CN101823484A - Concealed air cushion vehicle - Google Patents
Concealed air cushion vehicle Download PDFInfo
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- CN101823484A CN101823484A CN 201010109077 CN201010109077A CN101823484A CN 101823484 A CN101823484 A CN 101823484A CN 201010109077 CN201010109077 CN 201010109077 CN 201010109077 A CN201010109077 A CN 201010109077A CN 101823484 A CN101823484 A CN 101823484A
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Abstract
The invention discloses a concealed air cushion vehicle, belonging to the technical filed of transportation. The concealed air cushion vehicle comprises a drive motor, a mechanical foot, a vehicle body, a control mechanism, a crankshaft connecting rod mechanism, an air cushion skirt, a fan motor and a centrifugal fan, wherein the crankshaft connecting rod mechanism is respectively connected with the mechanical foot and the drive motor, the air cushion skirt coats outside the vehicle body, the drive motor, the crankshaft connecting rod mechanism and the control mechanism are arranged in the vehicle body, the mechanical foot is coated in the air cushion skirt, the fan motor is connected with the centrifugal fan, the outlet of the centrifugal fan is connected with the air cushion skirt, and the drive motor, the mechanical foot, the air cushion skirt, the vehicle body and the fan motor are respectively connected with the control mechanism. Through reasonably arranging the pressure of the air cushion skirt, most of the load of a vehicle is borne by the air cushion skirt, therefore, the service life is greatly increased, and the loading capacity is enhanced due to the air cushion skirt; by controlling the load ratio borne by the air cushion skirt and the mechanical foot, the concealed air cushion vehicle can run on squishy roads with low energy consumption, stable transportation process and strong operability.
Description
Technical field
What the present invention relates to is a kind of device of technical field of traffic transportation, in particular a kind of concealed air cushion vehicle.
Technical background
Conventional vehicles as traveling gear, exists problems such as the severity of jolting, obstacle climbing ability difference with wheel or crawler belt etc. on non-road surface, problem such as skid that existing on wet soft road surface sink.The polypody walking robot can stably be walked on uneven road surface, can replace wheeled car and finish hauling operation in some unstructuredness environment, can also in danger or harsh environment, replace people's work, fields such as detection, mining, building have been used in, if can solve the advance problem of vehicle on rugged road surface in conjunction with the multi-foot walking technology in vehicle, yet general polypody walking machine exists problems such as control complexity, heavy burden ability.Air cushion technology then is the load-carrying technology of present comparative maturity, and it has incomparable advantage aspect the load transport capacity of the wet soft road surface and the water surface, yet the onward impulse of equipping on the present air cushion vehicle often adopts jet backward realization, and consumption of power is huge.Therefore, on non-road surface or wet soft road surface, seek load-carrying ability, obstacle climbing ability is strong, crossing ability good and the rational vehicle of consumption of power, is the key point of these regional goods of solution, personnel's transportation problem.
Find by prior art documents, China's utility application number: 02276647.2, title: a kind of free air suspension car, this technology comprises the driving engine and the vehicle body of orthodox car, Air compressor is installed in the vehicle body, be connected and installed in air bag under the vehicle body by pipeline, automobile can travel at the water surface by the buoyancy of air bag.Air bag bottom is wrapped up by wheeled crawler belt, wheeled crawler belt by much independently track link be formed by connecting by bearing pin, in the lower end of each chain link roller is housed, the crawler belt two ends are fixed on the vehicle body.Wheeled crawler belt is used for land locomotion, makes automobile have superpower cross-country climbing ability, also protects air bag can not be scratched simultaneously.The screw propeller that the power that automobile advances is installed by body tail provides.Screw propeller is connected with special mechanism driving with driver train, and driver train and steering hardware are in transmission connection with the engine power transmission shaft again.The driver train of this technology is screw propeller and crawler belt and adopts enclosed air bag, complex structure, and power consumption is bigger, and load carrying ability is little, and is handling and obstacle climbing ability is poor.
