CN206383998U - Locomotive and shifting car device - Google Patents
Locomotive and shifting car device Download PDFInfo
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- CN206383998U CN206383998U CN201621279876.5U CN201621279876U CN206383998U CN 206383998 U CN206383998 U CN 206383998U CN 201621279876 U CN201621279876 U CN 201621279876U CN 206383998 U CN206383998 U CN 206383998U
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- car body
- supporting leg
- actuating unit
- locomotive
- pedipulator
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Abstract
The utility model is related to mobile technical field of transportation, more particularly, to a kind of locomotive and shifting car device.The locomotive includes car body, inductor, controller, pedipulator, the first actuating unit, the second actuating unit and wheel；Pedipulator includes upper supporting leg and lower supporting leg；The upper end of upper supporting leg is connected by the lower rotation of the first actuating unit and car body；The lower end of upper supporting leg is flexibly connected by the second actuating unit with one end of lower supporting leg；First actuating unit, the second actuating unit and inductor are electrically connected with the controller.When locomotive is moved to before stairway step, inductor automatic sensing to bench information, controller controls the first actuating unit and the running of the second actuating unit, and pedipulator is supported on step, then by the support of pedipulator car body is moved on step.During the entire process of locomotive top bar, locomotive will not improve using experience degree by the larger impact of step, so that locomotive is smoothly moved, it is to avoid car body jolts.
Description
Technical field
The utility model is related to mobile technical field of transportation, more particularly, to a kind of locomotive and shifting car device.
Background technology
With continuing to develop for China's economy, the living standard of people is gradually stepped up.Now in life, especially city is given birth to
In work, skyscraper gradually increases, and building property is gradually complicated, and this make it that stair (step) are nearly ubiquitous.Wherein, road
Serratd edge is it is also assumed that be a kind of stair of only one layer of step, these stair make a big impact to people's conveying articles.Though
Majority is mounted with also to implement some facilities for carrying out barrier free accessibility in elevator, city in right building, but these far can not
Actual demand is met, so the various dollies for being capable of stair climbing arise at the historic moment.
Tri-star wheel car will be had by being capable of the car owner of stair climbing in the prior art.Tri-star wheel car includes vehicle body and is arranged on bottom body bottom
The tri-star wheel in portion.In stair climbing, the hand steered vehicle body of user is rotated by tri-star wheel, and three rotating wheels, which coordinate, carries out stair climbing.
But, car relatively jolts during the car of stair climbing of the prior art upward stair climbing, and using experience degree is poor.
Utility model content
The purpose of this utility model is to provide a kind of locomotive and moves car device, to solve car present in prior art
Relatively jolted during stair climbing, the poor technical problem of using experience degree.
A kind of locomotive that the utility model is provided, the locomotive includes：Car body, inductor, controller, pedipulator,
First actuating unit, the second actuating unit and wheel；
The vehicle wheel rotation is connected to the bottom of the car body；The pedipulator includes upper supporting leg and lower supporting leg；On described
The upper end of supporting leg is connected by the first actuating unit with the lower rotation of the car body；The lower end of the upper supporting leg is dynamic by second
Force mechanisms are rotated with one end of the lower supporting leg and are connected；
First actuating unit, second actuating unit and the inductor are electrically connected with the controller；Institute
Stating inductor is used to obtain front obstacle information；The controller is used to control first actuating unit and described second to move
Force mechanisms are operated, so that the upper supporting leg is rotated relative to the car body and the lower limb leg is rotated relative to the upper supporting leg.
Further, the pedipulator and the wheel are four；Four pedipulators and four wheels point
At the corner for not being arranged on the vehicle body.
Further, first actuating unit includes the first motor, driving gear, is meshed with the driving gear
Driven gear and rotary shaft；
First motor is arranged in the car body；The driving gear is arranged on the power output of first motor
On axle；The two ends of the rotary shaft are rotatably connected on the car body；The driven gear is arranged in the rotary shaft；It is described
The upper end of upper supporting leg is fixedly connected with the rotary shaft.
Further, the car body includes vehicle body and base；The base is arranged on the bottom of the vehicle body；The vehicle body
It is slidably connected by the first sliding equipment with the base；First sliding equipment is electrically connected with the controller, for band
The dynamic relatively described base of the vehicle body is vertically slided；The wheel and the pedipulator are rotatably connected on the base
On.
