CN101870312B - Terrain self-adaptive detection and rescue walking platform - Google Patents
Terrain self-adaptive detection and rescue walking platform Download PDFInfo
- Publication number
- CN101870312B CN101870312B CN2010102123737A CN201010212373A CN101870312B CN 101870312 B CN101870312 B CN 101870312B CN 2010102123737 A CN2010102123737 A CN 2010102123737A CN 201010212373 A CN201010212373 A CN 201010212373A CN 101870312 B CN101870312 B CN 101870312B
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- electromagnet
- rescue
- clutch
- output shaft
- photoelectric switch
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Abstract
The invention relates to a terrain self-adaptive detection and rescue walking platform mainly comprising a power output part and an electronic control part, wherein the front end of the power output part drives front wheels to turn through a motor, and the rear end drives rear wheels through another motor; the electronic control part in the middle is realized through the relative connection of a spherical cavity structure and two magnet structures so as to ensure that the equipment can still run according to a preset trail after turning. The invention has the advantages of compact structure and strong operability, and is particularly suitable for providing the rescue walking mechanism for robots in the rescue occasions such as earthquake rescue, mine disaster rescue, and the like.
Description
Technical field
The present invention relates to running gear, be specially a kind of terrain self-adaptive detection and rescue walking platform that adapts to complex road surface for rescue robot.
Background technology
In actual life, owing to neglecting or can not resisting factor, can cause some little accidents or big disaster unavoidably, in these accidents or disaster scene, because it is on-the-spot destroyed usually serious, artificial search and rescue process is interrupted easily, cause the search and rescue activity to postpone, even also may cause more injures and deaths, finish so the search and rescue process needs robot to assist usually, consider the complexity of search and rescue process, require rescue robot usually, can adapt to multiple complex road surface, and can carry out self adaptation according to different road surfaces and regulate.
Summary of the invention
Technical matters solved by the invention is to provide a kind of terrain self-adaptive detection and rescue walking platform, to solve the shortcoming in the above-mentioned background technology.
Technical matters solved by the invention realizes by the following technical solutions:
Terrain self-adaptive detection and rescue walking platform, mainly comprise takeoff output partial sum electronic control part, wherein takeoff output partly drives by two stepping motors, two stepping motors are installed in the mechanism front portion, end turning mechanism before the lower-powered connection in two stepping motors, wheel apparatus after the bigger connection of power, wherein whole terrain self-adaptive detection and rescue walking platform are the four sides, and every face all has wheeled construction.
These landform self-adaptive detection and rescue walking platform characteristics are only to drive four face walkings with a cover engine installation or a drive motor, and always landing ground is driven and walks, finish gravity sensing with a ball cavity configuration, there is a steel ball ball cavity configuration inside, movable in can four inside grooves in the ball chamber, four inside grooves corresponding respectively the driving surface of four operations, the built-in travel switch of difference, in the course of the work, utilize the action of gravity of steel ball to seek landing ground, and relevant travel switch controlled, drive the wheeled construction on the landing ground, be separately installed with photoswitc, travel switch in the outside, ball chamber of four inside grooves in addition, photoelectric switch and rear portion relay are cascaded structure, four formation switches promptly are installed, four photoelectric switchs and four relays.
By the finishing of relevant control circuit, is electronic control part at the motor case rear at stepping motor at the electronic control part of the terrain self-adaptive detection and rescue walking platform of invention, and two electromagnet are installed, and two electromagnet are facing to putting.Two electromagnet core heads are close together, and are fixed together with pull lever, and the pull lever other end then is fixed together with clutch output shaft.The terminal fixedly active clutch blade of clutch output shaft.Two electromagnet face toward to be placed, two pull lever of two electromagnet institute bonded assemblys, and its mode of operation realizes that for controlling by circuit each is switched on to one of them electromagnet, simultaneously to another electromagnet outage.
Wherein, the rear portion pipe link connects versatile spindle and clutch output shaft, miniature gears is connected with a revolution big gear wheel on the clutch output shaft, heavy-duty motor connects pull lever and electromagnet by versatile spindle, by steel ball and two switches, utilize the adsorption of electromagnet, make miniature gears rotate the wheel construction of controlling terminal landing ground, the wheel of other three non-landing grounds is not driven round the revolution big gear wheel.When car runs into obstacle or slope and causes rolling, also always keep These characteristics when changing landing ground, in order to keeping the wheel driving condition of one side that lands all the time, thereby saved power.
In the front end steering structure, be mainly a toothed disc structure, low-power machine is by output shaft connection gear dish structure, around the toothed disc structure is four rack structures, connect four fore wheel structures on the landing ground respectively, the positive and negative rack structure of control linkage on fore wheel structure that transfer by low-power machine realized turning to, and by the driving of same toothed disc, can guarantee to guarantee that whole self adaptation traveling gear rotation direction is constant simultaneously again after upset.
Beneficial effect: adaptive ability of the present invention is strong, runs into still can normally walk after rolling, and the robot that can be rescue occasions such as earthquake rescue, mine disaster rescue provides rescue walking mechanism.