China's utility application number: 200720015759.2, title: a kind of Four-feet creeping robot, this technology is that micro controller system, power supply, mission planning device and motor are housed on fuselage, power supply and four motors of mission planning device control by Single-chip Controlling, four motors are being controlled the arm motion of four legs respectively, one arm is rotated in the angle of regulation, electric machine control also is housed respectively on four legs two arms and three arms.Though this technology can realize the gait walking, structure is comparatively complicated, and stability is also not enough, and does not consider in wet soft or rugged ground-surface walking problem.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of concealed air cushion vehicle is provided, by machinery foot and caisson feed supple sirts, be implemented in rugged road surface and have that obstacle climbing ability is strong, transportation is steady, load-carrying is big, handling strong characteristics, have crossing ability preferably on soft wet road surface.
The present invention is achieved through the following technical solutions: the present invention includes: drive motor, crankshaft-connecting rod mechanism, the machinery foot, caisson feed supple sirts, car body, blower motor, centrifugal compressor and control mechanism, wherein: crankshaft-connecting rod mechanism links to each other with drive motor with the machinery foot respectively, the car body outsourcing is covered with caisson feed supple sirts, drive motor, crankshaft-connecting rod mechanism and control mechanism are arranged on the inside of car body, the machinery foot is coated in the caisson feed supple sirts, blower motor links to each other with centrifugal compressor, the outlet of centrifugal compressor links to each other with caisson feed supple sirts, drive motor, the machinery foot, caisson feed supple sirts, car body links to each other with control mechanism respectively with blower motor.
Described machinery foot is identical six of structure.
Described machinery foot comprises: joint, rod member, the pin that contacts to earth, torsion spring and steel rope, and wherein: car body, joint, rod member and the pin that contacts to earth link to each other successively, and steel rope links to each other with crankshaft-connecting rod mechanism with the pin that contacts to earth respectively, is provided with torsion spring in the joint.
Described crankshaft-connecting rod mechanism comprises: bent axle, gear and Transmission, and wherein: gear is fixed on the bent axle, and Transmission links to each other with the joint, and bent axle links to each other with steel rope.
Between the described Transmission and first joint worm-and-wheel gear is set.
Be provided with driving cog on the circumference of described gear continuously, the length of driving cog is 1/4 arc length of the circumference of gear.
Described control mechanism comprises: control desk, pressure sensor, baroceptor, tachogen and angular acceleration transducer, wherein: pressure sensor links to each other with the transmission pressure signal with the pin that contacts to earth with control desk respectively, baroceptor links to each other with caisson feed supple sirts with the transmission and air pressure signal with control desk respectively, tachogen links to each other with the speed of transmission signal with control desk, drive motor and blower motor respectively, drive motor links to each other with control desk respectively with blower motor, and angular acceleration transducer links to each other with car body with the transmission angular acceleration with control desk respectively.
During the present invention's campaign: when bent axle when clockwise rotating, steel rope is strained gradually, and the machinery foot lifts, and the gear driven Transmission travels forward the machinery foot, steel rope loosens gradually, machinery foot falls, simultaneously gear and Transmission from, as if there not being at this moment other external force, Transmission homing under the torsion spring effect then, retreat thereby drive the machinery foot, again because the existence of frictional ground force has in fact just become advancing of car body.
The present invention has following advantage compared to existing technology: the present invention is by rationally arranging the pressure of caisson feed supple sirts, most of load of vehicle is born by caisson feed supple sirts, alleviated mechanical sufficient load, increase service life greatly, load-carrying ability is also owing to caisson feed supple sirts is improved, by controlling rational caisson feed supple sirts and the sufficient load ratio of bearing of machinery, make the present invention can travel on wet soft road surface, and energy consumption is lower, transportation is steady, handling strong, at transport field in the future incomparable advantage is arranged.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is an external structure of the present invention;
Fig. 3 is a partial schematic diagram of the present invention;
Fig. 4 is control principle figure of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, shown in Figure 2, present embodiment comprises: drive motor 1, crankshaft-connecting rod mechanism 2, machinery foot 3, caisson feed supple sirts 4, car body 5, blower motor 6, centrifugal compressor 7 and control mechanism 8, wherein: crankshaft-connecting rod mechanism 2 links to each other with drive motor 1 with machinery foot 3 respectively, drive motor 1, crankshaft-connecting rod mechanism 2 and control mechanism 8 are arranged on the inside of car body 5, car body 5 outsourcings are covered with caisson feed supple sirts 4, machinery foot 3 is coated on caisson feed supple sirts 4 inner blower motors 6 and links to each other with centrifugal compressor 7, the outlet of centrifugal compressor 7 links to each other with caisson feed supple sirts 4, drive motor 1, machinery foot 3, caisson feed supple sirts 4, car body 5 links to each other with control mechanism 8 respectively with blower motor 6.