Further, first sliding equipment includes the second motor, is arranged on the power output shaft of second motor
On external gear and the rack that is engaged with the external gear；The rack is vertically arranged on the vehicle body；Second electricity
Machine and the external gear are arranged on the base.
Further, the car body includes vehicle body and base；The base is arranged on the bottom of the vehicle body；The vehicle body
It is slidably connected by the second sliding equipment with the base；Second sliding equipment is electrically connected with the controller, for band
The dynamic relatively described base of the vehicle body is slided in the horizontal direction.
Further, two wheels positioned at the vehicle body front side are slided by the 3rd sliding equipment and the car body
Dynamic connection；3rd sliding equipment is electrically connected with the controller, for driving the relatively described vehicle body of the wheel along vertically
Slide in direction.
Further, the locomotive also includes rotating bar；One end of the rotating bar passes through rotating mechanism and the car
The lower rotation connection of body；The other end of the rotating bar is connected with the vehicle wheel rotation；The rotating mechanism and the control
Device is electrically connected, for driving the rotating bar to be rotated relative to the car body.
Further, it is additionally provided with gyroscope on the car body；The gyroscope is electrically connected with the controller.
Further, the utility model also provides a kind of shifting car device, and the shifting car device includes support and such as practicality
New described locomotive；The wheel and the pedipulator are both placed on the support.
The locomotive that the utility model is provided, when locomotive is moved to stairway step, inductor is sensed in front of car body
Obstacle information, namely bench information, and the obstacle information sensed is passed into controller, controller control starts
First actuating unit and the second actuating unit, so that upper supporting leg is rotated relative to car body so that upper supporting leg is rotated towards stairway step,
So that pedipulator is closer to stairway step, meanwhile, the second actuating unit drives lower supporting leg with respect to upper supporting leg activity, so that lower supporting leg
Lower end and the distance between the upper end of upper supporting leg reduce, that is, pedipulator shortens, after pedipulator is placed on stair, this
When, pedipulator supports the overall weight of car body, and upper supporting leg is rotated further with respect to car body, meanwhile, the second actuating unit drives lower
Leg is with respect to upper supporting leg activity, so that lower end and the distance between the upper end increase of upper supporting leg of lower supporting leg, that is, pedipulator is overall
Toward back rotation and elongation, car body is moved forward under the support of pedipulator, meanwhile, car body relative mechanical leg is rotated.When car body is moved
After moving to step, by wheel supporting car body, so as to complete the stair climbing action of car body.
The locomotive that the utility model is provided, when locomotive is moved to before stairway step, inductor automatic sensing to platform
Rank information, controller controls the first actuating unit and the running of the second actuating unit, is moved locomotive by upper supporting leg and lower supporting leg
Move to stairway step.That is, also pedipulator is supported on step, then by the support of pedipulator car body is moved to
On step.During the entire process of locomotive top bar, locomotive will not be by the larger impact of step, so that mobile
Car is smoothly moved, it is to avoid car body jolts, and improves using experience degree.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
The structural representation for the locomotive that Fig. 1 provides for the utility model embodiment；
The structural representation of first actuating unit in the locomotive that Fig. 2 provides for the utility model embodiment；
The structural representation of first sliding equipment in the locomotive that Fig. 3 provides for the utility model embodiment；
Pedipulator is with respect to the structural representation that vehicle body is slided in the locomotive that Fig. 4 provides for the utility model embodiment；
The structural representation of rotating mechanism in the locomotive that Fig. 5 provides for the utility model embodiment.
Reference：
1- car bodies；2- wheels；3- pedipulators；
The actuating units of 4- first；The sliding equipments of 5- first；6- rotating bars；
7- rotating mechanisms；101- vehicle bodies；102- bases；
301- upper supporting legs；Supporting leg under 302-；The motors of 401- first；
402- driving gears；403- driven gears；404- rotary shafts；
501- racks；502- external gears；701- steering motors；
702- diversion driving-gears；703- turns to driven gear.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The structural representation for the locomotive that Fig. 1 provides for the utility model embodiment；What the utility model embodiment was provided
A kind of locomotive, the locomotive includes：Car body 1, inductor, controller, pedipulator 3, the first actuating unit 4, the second engine
Structure and wheel 2；Wheel 2 is rotatably connected on the bottom of car body 1；Pedipulator 3 includes upper supporting leg 301 and lower supporting leg 302；Upper supporting leg
301 upper end is connected by the first actuating unit 4 with the lower rotation of car body 1；The lower end of upper supporting leg 301 passes through the second engine
Structure is rotated with one end of lower supporting leg 302 and is connected；First actuating unit 4, the second actuating unit and inductor are electrically connected with controller
Connect；Inductor is used to obtain front obstacle information；Controller is used to control the first actuating unit 4 and the second actuating unit fortune
Make, so that upper supporting leg 301 is rotated relative to car body 1 and lower limb leg is rotated relative to upper supporting leg 301.