Description of drawings
Fig. 1 is the front schematic view of preferred embodiment of the present invention;
Fig. 2 is the lateral plan of preferred embodiment of the present invention;
Fig. 3 is the sectional drawing of preferred embodiment of the present invention;
Fig. 4 is a ball of the present invention chamber scheme drawing.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Terrain self-adaptive detection and rescue walking platform of the present invention mainly comprises: takeoff output partial sum electronic control part.
In the embodiment shown in Fig. 1,2,3: the output pathway of takeoff output part is: drive motor 12 to power take-off shaft 13 to crossed universal shaft 14 to quill shaft 15 to clutch output shaft 16, drive by dynamic clutch blade 24 by active clutch blade 23 again, by being driven bevel gear shaft 25 by dynamic clutch blade 24, two finishing bevel gear cuters 26 that drive bevel gear 43 drives on the passive bevel gear shaft 42 on it rotate.26 1 band keyways of two finishing bevel gear cuters on the wherein passive bevel gear shaft 42 are in order to drive passive bevel gear shaft 42; And another finishing bevel gear cuter 26 is not with keyway, only with its axial restraint, in order to fixedly drive bevel gear 26 and bevel gear shaft 25.
In the electronic control part, respectively there is a travel switch four positions in ball chamber 37 as shown in Figure 4, by the 36 control Push And Releases of the steel ball in the ball chamber 37.Because steel ball 36 can roll and changes the present position in ball chamber 37 with car body.
In embodiment one, when car lands walking below just, position under steel ball 36 is in the ball chamber 37, this moment, steel ball 36 was pushed down below travel switch 38.
In another embodiment, when car body rolled to the top of the original side, steel ball 36 left original lower end and is stable in the upper end at this moment.Leaving of lower end travel switch 38 invar balls 36 and change on off state like this, promptly stroke switch 38 becomes off-state, and upper end travel switch 38 is because the arrival of steel ball 36 also changes the state of switch, and promptly stroke switch 38 becomes closure state.
Electronic control part also has two electromagnet, i.e. electromagnet A 17, electromagnet B 18, and these two electromagnet are placed on the electromagnet fixed bin 19 facing to putting.Two electromagnet core heads are close together, and are fixed together with pull lever 22, and pull lever 22 other ends then are fixed together with clutch output shaft 16.Clutch output shaft 16 terminal fixedly active clutch blades 23.Two electromagnet are facing to placing, and its mode of operation is each only to one of them electromagnet energising by circuit control, simultaneously to another electromagnet outage.
In embodiment three, electromagnet A 17 energisings, electromagnet B 18 outages simultaneously, electromagnet A17 adhesive this moment and the direct pull lever 22 that drives move to left rapidly, thereby driving clutch output shaft 16, miniature gears 39 and active clutch blade 23 indirectly also moves to left rapidly vertically, this moment active clutch blade 23 with separated by dynamic clutch blade 24 and miniature gears 39 is realized the revolution of clutch output shafts 16 around center suspension rod 34 with 40 engagements of revolution big gear wheel, thereby realize the switching of drive surface.
In embodiment four, electromagnet B 18 energisings, electromagnet 17 outages simultaneously, electromagnet B 18 adhesives this moment and the direct pull lever 22 that drives move to right rapidly, thereby driving clutch output shaft 16, miniature gears 39 and active clutch blade 23 indirectly also moves to right rapidly vertically, this moment miniature gears 39 with revolution big gear wheel 40 jump out of meshs and make active clutch blade 23 with by 24 engagements of dynamic clutch blade, realize the rotation of clutch output shaft 16 and bevel gear shaft 25, thereby drive the car body walking.
Steel ball is controlled the closure of each face travel switch 38, and the closure of photoelectric switch catch 21 each face photoelectric switch 20 of control is controlled electromagnet A 17 and electromagnet B 18.Travel switch 38, photoelectric switch 20 are connected with relay.The back steel ball all can be fallen a place in ball chamber 37 because the each chance of car body is rolled, so all have only travel switch 38 closures at every turn, and this face also is the one side that lands, when photoelectric switch catch 21 revolves round the sun with clutch output shaft 16, when photoelectric switch catch 21 forwards landing ground to, photoelectric switch 20 closures of control respective face are when, just discharging by dynamic clutch blade 24 and 23 engagements of active clutch blade and realize that car bodies drive when all closed with the travel switch 38 of one side and photoelectric switch 20.