Described machinery foot 3 is identical six of structure, three of every sides are symmetrically set in the both sides of car body 5, and described drive motor is two, described crankshaft-connecting rod mechanism 2 is two, and crankshaft-connecting rod mechanism 2 links to each other with a drive motor 1 with three machinery foots 3 of the same side respectively.
Described machinery foot 3 comprises: first joint 9, second joint 10, the 3rd joint 11, the 4th joint 12, first rod member 13, second rod member 14, the 3rd rod member 15, pin 16 contacts to earth, steel rope 17, first torsion spring 18, second torsion spring, the 3rd torsion spring and the 4th torsion spring, wherein: car body 5, first joint 9, first rod member 13, second joint 10, second rod member 14, the 3rd joint 11, the 3rd rod member 15, the 4th joint 12 links to each other successively with the pin 16 that contacts to earth, steel rope 17 links to each other with crankshaft-connecting rod mechanism 2 with the pin 16 that contacts to earth respectively, four torsion spring correspondences are arranged at the inside in four joints, first torsion spring 18 connects car body 5 and crankshaft-connecting rod mechanism 2 respectively, the second torsion spring (not shown) connects first rod member 13 and second rod member 14 respectively, the 3rd torsion spring (not shown) connects second rod member 14 respectively and the 3rd rod member 15, the four torsion spring (not shown) connect the 3rd rod member 15 and the pin 16 that contacts to earth respectively.
As shown in Figure 3, described crankshaft-connecting rod mechanism 2 comprises: bent axle 19, gear 20 and Transmission 21, wherein: gear 20 be fixed on bent axle 19 on, be provided with driving cog on the circumference of gear 20 continuously, the length of driving cog is 1/4 arc length of the circumference of gear 20, Transmission 21 and gear 20 contact by driving cog, be provided with worm-and-wheel gear 22 between the Transmission and first joint, Transmission 21 is connected steady speed change with worm-and-wheel gear 22, further link to each other with first joint 9, steel rope 17 1 ends are fixed in bent axle 19, and the other end links to each other with the pin 16 that contacts to earth, and strain and loosen steel rope 17 and can control lifting and falling of a machinery foot 3, first torsion spring, 18 1 ends link to each other with Transmission 21, the other end links to each other with car body 5, and when Transmission 21 was thrown off with gear 20, first torsion spring 18 can make Transmission 21 reset.
In the present embodiment, when bent axle 19 clockwise rotates, power is delivered to Transmission 21 by gear 20 under the drive of drive motor 1, is delivered to first joint 9 by worm and gear 22 again and realizes travelling forward of machinery foot 3.Simultaneously, bent axle 19 is strained and is loosened steel rope 17 and realize lifting and falling of machinery foot 3;
In the present embodiment, when bent axle 19 when clockwise rotating, steel rope 17 is strained gradually, machinery foot 3 lifts, gear 20 drives Transmission 21 travels forward machinery foot 3, and steel rope 17 loosens gradually, and machinery foot 3 falls, simultaneously gear 20 and Transmission 21 from, if there is not other external force this moment, then Transmission 21 homing under torsion spring 18 effects retreats thereby drive machinery foot 3, again because the existence of frictional ground force has in fact just become advancing of car body 5.
In the present embodiment, drive motor 1 is transmitted to crankshaft-connecting rod mechanism 2 with power, and crankshaft-connecting rod mechanism 2 motions drive its corresponding machinery foot 3 motions.The path of motion of machinery foot 3 is fixed, and crankshaft-connecting rod mechanism 2 has determined the motion path of mechanical foot 3.
Higher as lifting of machinery foot 3 being fallen requirement, crankshaft-connecting rod mechanism 2 can change cam mechanism into; Higher to machinery foot 3 angles of advancing and time requirement, then can change the number of teeth and the length of driving cog on the gear 20.If machinery foot 3 is lifted and there is other requirement time difference of advancing, then can adjust the phase difference of gear 20 and bent axle 19.