The locomotive that the utility model embodiment is provided, when locomotive is moved to stairway step, inductor senses car
The obstacle information in the front of body 1, namely bench information, and the obstacle information sensed is passed into controller, controller
Control starts the first actuating unit 4 and the second actuating unit, so that upper supporting leg 301 is rotated relative to car body 1 so that upper supporting leg 301
Rotated towards stairway step so that pedipulator 3 closer to stairway step, meanwhile, the second actuating unit drive lower supporting leg relatively on
Supporting leg activity, so that the lower end of lower supporting leg and the distance between the upper end of upper supporting leg reduce, that is, pedipulator shortens, works as machinery
After leg is placed on stair, now, pedipulator supports the overall weight of car body, and upper supporting leg is rotated further with respect to car body, meanwhile, the
Two actuating units drive lower supporting leg with respect to upper supporting leg activity, so that lower end and the distance between the upper end increasing of upper supporting leg of lower supporting leg
Greatly, that is, pedipulator 3 is overall toward back rotation and elongation, car body 1 is moved forward under the support of pedipulator 3, meanwhile, the phase of car body 1
Pedipulator 3 is rotated.After car body 1 is moved on step, car body 1 is supported by wheel 2, so that the stair climbing for completing car body 1 is moved
Make.Wherein, pedipulator can be rotated clockwise with whole process, be placed on that is, pedipulator is rotated clockwise on stair, Ran Houji
Tool leg continues to rotate clockwise and by the second actuating unit so that pedipulator extends, so as to move forward with motor vehicles bodies.Machinery
Leg can also be rotated counterclockwise first, then be rotated clockwise, and be placed on that is, pedipulator is rotated counterclockwise on stair, Ran Houji
Tool leg is rotated clockwise, while causing pedipulator to extend by the second actuating unit, so as to be moved forward with motor vehicles bodies.
The locomotive that the utility model embodiment is provided, when locomotive is moved to before stairway step, inductor is certainly dynamic
Bench information should be arrived, controller controls the first actuating unit 4 and the running of the second actuating unit, and upper supporting leg 301 and lower supporting leg 302 are certainly
It is dynamic to rotate, and locomotive is moved on stairway step by upper supporting leg 301 and lower supporting leg 302.That is, also by pedipulator 3
Then support causes car body 1 to be moved on step on step by the support of pedipulator 3.In the whole mistake of locomotive top bar
Cheng Zhong, locomotive will not be by the larger impact of step, so that locomotive is smoothly moved, it is to avoid car body 1 jolts, and carries
High using experience degree.The locomotive can be wheelchair form or van form etc..
Wherein, the movable connection method of upper supporting leg and lower supporting leg can be to be slidably connected, or rotate connection.When upper
The connected mode of supporting leg and lower supporting leg is when being slidably connected, the first actuating unit can be the micromachine being arranged on upper supporting leg
And gear, gear is arranged on the power output shaft of micromachine, is set and gear along the direction that lower supporting leg extends on lower supporting leg
The rack of engagement.Minitype motor driving pinion rotation, because gear is motionless, so that with carry-over bar movement, namely drive lower supporting leg
Relative to upper supporting leg movement, and then adjust the distance between the lower end of lower supporting leg and the upper end of upper supporting leg so that pedipulator extend or
Shorten.Wherein, the structure type of upper supporting leg can be a variety of, for example, upper supporting leg can be the activity being rotatably connected on car body
Block, lower supporting leg is slidably connected with the movable block.
