CN107933722A - Adjust the telecontrol equipment and its method of adjustment of position of centre of gravity and wheelbase - Google Patents
Adjust the telecontrol equipment and its method of adjustment of position of centre of gravity and wheelbase Download PDFInfo
- Publication number
- CN107933722A CN107933722A CN201711077285.9A CN201711077285A CN107933722A CN 107933722 A CN107933722 A CN 107933722A CN 201711077285 A CN201711077285 A CN 201711077285A CN 107933722 A CN107933722 A CN 107933722A
- Authority
- CN
- China
- Prior art keywords
- wheelbase
- adjustment
- gravity
- kinematic pairs
- pair
- Prior art date
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The present invention relates to a kind of telecontrol equipment and its method of adjustment that can adjust position of centre of gravity and wheelbase at the same time or separately based on double kinematic pairs.Its composition of the telecontrol equipment includes：Moved between 11 front-wheels, 12 front-wheel supports, 13 front-wheels and car body and low secondary, 30 car bodies are moved between low pair, 21 trailing wheels, 22 rear wheel supports, 23 trailing wheels and car body.The movement low secondary (13,23) can be prismatic pair, revolute pair, screw pair, can autokinetic movement containing driving.Method of adjustment：(low secondary for prismatic pair explanation to move) one, the constant only adjustment center of gravity relative position between two-wheeled of wheelbase：Two kinematic pairs move at the same speed in the same direction；2nd, only wheelbase adjusts but center of gravity relative position between two-wheeled is constant：Two kinematic pairs reversely move at the same speed；Three while adjust wheelbase and the center of gravity relative position between two-wheeled：Two kinematic pairs do not move at the same speed, treat as to and differential intense adjustment or superposition quickly adjustment reversely can be achieved.
Description
Technical field
The present invention relates to communications and transportation and obstacle detouring to climb building field.More particularly to a kind of position of centre of gravity and wheelbase it is adjustable
Telecontrol equipment and its method of adjustment.
Background technology
Vehicle is generally inflexible wheel base at present, and position of centre of gravity immobilizes in movement.There is not yet using position of centre of gravity and axis
The equipment for climbing building away from adjustable telecontrol equipment progress communications and transportation and obstacle detouring.
The content of the invention
The object of the present invention is to provide the adjustable telecontrol equipment of a kind of position of centre of gravity and wheelbase and its method of adjustment, with
Reduce and meet the carrying of barrier schedule, reduce and meet obstacle detouring moment of torsion needed for barrier schedule；And solve the problems, such as each schedule meet at the same time barrier it is stuck.
When telecontrol equipment meets barrier, position of swerving the weight is met near barrier wheel top to non-, and chance barrier wheel can be made to reduce carrying even
By upward carrying, so as to obstacle detouring easily.
Each schedule of telecontrol equipment contains driving wheel, while when meeting barrier, can break away from each schedule by adjusting wheelbase and block at the same time
Dead predicament.Wheelbase is increased, increases the thrust to preceding schedule, promotes front-wheel to discharge into row obstacle detouring；Reduce wheelbase, increase to rear schedule
Pulling force, pull trailing wheel discharge into row obstacle detouring.Alternately change wheelbase, schedule or trailing wheel discharge into row obstacle detouring before can alternately making, and wriggle
Formula moves ahead.
The present invention can make telecontrol equipment carry out obstacle detouring with less driving power, and can break away from each schedule and meet barrier at the same time
Stuck predicament.
Brief description of the drawings
Attached drawing is the schematic diagram of telecontrol equipment of the present invention.
Embodiment
Referring to attached drawing, its composition of telecontrol equipment of the present invention includes：11 front-wheels, 12 front-wheel supports, 13 front-wheels and car body
Between move low secondary, 30 car bodies moved between low pair, 21 trailing wheels, 22 rear wheel supports, 23 trailing wheels and car body.
The movement low secondary (13,23) can be prismatic pair, revolute pair, screw pair, include driving, can autokinetic movement.
Method of adjustment：(low secondary for prismatic pair explanation to move) one, the constant only adjustment center of gravity of wheelbase opposite position between two-wheeled
Put：Two kinematic pairs move at the same speed in the same direction；2nd, only wheelbase adjusts but center of gravity relative position between two-wheeled is constant：Two kinematic pairs are reverse
Synchronized movement；Three while adjust wheelbase and the center of gravity relative position between two-wheeled：Two kinematic pairs do not move at the same speed, treat as to and it is anti-
To achievable differential intense adjustment or the quick adjustment of superposition.
Claims (2)
- A kind of 1. telecontrol equipment that can adjust position of centre of gravity and wheelbase at the same time or separately based on double kinematic pairs, it is characterised in that：Institute Stating telecontrol equipment its composition includes：Low pair, 21 trailing wheels, 22 trailing wheel branch are moved between 11 front-wheels, 12 front-wheel supports, 13 front-wheels and car body Low secondary, 30 car bodies are moved between frame, 23 trailing wheels and car body.The movement low secondary (13,23) can be prismatic pair, revolute pair, spiral Pair, can autokinetic movement containing driving.
