CN107757750A - Obstacle-detouring method and its implementation based on adjustment position of centre of gravity - Google Patents
Obstacle-detouring method and its implementation based on adjustment position of centre of gravity Download PDFInfo
- Publication number
- CN107757750A CN107757750A CN201711077283.XA CN201711077283A CN107757750A CN 107757750 A CN107757750 A CN 107757750A CN 201711077283 A CN201711077283 A CN 201711077283A CN 107757750 A CN107757750 A CN 107757750A
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- CN
- China
- Prior art keywords
- schedule
- obstacle
- barrier
- detouring
- gravity center
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention relates to a kind of obstacle-detouring method and its implementation based on adjustment position of centre of gravity.Illustrate by taking the wheel type movement device of longitudinal front two rows wheel as an example.When level land is moved：Load gravity center position is between front and rear schedule touchdown point；When meeting barrier obstacle detouring：When certain skate meets barrier, the adjustment of barrier schedule direction is met into non-in load gravity center position, reduces and meets the carrying that barrier schedule is born, chance is hindered schedule with less torque obstacle detouring；When load gravity center position adjustment hinders schedule touchdown point to more than non-meet, when outside two schedule axial connecting lines, chance barrier schedule can be made to bear upward carrying, obstacle detouring can voluntarily be tilted by meeting barrier schedule.The implementation of the obstacle-detouring method, its composition include：The driving wheel of vehicle frame, longitudinal direction no less than 2 rows, load gravity center adjusting apparatus.
Description
Technical field
The present invention relates to the obstacle-detouring method of telecontrol equipment and its implementation.More particularly in terms of barrier-exceeding vehicle, stair-climbing wheel chair.
Background technology
The research of obstacle detouring has had the history of last 100 yearses in the world, it has been proposed that the solution of various obstacle detourings.
In some obstacle detouring solutions, there are continous way obstacle detouring scheme, such as crawler type, planet gear type；Batch (-type) obstacle detouring solution, than
Such as step-by-step movement.Most popular research direction mainly has lunar rover, stair climbing robot in these barrier-exceeding vehicles.But there is presently no
Effective obstacle-detouring method of large-scale commercial applications popularization and application.
The content of the invention
It is an object of the invention to provide a kind of obstacle-detouring method and its implementation based on adjustment position of centre of gravity.
Illustrate by taking the wheel type movement device of longitudinal front two rows wheel as an example.When level land is moved：Load gravity center position is front and rear
Between schedule touchdown point；When meeting barrier obstacle detouring：When certain skate meets barrier, the adjustment of barrier schedule direction is met into non-in load gravity center position, subtracted
The small carrying met barrier schedule and born, enables chance to hinder schedule with less torque obstacle detouring；When load gravity center position adjustment is to more than non-
Meet and hinder schedule touchdown point, when outside two schedule axial connecting lines, chance barrier schedule can be made to bear upward carrying, meeting barrier schedule can be certainly
Row tilts obstacle detouring.
The implementation of the obstacle-detouring method, its composition include：Vehicle frame, longitudinal direction are no less than driving wheel, the load gravity center of 2 rows
Adjusting apparatus.
Brief description of the drawings
Fig. 1 is level land operation schematic diagram.
Fig. 2 is that front-wheel meets barrier obstacle detouring schematic diagram.
Fig. 3 is that trailing wheel meets barrier obstacle detouring schematic diagram.
Fig. 4 is the schematic diagram that gravity center adjuster uses revolute pair.
Embodiment
Below in conjunction with the accompanying drawings, illustrate by taking the wheel type movement device of front and rear two skate as an example, based on getting over for adjustment position of centre of gravity
Barrier method.
When level land is moved：Load gravity center position is between front and rear schedule touchdown point；When meeting barrier obstacle detouring：When certain skate meets barrier,
The adjustment of barrier schedule direction is met into non-in load gravity center position, reduces and meets the carrying that barrier schedule is born, chance is hindered schedule with smaller
Torque obstacle detouring；When load gravity center position adjustment to more than it is non-meet hinder schedule touchdown point, can when outside two schedule axial connecting lines
Chance barrier schedule is set to bear upward carrying, obstacle detouring can voluntarily be tilted by meeting barrier schedule.
