CN106114596B - Track type climbing-building floor truck stabilized walking mechanism - Google Patents
Track type climbing-building floor truck stabilized walking mechanism Download PDFInfo
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- CN106114596B CN106114596B CN201610654420.0A CN201610654420A CN106114596B CN 106114596 B CN106114596 B CN 106114596B CN 201610654420 A CN201610654420 A CN 201610654420A CN 106114596 B CN106114596 B CN 106114596B
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- driven wheel
- front driven
- telescopic rod
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- driving wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of track type climbing-building floor truck stabilized walking mechanism, the centre of gyration of driving wheel, front driven wheel and back front driven wheel constitutes triangular shape and the middle driven wheel centre of gyration is located on the line of front driven wheel and the back front driven wheel centre of gyration；Driving wheel, front driven wheel, middle driven wheel, back front driven wheel wind crawler belt；Middle fixed link upper and lower ends are rotatably assorted driving wheel, middle driven wheel respectively；The both ends of upper telescopic rod are rotatably assorted driving wheel, front driven wheel respectively；The both ends of upper fixed link are rotatably assorted driving wheel, back front driven wheel respectively；The both ends of lower telescopic rod are rotatably assorted front driven wheel, middle driven wheel respectively；The both ends of lower fixed link are rotatably assorted back front driven wheel, middle driven wheel respectively.The present invention makes two parts before and after crawler belt relatively rotate and be formed certain angle by adjusting front driven wheel height, can eliminate the impact of creeper undercarriage crawler belt and stair when climbing building and starting, and improves the stability and safety for climbing the movement of building floor truck walking mechanism.
Description
Technical field
The invention belongs to track type climbing-building floor truck technical fields, and in particular to a kind of low impact, high stability shoe
Belt climbs building floor truck walking mechanism.
Background technique
Crawler type walking mechanism, which is that one kind is relatively conventional, climbs building or barrier-crossing traveling mechanism, is climbing building trolley, robot and work
The fields such as journey machinery, which have, to be extremely widely applied, good with cross-country ability compared with wheeled and legged walking mechanism, is climbed
Slope, climb building, obstacle detouring, it is across ditch the advantages that, to non-structure environment have stronger adaptability.However, existing crawler type walking mechanism
Based on monoblock type, following problems are primarily present in terms of stability during climbing building: when starting stairs, crawler belt and building
Side of the ladder face is also easy to produce shock and impact is larger, and crawler belt first half is not contacted with stair when leaving stair, when entire trolley center of gravity
When crossing trolley and stair edge supports point, trolley first half crawler belt also can generate impact with ground；Similarly, crawler-type traveling
Mechanism starts downstairs during climbing down building and can also generate greater impact when leaving stair, drastically influences and climbs building walking mechanism
Stability.
Summary of the invention
To solve the above problems existing in the prior art, the invention discloses a kind of track type climbing-building floor trucks to stablize row
Walk mechanism.
In order to achieve the above objectives, the present invention adopts the following technical scheme that: track type climbing-building floor truck stabilized walking mechanism,
Including crawler belt, upper fixed link, driving wheel, middle fixed link, upper telescopic rod, front driven wheel, lower telescopic rod, middle driven wheel, lower fixation
The centre of gyration of bar and back front driven wheel, driving wheel, front driven wheel and back front driven wheel constitutes triangular shape and the middle driven wheel centre of gyration
On the line of front driven wheel and the back front driven wheel centre of gyration；Driving wheel, front driven wheel, middle driven wheel, back front driven wheel winding
Crawler belt；Middle fixed link upper and lower ends are rotatably assorted driving wheel, middle driven wheel respectively；The both ends of upper telescopic rod are rotatably assorted master respectively
Driving wheel, front driven wheel；The both ends of upper fixed link are rotatably assorted driving wheel, back front driven wheel respectively；The both ends of lower telescopic rod turn respectively
Dynamic cooperation front driven wheel, middle driven wheel；The both ends of lower fixed link are rotatably assorted back front driven wheel, middle driven wheel respectively.
Preferably, driving wheel is rotated by power source drive.
Preferably, power source drives driving wheel rotation by chain conveyer, gear drive or V belt translation.
