CN105035207A - Flexible-obstacle-striding steering small vehicle - Google Patents

Flexible-obstacle-striding steering small vehicle Download PDF

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Publication number
CN105035207A
CN105035207A CN201510250486.9A CN201510250486A CN105035207A CN 105035207 A CN105035207 A CN 105035207A CN 201510250486 A CN201510250486 A CN 201510250486A CN 105035207 A CN105035207 A CN 105035207A
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China
Prior art keywords
obstacle
base
wheel
motor
overpass
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Granted
Application number
CN201510250486.9A
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Chinese (zh)
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CN105035207B (en
Inventor
周见行
裘信国
姜伟
季行健
王国龙
夏中楠
周鑫卓
贾中楠
金国杰
梁飞飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FENGSHUN HAOWEI MACHINERY TECHNOLOGY Co.,Ltd.
Original Assignee
Zhejiang University of Technology ZJUT
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Priority to CN201510250486.9A priority Critical patent/CN105035207B/en
Publication of CN105035207A publication Critical patent/CN105035207A/en
Application granted granted Critical
Publication of CN105035207B publication Critical patent/CN105035207B/en
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Abstract

A flexible-obstacle-striding steering small vehicle comprises a base, an n-shaped vehicle frame, a steering device, a driving device and obstacle striding devices. The base comprises two base bodies which are symmetrically arranged in a left-and-right direction and are interconnected through the n-shaped vehicle frame. A steering device and two sets of driving devices are symmetrically configured in front of and behind the two base bodies. The obstacle striding devices are arranged in front of and behind the n-shaped vehicle frame. The flexible-obstacle-striding steering small vehicle has high flexibility and can stride thin-rod-type obstacles.

Description

A kind of obstacle detouring turns to dolly flexibly
Technical field
The present invention relates to and turn to dolly, especially a kind of obstacle-overpass turns to dolly flexibly.
Background technology
At present, at many burst rescue sites, because environment is relatively more severe, rescue trolley robot is usually needed to go to finish the work.But existing obstacle detouring dolly is all fairly simple substantially, do not possess the obstacle-overpass ability of the obstacles such as thin bar single-plank bridge, and general equipment is all larger, and in turning to, because the rotating only controlling two wheels realizes turning to, seem underaction, in the occasion that ask for something is higher, can not meet the requirement that it turns to.
Obstacle detouring dolly can only complete single obstacle detouring action substantially, in alerting ability, have again certain defect.
Summary of the invention
Turning to overcome to have the deficiency that the alerting ability of dolly is poor, can not cross thin bar class obstacle, the invention provides good, that thin bar class obstacle can the be crossed obstacle-overpass of a kind of alerting ability and turning to dolly flexibly.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of obstacle detouring turns to dolly flexibly, comprise base, "door" type vehicle frame, steering hardware, actuating device and obstacle-overpass device, described base comprises two bases be symmetrically arranged, described two bases are interconnected by "door" type vehicle frame, the front and back of described two bases are arranged symmetrically with steering hardware and two groups of actuating devices, and the front and back of described "door" type vehicle frame arrange described obstacle-overpass device;
Described steering hardware comprises steer motor, motor base attaching parts, miniature gears, big gear wheel, steering shaft bearing, wheel support frame and wheel, described steer motor and described motor base attaching parts are installed on base, the output shaft of described steer motor is connected with described miniature gears, miniature gears engages with big gear wheel, described big gear wheel is connected with described wheel support frame, described wheel support frame is arranged on base by described steering shaft bearing, and wheel is arranged on wheel support frame;
Described actuating device comprises drive motor, and described drive motor is fixed on described wheel support frame, and the output shaft of described drive motor is connected with the rotating shaft of wheel;
Described obstacle-overpass device comprises obstacle-overpass motor, coupler, cam, left shaft holder and right bearing seat, described cam is installed on the both sides of "door" type support respectively by left shaft holder and right bearing seat, and the output shaft of described obstacle-overpass is connected with the rotating shaft of cam by coupler.
Beneficial effect of the present invention is mainly manifested in: lighter weight, volume be little, turn to flexibly, can quickly through thin bar class obstacle, be suitable for different occasion.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that obstacle-overpass turns to dolly flexibly.
Fig. 2 is the schematic diagram of "door" type vehicle frame.
Fig. 3 is the schematic diagram of steering hardware.
Fig. 4 is the schematic diagram of actuating device.
Fig. 5 is the schematic diagram of obstacle-overpass device.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Fig. 5, a kind of obstacle detouring turns to dolly flexibly, comprise base 2, "door" type vehicle frame 3, steering hardware 4, actuating device 5, obstacle-overpass device 6 and controller, described base comprises left base 21, right base 22, described left base and right base are interconnected by "door" type vehicle frame, leave gap between described left and right base; Left base 21, right base 22 bilateral symmetry install steering hardware and two groups of actuating devices;
Described steering hardware comprises steer motor 411, motor base attaching parts 412, miniature gears 413, big gear wheel 414, steering shaft bearing 415, wheel support frame 416 and wheel 417, described steer motor 411 is installed on base with described motor base attaching parts 412, and the output shaft of described steer motor 411 is connected with described miniature gears 413; Described miniature gears 413 engages with big gear wheel 414, and described big gear wheel 414 is connected with described wheel support frame 416, and described wheel support frame 416 is arranged on base with described steering shaft bearing 415 and wheel 417;
Described actuating device 5 comprises drive motor 511, and described drive motor 511 is fixed on described wheel support frame 416, and the output shaft of described drive motor 511 is connected with the rotating shaft of wheel 417;
Described obstacle-overpass device 6 comprises obstacle-overpass motor 611, coupler 612, cam 613, left shaft holder 614 and right bearing seat 615, described cam 613 is installed on the both sides of "door" type support by left shaft holder 614 and right bearing seat 615, and the output shaft of described obstacle-overpass motor 611 is connected with the rotating shaft of cam 613 by coupler 612;
Described steer motor 411, drive motor 511 and obstacle-overpass motor 611 all connect with the controller being connected power supply.
Described vehicle frame is "door" type structure, and the gap between described left base 21, right base 22 and vehicle frame form obstacle-overpass passage jointly.
The working process of the present embodiment: controller controls four motors in steering hardware, four electric machine rotations, drive corresponding pinion rotation, pass through gear transmission, realize the rotation of wheel support and wheel, realize moving and turning to of dolly any direction in the plane, make dolly have stronger alerting ability, by controlling the startup of motor, stopping, rotating can realize dolly planar to the set direction of any direction movement.The drive motor be arranged on wheel support can rotate with support, and can wheels rotate, thus driving dolly, dolly upper advance in any direction can be made or retreat, in actuating device, two motors are fixed on wheel support, rotate with wheel, and by controlling the startup of two motors, stopping, rotating can realize the startup of dolly on set direction, stopping, advance, retrogressing.In obstacle crossing device, two with convex stupefied wheel, "door" type support rear and front end is fixed on respectively by supporting seat and bearing, wheel axle and motor shaft are connected by coupler, by controlling the startup of motor, stopping, rotating realize the startup of dolly on thin bar obstacle, stop, moving forward and backward, and dolly is broken the barriers smoothly.The energy of dolly is electric energy, and each moveable portion is all driven by motor.
Content described in this specification sheets embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention also comprises those skilled in the art and conceives the equivalent technologies means that can expect according to the present invention.