If allow 3 actions of finishing to advance in the different time of three of the same side machinery foots, bent axle 19 structures that these three machinery foots 3 are linked to each other are identical, and the phase angle difference as each 120 degree, then can realize the same side machinery foot 3 motions of advancing in turn.Run into special operation condition, change their phase angle, just can adapt to new operating mode.
As shown in Figure 4, described control mechanism 8 comprises: control desk 23, pressure sensor 24, baroceptor 25, tachogen 26 and angular acceleration transducer 27, wherein: pressure sensor 24 links to each other with the transmission pressure signal with the pin 16 that contacts to earth of control desk 23 with machinery foot 3 respectively, baroceptor 25 links to each other with the transmission and air pressure signal with control desk 23 with caisson feed supple sirts 4 respectively, tachogen 26 respectively with control desk 23, drive motor 1 links to each other with the speed of transmission signal with blower motor 6, drive motor 1 links to each other with control desk 23 respectively with blower motor 6, and angular acceleration transducer 27 links to each other with car body 5 with the transmission angular acceleration with control desk 23 respectively.
By for the information of pressure sensor 24 and the information of baroceptor 25, calculate the pressure that whether needs to increase caisson feed supple sirts 4, thereby regulate the weight of burden on the machinery foot 3.Control mechanism 8 changes the pressure of caisson feed supple sirts 4 by the rotating speed that changes blower motor 6, whether control mechanism 8 comes perception car body 5 to advance along planned orbit by angular acceleration transducer 27, if find not to be, can realize the corner of expecting by the velocity contrast of regulating drive motor 1.
Claims (6)
1. concealed air cushion vehicle, comprise: drive motor and car body, it is characterized in that, also comprise: crankshaft-connecting rod mechanism, the machinery foot, caisson feed supple sirts, blower motor, centrifugal compressor and control mechanism, wherein: crankshaft-connecting rod mechanism links to each other with drive motor with the machinery foot respectively, the car body outsourcing is covered with caisson feed supple sirts, drive motor, crankshaft-connecting rod mechanism and control mechanism are arranged on the inside of car body, the machinery foot is coated in the caisson feed supple sirts, blower motor links to each other with centrifugal compressor, the outlet of centrifugal compressor links to each other with caisson feed supple sirts, drive motor, the machinery foot, caisson feed supple sirts, car body links to each other with control mechanism respectively with blower motor;
Described machinery foot comprises: joint, rod member, the pin that contacts to earth, torsion spring and steel rope, and wherein: car body, joint, rod member and the pin that contacts to earth link to each other successively, and steel rope links to each other with crankshaft-connecting rod mechanism with the pin that contacts to earth respectively, is provided with torsion spring in the joint;
Described crankshaft-connecting rod mechanism comprises: bent axle, gear and Transmission, and wherein: gear is fixed on the bent axle, and Transmission links to each other with the joint, and bent axle links to each other with steel rope.
2. concealed air cushion vehicle according to claim 1 is characterized in that, is provided with driving cog on the circumference of described gear continuously, and the length of driving cog is 1/4 arc length of the circumference of gear.
3. concealed air cushion vehicle according to claim 1, it is characterized in that, described control mechanism comprises: control desk, pressure sensor, baroceptor, tachogen and angular acceleration transducer, wherein: pressure sensor links to each other with the transmission pressure signal with the pin that contacts to earth with control desk respectively, baroceptor links to each other with caisson feed supple sirts with the transmission and air pressure signal with control desk respectively, tachogen respectively with control desk, drive motor links to each other with blower motor with the speed of transmission signal, drive motor links to each other with control desk respectively with blower motor, and angular acceleration transducer links to each other with car body with the transmission angular acceleration with control desk respectively.
4. concealed air cushion vehicle according to claim 1 is characterized in that, between the described Transmission and first joint worm-and-wheel gear is set.
5. concealed air cushion vehicle according to claim 1 is characterized in that, described machinery foot is identical six of structure.