When the connected mode of upper supporting leg and lower supporting leg is rotates connection, the first actuating unit includes being arranged on upper supporting leg
Micromachine and driving gear, rotating shaft, the driven gear that is arranged in rotating shaft, driving gear is arranged on the power of micromachine
On output shaft, upper supporting leg is connected with axis of rotation, and lower supporting leg is fixedly connected with rotating shaft.Minitype motor driving driving gear is rotated,
Driving gear drives driven gear to rotate, and driven gear drives rotating shaft and lower supporting leg to rotate, and the lower end of supporting leg is towards upper branch instantly
When the direction of leg is rotated, the increase of the distance between the lower end of lower supporting leg and the upper end of upper supporting leg, pedipulator elongation.Instantly supporting leg to
When direction away from upper supporting leg is rotated, the distance between the lower end of lower supporting leg and the upper end of upper supporting leg reduce, and pedipulator shortens, from
And realize the elongation and shortening of pedipulator.
Wherein, pedipulator 3 can be one, or more than two multiple.When pedipulator 3 is two, two
The left and right on car body 1 of pedipulator 3 is arranged at intervals.Preferably, pedipulator 3 is four, and four pedipulators 3 are distributed in the four of car body 1
At angle, formed square.
Locomotive is when corridor is turned to or moved on non-stair road surface, and controller can control the He of the first actuating unit 4
Second actuating unit, upper supporting leg 301 and lower supporting leg 302 is rotated, so as to which pedipulator 3 is packed up automatically.
Further, wheel can also be substituted for pedipulator by user, and car body is supported by more than two multiple pedipulators
Car body, and under the control action of controller, steps forward step of going upstairs successively, the action of leg during similar people's stair climbing, from
And complete the action of locomotive stair climbing.
On the basis of above-described embodiment, further, pedipulator 3 and wheel 2 are four；Four pedipulators 3 and four
Wheel 2 is separately positioned at the corner of vehicle body 101.
In the present embodiment, pedipulator 3 and wheel 2 are disposed as four, and four pedipulators 3 and four wheels 2 are distinguished
At the corner for being arranged on vehicle body 101.When locomotive is moved to before step, controller control is located at two pedipulators 3 above
Rotated relative to car body 1, car body 1 is moved on step.When being also moved to positioned at two pedipulators 3 below before step, control
Device processed controls four pedipulators 3 to be rotated simultaneously relative to car body 1 so that be placed on preceding one positioned at two pedipulators 3 above
On individual step, two pedipulators 3 positioned at below are placed on a posterior step, and then car body 1 is moved forward, car body 1
To stepping to a new level.
Stress is more in the present embodiment, during setting four pedipulators 3 and four wheels 2 to make the stair climbing of car body 1
Plus it is steady, further improve user experience.
Wherein, inductor can be infrared ray sensor, or induced lightening, which reaches, waits other to realize the part of sensing.
The structural representation that the relative vehicle body of pedipulator is slided in the locomotive that Fig. 4 provides for the utility model embodiment, such as
Shown in Fig. 4, further, two pedipulators 3 positioned at the front side of car body 1 are slidably connected by sliding equipment with car body 1, skate machine
Structure driving mechanical leg 3 is slided with respect to the in the vertical direction of vehicle body 101.That is, when be located at two pedipulators 3 of the front side of car body 1 to
Before march toward step when, pedipulator 3 is with respect to vehicle body 101 upward sliding so that the line of the wheel 2 of front side and the wheel 2 of rear side with
The inclined plane of stair is parallel, so that vehicle body 101 keeps horizontality.
The structural representation of first actuating unit in the locomotive that Fig. 2 provides for the utility model embodiment；Such as Fig. 1 and figure
Shown in 2, on the basis of above-described embodiment, further, the first actuating unit 4 include the first motor 401, driving gear 402, with
Driven gear 403 and rotary shaft 404 that driving gear 402 is meshed；First motor 401 is arranged in car body 1；Driving gear
402 are arranged on the power output shaft of the first motor 401；The two ends of rotary shaft 404 are rotatably connected on car body 1；Driven gear
403 are arranged in rotary shaft 404；The upper end of upper supporting leg 301 is fixedly connected with rotary shaft 404.
In the present embodiment, controller control starts the first motor 401, and the first motor 401 drives driving gear 402 to rotate,
Driving gear 402 drives driven gear 403 to rotate, and driven gear 403 drives rotary shaft 404 to rotate, and upper supporting leg 301 is with rotation
Axle 404 is rotated relative to car body 1, so as to realize the rotation of upper supporting leg 301.