- A kind of 2. method of adjustment for adjusting position of centre of gravity and wheelbase at the same time or separately, it is characterised in that：Using described in claim 1 Device, one, the constant center of gravity that only adjusts of wheelbase is between two-wheeled during relative position：Two kinematic pairs do synchronized movement in the same direction；2nd, only axis Away from adjustment but center of gravity relative position is constant between two-wheeled when：Two kinematic pairs do reversely synchronized movement；Three while adjust wheelbase and again The heart is between two-wheeled during relative position：Two kinematic pairs are done not to move at the same speed, treats as to and differential intense adjustment or folded reversely can be achieved It is whole to accelerate velocity modulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077285.9A CN107933722A (en) | 2017-10-26 | 2017-10-26 | Adjust the telecontrol equipment and its method of adjustment of position of centre of gravity and wheelbase |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077285.9A CN107933722A (en) | 2017-10-26 | 2017-10-26 | Adjust the telecontrol equipment and its method of adjustment of position of centre of gravity and wheelbase |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107933722A true CN107933722A (en) | 2018-04-20 |
Family
ID=61934290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711077285.9A Withdrawn CN107933722A (en) | 2017-10-26 | 2017-10-26 | Adjust the telecontrol equipment and its method of adjustment of position of centre of gravity and wheelbase |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107933722A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826675A (en) * | 2021-01-04 | 2021-05-25 | 衢州职业技术学院 | Obstacle-crossing electric wheelchair |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030184071A1 (en) * | 2002-03-28 | 2003-10-02 | Sanyo Electric Co., Ltd. | Mobile carriage |
| JP2009090404A (en) * | 2007-10-05 | 2009-04-30 | Ihi Corp | Mobile robot attitude control device and method |
| US20150105940A1 (en) * | 2012-06-29 | 2015-04-16 | Kabushiki Kaisha Yaskawa Denki | Mobile body and mobile body system |
| CN106144963A (en) * | 2016-08-30 | 2016-11-23 | 山东明宇重工机械有限公司 | A kind of changeable wheelbase fork truck |
| CN106219447A (en) * | 2016-09-13 | 2016-12-14 | 福建闽工机械有限公司 | A kind of balanced type rear wheel drive forklift truck of automatic adjustment center of gravity |
-
2017
- 2017-10-26 CN CN201711077285.9A patent/CN107933722A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030184071A1 (en) * | 2002-03-28 | 2003-10-02 | Sanyo Electric Co., Ltd. | Mobile carriage |
| JP2009090404A (en) * | 2007-10-05 | 2009-04-30 | Ihi Corp | Mobile robot attitude control device and method |
| US20150105940A1 (en) * | 2012-06-29 | 2015-04-16 | Kabushiki Kaisha Yaskawa Denki | Mobile body and mobile body system |
| CN106144963A (en) * | 2016-08-30 | 2016-11-23 | 山东明宇重工机械有限公司 | A kind of changeable wheelbase fork truck |
| CN106219447A (en) * | 2016-09-13 | 2016-12-14 | 福建闽工机械有限公司 | A kind of balanced type rear wheel drive forklift truck of automatic adjustment center of gravity |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826675A (en) * | 2021-01-04 | 2021-05-25 | 衢州职业技术学院 | Obstacle-crossing electric wheelchair |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10246130B2 (en) | Trackless tugger train and method for steering a trackless tugger train | |
| CN101850795B (en) | Wheel-leg combined type mobile robot platform | |
| CN106965864B (en) | Wheel-track composite self-adaptive robot moving platform based on planet wheel | |
| WO2018001555A2 (en) | Exoskeleton and master | |
| GB2440099A (en) | Vehicle braking-driving force control apparatus | |
| DE10334956A1 (en) | vehicle | |
| KR100686982B1 (en) | Climbing method for a large step with double track mechanism and structure of mobile platform for irregular terrain | |
| CN104998419B (en) | A kind of obstacle detouring carbon-free trolley of " ∽ " shape walking | |
| CN106965863B (en) | Single-track wheel-track combined type passive self-adaptive robot mobile platform | |
| DE102017126364A1 (en) | IMPROVEMENTS IN OR WITH REGARD TO THE FIRST / LAST MILE OF TRANSPORT | |
| CN105752185A (en) | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties | |
| KR101801122B1 (en) | The Automatic device for driving switch | |
| WO2014106559A1 (en) | Drifting training assistance system for a motor vehicle | |
| CN103738427A (en) | Continuous hopping robot with single leg and adjustable overhead postures | |
| CN104787133B (en) | A kind of upset arm mechanism suitable for wheel-track combined chassis | |
| CN107933722A (en) | Adjust the telecontrol equipment and its method of adjustment of position of centre of gravity and wheelbase | |
| CN107284541A (en) | A kind of right angle legs rotate barrier-crossing traveling mechanism | |
| CN203790168U (en) | Wheel and caterpillar type road and stair dual-purpose wheelchair | |
| WO2008093535A1 (en) | Controller for limited slip differential devices for vehicles | |
| CN102514640B (en) | Deformable rescue robot | |
| CN103767841B (en) | A kind of Lun Lvshi road ladder two-use wheel chair | |
| CN106494524A (en) | A kind of half flight formula medicinal sprayer | |
| CN205440475U (en) | Electronic transport vat water stairs -mover | |
| CN107472385A (en) | It is a kind of can rapid translating form wheel-track combined robot | |
| CN107161237A (en) | A kind of 4 wheel driven stair climbing mobile robot |
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 |
Application publication date: 20180420 |
|
| WW01 | Invention patent application withdrawn after publication |