6. according to claim 1 or 5 described concealed air cushion vehicles, it is characterized in that, joint in the described machinery foot comprises: first joint, second joint, the 3rd joint, the 4th joint, described rod member comprises: first rod member, second rod member, the 3rd rod member, described torsion spring comprises: first torsion spring, second torsion spring, the 3rd torsion spring and the 4th torsion spring, car body, first joint, first rod member, second joint, second rod member, the 3rd joint, the 3rd rod member, the 4th joint links to each other successively with the pin that contacts to earth, steel rope links to each other with crankshaft-connecting rod mechanism with the pin that contacts to earth respectively, four torsion spring correspondences are arranged at the inside in four joints, first torsion spring connects car body and crankshaft-connecting rod mechanism respectively, second torsion spring connects first rod member and second rod member respectively, the 3rd torsion spring connects second rod member and the 3rd rod member respectively, and the 4th torsion spring connects the 3rd rod member respectively and the pin that contacts to earth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101090774A CN101823484B (en) | 2010-02-11 | 2010-02-11 | Concealed air cushion vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101090774A CN101823484B (en) | 2010-02-11 | 2010-02-11 | Concealed air cushion vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101823484A true CN101823484A (en) | 2010-09-08 |
| CN101823484B CN101823484B (en) | 2012-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101090774A Expired - Fee Related CN101823484B (en) | 2010-02-11 | 2010-02-11 | Concealed air cushion vehicle |
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| CN (1) | CN101823484B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN103332188A (en) * | 2013-07-11 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Air cushion vehicle intelligent control system and control method thereof in ITER circumstance |
| CN106814755A (en) * | 2015-12-01 | 2017-06-09 | 青岛海尔滚筒洗衣机有限公司 | A kind of electrical equipment and method for automatically leveling with self-level(l)ing lower margin |
| CN107298137A (en) * | 2017-05-22 | 2017-10-27 | 广东职业技术学院 | One kind is lain prone horizontal walking robot |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN109383658A (en) * | 2017-08-13 | 2019-02-26 | 屈娟娟 | A kind of multi-foot robot walking mechanism |
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| JPS60104474A (en) * | 1983-11-09 | 1985-06-08 | Nippon Kokan Kk <Nkk> | Walking device |
| JPS6121868A (en) * | 1984-07-07 | 1986-01-30 | Yoshiyuki Oguri | Walking leg device |
| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| CN2686971Y (en) * | 2004-04-08 | 2005-03-23 | 辽宁工程技术大学 | Cam-changing three joint mechanical leg |
| CN1709731A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Elastic connecting device for air-cushion mixed vehicle |
| CN101007531A (en) * | 2007-01-18 | 2007-08-01 | 上海交通大学 | Half-track air cushion vehicle |
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2010
- 2010-02-11 CN CN2010101090774A patent/CN101823484B/en not_active Expired - Fee Related
Patent Citations (6)
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| JPS60104474A (en) * | 1983-11-09 | 1985-06-08 | Nippon Kokan Kk <Nkk> | Walking device |
| JPS6121868A (en) * | 1984-07-07 | 1986-01-30 | Yoshiyuki Oguri | Walking leg device |
| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| CN2686971Y (en) * | 2004-04-08 | 2005-03-23 | 辽宁工程技术大学 | Cam-changing three joint mechanical leg |
| CN1709731A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Elastic connecting device for air-cushion mixed vehicle |
| CN101007531A (en) * | 2007-01-18 | 2007-08-01 | 上海交通大学 | Half-track air cushion vehicle |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN102390457B (en) * | 2011-12-30 | 2013-06-05 | 上海大学 | Leg mechanism for four-legged robots |
| CN103332188A (en) * | 2013-07-11 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Air cushion vehicle intelligent control system and control method thereof in ITER circumstance |
| CN103332188B (en) * | 2013-07-11 | 2016-01-06 | 中国科学院合肥物质科学研究院 | Free air suspension car intelligent control method under a kind of ITER environment |
| CN106814755A (en) * | 2015-12-01 | 2017-06-09 | 青岛海尔滚筒洗衣机有限公司 | A kind of electrical equipment and method for automatically leveling with self-level(l)ing lower margin |
| CN107298137A (en) * | 2017-05-22 | 2017-10-27 | 广东职业技术学院 | One kind is lain prone horizontal walking robot |
| CN109383658A (en) * | 2017-08-13 | 2019-02-26 | 屈娟娟 | A kind of multi-foot robot walking mechanism |
| CN109383658B (en) * | 2017-08-13 | 2024-01-30 | 屈娟娟 | Multi-foot robot walking mechanism |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
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