The structure type of second actuating unit can be identical with the structure type of the first actuating unit 4.
On the basis of above-described embodiment, further, car body 1 includes vehicle body 101 and base 102；Base 102 is arranged on car
The bottom of body 101；Vehicle body 101 is slidably connected by the first sliding equipment 5 and base 102；First sliding equipment 5 and controller electricity
Connection, for driving the respect thereto 102 of vehicle body 101 vertically to slide；Rotating wheel and pedipulator 3 are rotatably connected on base
On 102.
In the present embodiment, vehicle body 101 is slidably connected by the first sliding equipment 5 and base 102.When pedipulator 3 is relative
When vehicle body 101 is rotated, pedipulator 3 is moved upward on step, is stopped preset time, is then moved upward to and steps to a new level again
On, stop preset time, the rest may be inferred.Now, controller controls the first sliding equipment 5 to drive vehicle body 101 to be oppositely facing
Slide.Due to pedipulator 3 for upwards-stop stopping-upward intermittent movement-upwards-, and vehicle body 101 is oppositely facing cunning
Dynamic speed is less than speed of the pedipulator 3 when moving up, therefore, the relative mechanical leg 3 of vehicle body 101 and base 102 downwards-to
It is upper-- upward-downwards to move downward.Preferably, vehicle body 101 moves with uniform velocity with respect to ground.
In the present embodiment, due to car body 1 during movement in concussion of the vertical direction by pedipulator 3, pass through
One sliding equipment 5 causes vehicle body 101 to be oppositely facing slip, and the direction of motion and the concussion of car body 1 are in opposite direction, so as to
The concussion that pedipulator 3 is brought in vertical direction is offset, stability during 1 stair climbing of car body is further improved.
Wherein, the structure type of the first sliding equipment 5 can be a variety of, for example, the first sliding equipment 5 includes hydraulic cylinder,
Hydraulic cylinder is electrically connected with the controller.Hydraulic cylinder is arranged on base 102, and the piston rod of hydraulic cylinder is fixedly connected with vehicle body 101.Control
The piston rod of device control hydraulic cylinder processed stretches out, and piston rod promotes the respect thereto 102 of vehicle body 101 to move up.
The structural representation of first sliding equipment in the locomotive that Fig. 3 provides for the utility model embodiment；Such as Fig. 1 and figure
Shown in 3, on the basis of above-described embodiment, further, the first sliding equipment 5 includes the second motor, is arranged on the second motor
External gear 502 on power output shaft and the rack 501 engaged with external gear 502；Rack 501 is vertically arranged in vehicle body 101
On；Second motor and external gear 502 are arranged on base 102.
In the present embodiment, controller control starts motor, and motor drives external gear 502 to rotate, external gear 502 and rack
501 engagements, because motor is motionless, therefore, rack 501 is moved up with respect to external gear 502, so that vehicle body 101 is the bottom of with respect to
Seat 102 is moved up.
Wherein, the chute of vertical direction can be set on vehicle body 101, sliding block is set on base 102, and vehicle body 101 is relative
When base 102 is slided, sliding block is moved in chute, the moving direction of the bootable vehicle body 101 of fit system of chute and sliding block, is carried
Stability when high vehicle body 101 is slided.
On the basis of above-described embodiment, further, vehicle body 101 is slidably connected by the second sliding equipment with base 102；
Second sliding equipment is electrically connected with the controller, for driving the respect thereto 102 of vehicle body 101 to slide in the horizontal direction.
In the present embodiment, vehicle body 101 is slidably connected by the second sliding equipment with base 102.When pedipulator 3 is with respect to car
When body 101 is rotated, pedipulator 3 is moved forward on step, is stopped preset time, is then moved upward to and steps to a new level again
On, stop preset time, the rest may be inferred.The movement locus of pedipulator 3 in the horizontal direction is：Forward-stop-forward-stop-
Forward.Now, controller controls the second sliding equipment to drive vehicle body 101 to be oppositely facing front slide.Due to pedipulator 3 be to
Before-stop stopping-intermittent movement forward-forward-, and vehicle body 101 be oppositely facing front slide speed be less than pedipulator 3 to
Speed when preceding mobile, therefore, the relative mechanical leg 3 of vehicle body 101 and base 102 backward-forward-backward-forward-rearward movement.