The implementation of obstacle-detouring method based on adjustment position of centre of gravity, its composition include：Vehicle frame, longitudinal direction are no less than 2 rows'
Driving wheel, load gravity center adjusting apparatus.The load gravity center adjusting apparatus can adjust the position of centre of gravity of load-carrying, can be containing
The various displacement adjusting devices of driving.Prismatic pair, screw pair can be used, load position is moved, to adjust load weight
Heart position；Or using revolute pair, load position is set to shift by rotational swing rod, to realize adjustment load gravity center position；
Combined mechanism can also be used, load position is changed by compound motion, to realize adjustment load gravity center position.
Specific embodiment has many kinds, as long as load gravity center position changes, makes to touch the equal of barrier schedule carrying reduction
Belong to scope of the invention.
Claims (2)
- A kind of 1. obstacle-detouring method based on adjustment position of centre of gravity, it is characterised in that：Longitudinal direction is no less than the wheel type movement of 2 row's driving wheels Device, when certain skate meets barrier, adjustment load gravity center position hinders near schedule touchdown point plumb line to certain non-meets, and holds chance barrier schedule , can be with less torque obstacle detouring by less carrying.
- 2. the implementation of obstacle-detouring method described in right 1, its composition includes：The driving wheel of vehicle frame, longitudinal direction no less than 2 rows, load Gravity center adjuster.The load gravity center adjusting apparatus can adjust the position of centre of gravity of load, can be containing the various of driving Displacement adjusting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077283.XA CN107757750A (en) | 2017-10-26 | 2017-10-26 | Obstacle-detouring method and its implementation based on adjustment position of centre of gravity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077283.XA CN107757750A (en) | 2017-10-26 | 2017-10-26 | Obstacle-detouring method and its implementation based on adjustment position of centre of gravity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107757750A true CN107757750A (en) | 2018-03-06 |
Family
ID=61273687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711077283.XA Withdrawn CN107757750A (en) | 2017-10-26 | 2017-10-26 | Obstacle-detouring method and its implementation based on adjustment position of centre of gravity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107757750A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890686A (en) * | 2018-07-09 | 2018-11-27 | 胡俊 | A kind of changeable gravity centre formula Caterpillar robot |
| CN110304172A (en) * | 2019-06-27 | 2019-10-08 | 宁德师范学院 | A kind of mechanical device with obstacle detouring locomotive function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004001705A (en) * | 2002-03-29 | 2004-01-08 | Sanyo Electric Co Ltd | Movable carriage |
| CN103683111A (en) * | 2013-12-30 | 2014-03-26 | 昆山市工业技术研究院有限责任公司 | Line inspection robot based on gravity center adjustment |
| US20150105940A1 (en) * | 2012-06-29 | 2015-04-16 | Kabushiki Kaisha Yaskawa Denki | Mobile body and mobile body system |
| CN105882778A (en) * | 2014-12-22 | 2016-08-24 | 孙欣 | Rescue obstacle-crossing walking vehicle |
| CN206394665U (en) * | 2017-01-16 | 2017-08-11 | 烟台职业学院 | A kind of library's book car leaping over obstacles assistor |
| CN107264669A (en) * | 2017-06-26 | 2017-10-20 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring moving trolley |
-
2017
- 2017-10-26 CN CN201711077283.XA patent/CN107757750A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004001705A (en) * | 2002-03-29 | 2004-01-08 | Sanyo Electric Co Ltd | Movable carriage |
| US20150105940A1 (en) * | 2012-06-29 | 2015-04-16 | Kabushiki Kaisha Yaskawa Denki | Mobile body and mobile body system |
| CN103683111A (en) * | 2013-12-30 | 2014-03-26 | 昆山市工业技术研究院有限责任公司 | Line inspection robot based on gravity center adjustment |
| CN105882778A (en) * | 2014-12-22 | 2016-08-24 | 孙欣 | Rescue obstacle-crossing walking vehicle |
| CN206394665U (en) * | 2017-01-16 | 2017-08-11 | 烟台职业学院 | A kind of library's book car leaping over obstacles assistor |
| CN107264669A (en) * | 2017-06-26 | 2017-10-20 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring moving trolley |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890686A (en) * | 2018-07-09 | 2018-11-27 | 胡俊 | A kind of changeable gravity centre formula Caterpillar robot |
| CN108890686B (en) * | 2018-07-09 | 2021-03-09 | 白捷东 | Caterpillar robot with variable gravity center |
| CN110304172A (en) * | 2019-06-27 | 2019-10-08 | 宁德师范学院 | A kind of mechanical device with obstacle detouring locomotive function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180306 |