Front end wheel of the present invention position is a steering hardware, drive by being installed in the steer motor 11 that turns on the wheel carrier 10, steer motor 11 connects steering gear 1, the rotating instruction back that steering gear 1 receives on the steer motor 11 drives the other steering rack 2 on 4 orientation respectively of side, steering rack 2 is by rolling bearing pedestal 3, turn to shifting block 4 and then power and be transported to turning on the shaft 5 of being connected, 5 on turning point axle is transported to steered wheel 8 to power by connecting antifriction-bearing box 6 and surface bearing 7, and then finish and turn to, and, can guarantee that then the rotational angle of the terrain self-adaptive detection and rescue walking platform in the whole process remains unchanged because of four steering racks 2 pass through same steering gear 1.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (1)
1. terrain self-adaptive detection and rescue walking platform mainly comprises takeoff output partial sum electronic control part, it is characterized in that:
1. travelling platform has four landing grounds, and each landing ground all has wheeled construction;
2. described travelling platform comprises a lower-powered motor and the motor that power is bigger, the bigger motor of power is as drive motor, in preceding end turning mechanism, comprise a toothed disc structure, this lower-powered motor is by output shaft connection gear dish structure, around the toothed disc structure is four rack structures, connect four fore wheel structures on the landing ground respectively, the positive and negative rack structure of control linkage on fore wheel structure that transfer by this lower-powered motor realized turning to, by the driving of same toothed disc, can guarantee after upset, to guarantee that whole self adaptation traveling gear rotation direction is constant simultaneously again;
The output pathway of 3. described takeoff output part is: drive motor (12) to power take-off shaft (13) to crossed universal shaft (14) to quill shaft (15) to clutch output shaft (16), drive by dynamic clutch blade (24) by active clutch blade (23) again, by being driven bevel gear shaft (25) by dynamic clutch blade (24), two finishing bevel gear cuters (26) that drive bevel gear on it (43) drives on the passive bevel gear shaft (42) rotate;
4. described electronic control part front end is a ball cavity configuration, the ball cavity configuration has built-in steel ball, four angles are provided with travel switch and photoelectric switch respectively on the ball cavity configuration, the electronic control part rear portion is two electromagnet structures, these two electromagnet are placed on the electromagnet fixed bin (19) facing to putting, and two electromagnet core heads are close together, and be fixed together with pull lever (22), pull lever (22) other end then is fixed together with clutch output shaft (16);
5. the mode of operation of described electromagnet is each only to one of them electromagnet energising by circuit control, simultaneously to another electromagnet outage; Steel ball (36) is controlled the closure of each landing ground travel switch (38), and photoelectric switch catch (21) is controlled the closure of each landing ground photoelectric switch (20) and controlled described two electromagnet; When electromagnet A energising, electromagnet B outage simultaneously, electromagnet A adhesive this moment and the direct pull lever (22) that drives move to left rapidly, thereby driving clutch output shaft (16), miniature gears (39) and active clutch blade (23) indirectly also moves to left rapidly vertically, active clutch blade this moment (23) with is separated by dynamic clutch blade (24) and miniature gears (39) and the revolution of revolution big gear wheel (40) engagement realization clutch output shaft (16) around center suspension rod (34), thereby the switching of realization drive surface; Steel ball all can be fallen a place in ball chamber (37) after the each chance of car body was rolled, so all have only a travel switch (38) closure at every turn, and this face also is the one side that lands, when photoelectric switch catch (21) revolves round the sun with clutch output shaft (16), photoelectric switch catch (21) is when forwarding landing ground to, photoelectric switch (20) closure of control respective face, when when all closed, just discharge by dynamic clutch blade (24) and active clutch blade (23) engagement and realize that car body drives with the travel switch (38) of one side and photoelectric switch (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102123737A CN101870312B (en) | 2010-06-29 | 2010-06-29 | Terrain self-adaptive detection and rescue walking platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102123737A CN101870312B (en) | 2010-06-29 | 2010-06-29 | Terrain self-adaptive detection and rescue walking platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101870312A CN101870312A (en) | 2010-10-27 |
| CN101870312B true CN101870312B (en) | 2011-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010102123737A Expired - Fee Related CN101870312B (en) | 2010-06-29 | 2010-06-29 | Terrain self-adaptive detection and rescue walking platform |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176148B (en) * | 2014-08-14 | 2016-05-04 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsic safety sniffing robot body based on parallel moving mechanism control |
| CN107117204B (en) * | 2017-05-10 | 2019-04-05 | 深兰科技（上海）有限公司 | A kind of transportation robot based on gimbal suspension |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4292861A (en) * | 1979-04-25 | 1981-10-06 | Rca Corporation | Earth self-orienting apparatus |
| FI802844A (en) * | 1980-09-10 | 1982-03-11 | Finventors | DRAGHJULSANORDNING |
| JPS57171210A (en) * | 1981-04-15 | 1982-10-21 | Tokyo Keiki Co Ltd | Gyro compass |
| JPH02262484A (en) * | 1989-04-03 | 1990-10-25 | Toshiba Corp | Moving mechanism |
| CN1302958C (en) * | 2004-08-13 | 2007-03-07 | 哈尔滨工业大学 | Eight-wheel symmetrical suspension frame vehicle loading mechanism |
| CN101214783B (en) * | 2008-01-21 | 2010-08-04 | 湖南大学 | Passive rocking arm diamond-type four-wheel lunar rover moving system |
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2010
- 2010-06-29 CN CN2010102123737A patent/CN101870312B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN101870312A (en) | 2010-10-27 |
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Granted publication date: 20111228 Termination date: 20130629 |