Preferably, vehicle body 101 moves with uniform velocity with respect to ground.
In the present embodiment, due to car body 1 during movement in the horizontal direction by the concussion of pedipulator 3, pass through
Two sliding equipments cause vehicle body 101 to be oppositely facing front slide, and the direction of motion and the concussion of car body 1 are in opposite direction, so as to
The concussion that pedipulator 3 is brought in the horizontal direction is offset, stability during 1 stair climbing of car body is further improved.
Wherein, the structure type of the second sliding equipment can be consistent with the structure type of the first sliding equipment 5.
On the basis of above-described embodiment, further, two wheels 2 positioned at the front side of car body 1 pass through the 3rd skate machine
Structure is slidably connected with car body 1；3rd sliding equipment is electrically connected with the controller, for band motor car wheel 2 with respect to vehicle body 101 along vertical side
To slip.
In the present embodiment, when locomotive climbs slope, controller controls the drive of the 3rd sliding equipment to shift to an earlier date side positioned at car
Two wheels 2 are with respect to the upward sliding of car body 1, so that the line between two wheels 2 and two wheels 2 in the year after next above
Domatic parallel with slope, now, car body 1 can keep horizontal level.
In the present embodiment, the above relative upward sliding of car body 1 of two wheels 2 is adjusted by the 3rd sliding equipment, so as to
Make locomotive when climbing slope, car body 1 keeps horizontal level, further improve the stability on car body 1.
Wherein, the structure type of the 3rd sliding equipment can be consistent with the structure type of the first sliding equipment 5.
On the basis of above-described embodiment, further, locomotive also includes rotating bar 6；One end of rotating bar 6 is by rotating
Mechanism 7 is connected with the lower rotation of car body 1；The other end of rotating bar 6 is rotated with wheel 2 and is connected；Rotating mechanism 7 and controller electricity
Connection, for driving rotating bar 6 to be rotated relative to car body 1.
In the present embodiment, controller control starts rotating mechanism 7, and rotating mechanism 7 drives rotating bar 6 to be rotated relative to car body 1,
So as to realize that wheel 2 is rotated relative to car body 1 so that wheel 2 makes wheel 2 can 360 ° of adjust automaticallies towards preset direction
Direction, convenient use person adjusts the direction of car body 1.
The structural representation of rotating mechanism in the locomotive that Fig. 5 provides for the utility model embodiment, as shown in figure 5, its
In, rotating mechanism 7 may include steering motor, the diversion driving-gear being arranged in steering motor 701 702 and with turning to actively
The steering driven gear 703 that gear 702 is meshed, steering motor 701 is electrically connected with the controller.Driven gear 703 is turned to set
In rotating bar 6, diversion driving-gear 702 and steering driven gear 703 are horizontally disposed with, controller control steering motor 701
Diversion driving-gear 702 is driven to rotate, diversion driving-gear 702 drives steering driven gear 703 to rotate, and turns to driven gear
703 drive rotating bars 6 are rotated, and rotating bar 6 is rotated with motor car wheel 2, so as to realize the steering of wheel 2.
On the basis of above-described embodiment, further, gyroscope is additionally provided with car body 1；Gyroscope is electrically connected with controller
Connect.
In the present embodiment, gyroscope is set on car body 1, when car body 1 has the trend tumbled, controller controllable adjustable
The rotating speed of gyroscope, so that car body 1 keeps balance, it is to avoid car body 1 is tumbled.
On the basis of above-described embodiment, further, the utility model also provides a kind of shifting car device, the shifting car device bag
Include support and locomotive as described above；Wheel 2 and pedipulator 3 are both placed on support.Principle ibid, is no longer gone to live in the household of one's in-laws on getting married herein
State.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of locomotive, it is characterised in that including：Car body, inductor, controller, pedipulator, the first actuating unit, second
Actuating unit and wheel；
The vehicle wheel rotation is connected to the bottom of the car body；The pedipulator includes upper supporting leg and lower supporting leg；The upper supporting leg
It is connected by the first actuating unit with the lower rotation of the car body；The lower supporting leg passes through the second actuating unit and the upper branch
Leg is flexibly connected；
First actuating unit, second actuating unit and the inductor are electrically connected with the controller；The sense
Device is answered to be used to obtain front obstacle information；The controller is used to control first actuating unit to drive the upper supporting leg phase
The car body is rotated and controlled second actuating unit drive the relatively described upper supporting leg activity of the lower supporting leg, to adjust
The distance between the upper end of the upper supporting leg and the lower end of the lower supporting leg.
