear (1102) is coaxially fixed to the transmission gear (13) , two transmission gears (13) are meshed with the shaft end of the second bevel gear (1102), the third bevel gear (1103) is mounted on the other end of the second bevel gear (1102), the fourth bevel gear (1104) is mounted on the inner side of the second mounting frame (10), the third bevel gear (1103) is meshed with the fourth bevel gear (1104), and the differential structure (11) is used to form a differential through the combined structure of the third bevel gear (1103), the two fourth bevel gears (1104) and the second bevel gear (1102), so that the left and right wheels are braked to generate a speed difference to achieve a steering effect, thereby ensuring driving stability.

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