Claims (1)

1. an obstacle detouring turns to dolly flexibly, it is characterized in that: comprise base, "door" type vehicle frame, steering hardware, actuating device and obstacle-overpass device, described base comprises two bases be symmetrically arranged, described two bases are interconnected by "door" type vehicle frame, the front and back of described two bases are arranged symmetrically with steering hardware and two groups of actuating devices, and the front and back of described "door" type vehicle frame arrange described obstacle-overpass device;
Described steering hardware comprises steer motor, motor base attaching parts, miniature gears, big gear wheel, steering shaft bearing, wheel support frame and wheel, described steer motor and described motor base attaching parts are installed on base, the output shaft of described steer motor is connected with described miniature gears, miniature gears engages with big gear wheel, described big gear wheel is connected with described wheel support frame, described wheel support frame is arranged on base by described steering shaft bearing, and wheel is arranged on wheel support frame;
Described actuating device comprises drive motor, and described drive motor is fixed on described wheel support frame, and the output shaft of described drive motor is connected with the rotating shaft of wheel;
Described obstacle-overpass device comprises obstacle-overpass motor, coupler, cam, left shaft holder and right bearing seat, described cam is installed on the both sides of "door" type support respectively by left shaft holder and right bearing seat, and the output shaft of described obstacle-overpass is connected with the rotating shaft of cam by coupler.
CN201510250486.9A 2015-05-15 2015-05-15 Flexible-obstacle-striding steering small vehicle Active CN105035207B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510250486.9A CN105035207B (en) 2015-05-15 2015-05-15 Flexible-obstacle-striding steering small vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510250486.9A CN105035207B (en) 2015-05-15 2015-05-15 Flexible-obstacle-striding steering small vehicle

Publications (2)

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CN105035207A true CN105035207A (en) 2015-11-11
CN105035207B CN105035207B (en) 2017-05-24

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106938677A (en) * 2017-02-24 2017-07-11 浙江农林大学 A kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering
CN108263512A (en) * 2017-04-05 2018-07-10 崔侃 Synchronous walking mechanism carrier
CN111619654A (en) * 2019-02-27 2020-09-04 河海大学常州校区 Obstacle avoidance robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106938677A (en) * 2017-02-24 2017-07-11 浙江农林大学 A kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering
CN106938677B (en) * 2017-02-24 2019-01-29 浙江农林大学 A kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering
CN108263512A (en) * 2017-04-05 2018-07-10 崔侃 Synchronous walking mechanism carrier
CN111619654A (en) * 2019-02-27 2020-09-04 河海大学常州校区 Obstacle avoidance robot

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Effective date of registration: 20200929

Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China

Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd.

Address before: The city Zhaohui six districts Chao Wang Road Hangzhou city Zhejiang province Zhejiang University of Technology No. 18 310014

Patentee before: ZHEJIANG University OF TECHNOLOGY

Effective date of registration: 20200929

Address after: 221700 industrial zone of Huan Town, Xuzhou, Fengxian County, Jiangsu

Patentee after: FENGSHUN HAOWEI MACHINERY TECHNOLOGY Co.,Ltd.

Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China

Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd.

TR01 Transfer of patent right