2. locomotive according to claim 1, it is characterised in that the pedipulator and the wheel are four；
Four pedipulators and four wheels are separately positioned at the corner of the car body.
3. locomotive according to claim 1, it is characterised in that first actuating unit includes the first motor, active
Gear, the driven gear being meshed with the driving gear and rotary shaft；
First motor is arranged in the car body；The driving gear is arranged on the power output shaft of first motor
On；The two ends of the rotary shaft are rotatably connected on the car body；The driven gear is arranged in the rotary shaft；On described
The upper end of supporting leg is fixedly connected with the rotary shaft.
4. locomotive according to claim 1, it is characterised in that the car body includes vehicle body and base；
The base is arranged on the bottom of the vehicle body；The vehicle body is slidably connected by the first sliding equipment with the base；
First sliding equipment is electrically connected with the controller, for driving the relatively described base of the vehicle body vertically to slide
It is dynamic；The wheel and the pedipulator are rotatably connected on the base.
5. locomotive according to claim 4, it is characterised in that first sliding equipment includes the second motor, set
External gear on the power output shaft of second motor and the rack engaged with the external gear；
The rack is vertically arranged on the vehicle body；Second motor and the external gear are arranged on the base.
6. locomotive according to claim 1, it is characterised in that the car body includes vehicle body and base；
The base is arranged on the bottom of the vehicle body；The vehicle body is slidably connected by the second sliding equipment with the base；
Second sliding equipment is electrically connected with the controller, for driving the relatively described base of the vehicle body to slide in the horizontal direction
It is dynamic.
7. locomotive according to claim 2, it is characterised in that two wheels on front side of the car body lead to
The 3rd sliding equipment is crossed to be slidably connected with the car body；3rd sliding equipment is electrically connected with the controller, for driving
The relatively described car body of the wheel is vertically slided.
8. locomotive according to claim 1, it is characterised in that also including rotating bar；
One end of the rotating bar is connected by rotating mechanism with the lower rotation of the car body；The other end of the rotating bar with
The vehicle wheel rotation connection；
The rotating mechanism is electrically connected with the controller, for driving the rotating bar to be rotated relative to the car body.
9. locomotive according to claim 1, it is characterised in that be additionally provided with gyroscope on the car body；The gyro
Instrument is electrically connected with the controller.
10. one kind moves car device, it is characterised in that the locomotive including support and as described in claim any one of 1-9；
The wheel and the pedipulator are both placed on the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621279876.5U CN206383998U (en) | 2016-11-25 | 2016-11-25 | Locomotive and shifting car device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621279876.5U CN206383998U (en) | 2016-11-25 | 2016-11-25 | Locomotive and shifting car device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206383998U true CN206383998U (en) | 2017-08-08 |
Family
ID=59486097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621279876.5U Withdrawn - After Issue CN206383998U (en) | 2016-11-25 | 2016-11-25 | Locomotive and shifting car device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206383998U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428167A (en) * | 2016-11-25 | 2017-02-22 | 苏玉涛 | Mobile vehicle and vehicle moving device |
| CN108030448A (en) * | 2018-01-16 | 2018-05-15 | 刘肖俊 | A kind of wheel with high-strength conformability combines clean robot enough |
| CN111956120A (en) * | 2020-09-02 | 2020-11-20 | 安徽柯尘清洁设备有限公司 | A remove locating component for vacuum cleaner |
-
2016
- 2016-11-25 CN CN201621279876.5U patent/CN206383998U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428167A (en) * | 2016-11-25 | 2017-02-22 | 苏玉涛 | Mobile vehicle and vehicle moving device |
| CN106428167B (en) * | 2016-11-25 | 2018-09-25 | 苏玉涛 | Locomotive and shifting vehicle device |
| CN108030448A (en) * | 2018-01-16 | 2018-05-15 | 刘肖俊 | A kind of wheel with high-strength conformability combines clean robot enough |
| CN111956120A (en) * | 2020-09-02 | 2020-11-20 | 安徽柯尘清洁设备有限公司 | A remove locating component for vacuum cleaner |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170808 Effective date of abandoning: 20180925 |