Preferably, driving wheel, front driven wheel, back front driven wheel are in isosceles triangle shape, the middle driven wheel be located at it is preceding from
The central point of driving wheel and back front driven wheel centre of gyration line.
Preferably, upper telescopic rod or/and lower telescopic rod are stretched using leadscrew-nut mechanism, cylinder or Driven by Hydraulic Cylinder
Movement.
Preferably, upper telescopic rod or lower telescopic rod include the first connector, slide bar, sleeve, lead screw, the second connector, tooth
Wheel decelerator, motor, the first connector are connected with driving wheel and can rotate around the axis of rotation of driving wheel, and slide bar connects by first
Fitting is connected with front driven wheel, and the first connector can be rotated around the axis of rotation of front driven wheel；Motor passes through gear reduction unit
Lead screw is driven to rotate along its axis, slide bar is screwed on threads of lead screw, and slide bar is in sliding fit with sleeve, and sleeve passes through The gear deceleration
The cabinet of device is fixed on the second connector.
The present invention makes two parts before and after crawler belt relatively rotate and be formed certain angle by adjusting front driven wheel height, can disappear
Except the impact of creeper undercarriage crawler belt and stair when climbing building and starting, the stabilization for climbing the movement of building floor truck walking mechanism is improved
Property and safety.
Detailed description of the invention
Fig. 1 is a kind of preferred track type climbing-building floor truck stabilized walking mechanism overall structure diagram of the present invention.
Fig. 2 is upper and lower Telescopic rod structure schematic diagram of the invention.
Fig. 3 is that a kind of preferred track type climbing-building floor truck stabilized walking mechanism of the present invention climbs down building process schematic.
Fig. 4 is that building process schematic is climbed up by a kind of preferred track type climbing-building floor truck stabilized walking mechanism of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated, it should be understood that and the specific embodiments described herein are merely illustrative of the present invention, and
Do not limit the present invention.
As shown in Figure 1, the present embodiment track type climbing-building floor truck stabilized walking mechanism, including crawler belt 1, upper fixed link 2,
Driving wheel 3, middle fixed link 4, upper telescopic rod 5, front driven wheel 6, lower telescopic rod 7, middle driven wheel 8, lower fixed link 9 and back front driven wheel
10, driving wheel 3 can be connected by transmission mechanisms such as chain conveyer, gear drive or V belt translations with power source motor.
In vertically arranged, the upper end is rotatably assorted driving wheel 3 middle fixed link 4, and lower end is rotatably assorted middle driven wheel 8.Walking
When mechanism original state, driving wheel 3, front driven wheel 6 and 10 centre of gyration of back front driven wheel constitute common triangle and middle driven wheel 8
The centre of gyration is located on the line of 10 centre of gyration of front driven wheel 6 and back front driven wheel.In the present embodiment, driving wheel 3, front driven wheel
6, back front driven wheel 10 is in isosceles triangle shape.Driving wheel 3, front driven wheel 6, middle driven wheel 8, back front driven wheel 10 wind crawler belt 1.
The both ends of lower fixed link 9 are rotatably assorted middle driven wheel 8, back front driven wheel 10 respectively, and the both ends of upper fixed link 2 turn respectively
Dynamic cooperation driving wheel 3, back front driven wheel 10, two fixed links can be rotated along 10 axis of rotation of back front driven wheel.Upper fixed link 2, middle fixation
Bar 4 and lower fixed link 9 length during walking mechanism is advanced are fixed.
Front driven wheel 6 is rotatably assorted can return in upper telescopic rod 5, one end of lower telescopic rod 7 and two telescopic rods along front driven wheel 6
Shaft axis rotation.The other end of upper telescopic rod 5 is rotatably assorted driving wheel 3, and upper telescopic rod 5 can be rotated along 3 axis of rotation of driving wheel.
Middle driven wheel 8 is rotatably assorted lower telescopic rod 7, and lower telescopic rod 7, middle fixed link 4 and lower fixed link 9 can be along middle driven wheels
The rotation of 8 axiss of rotation.
Front driven wheel 6 is in forward and backward driven wheel 10 rear during upstairs and downstairs, i.e., front driven wheel 6 is driven prior to rear
Wheel 10 is contacted with stair.
Upper telescopic rod 5 and lower telescopic rod 7 length during walking mechanism is advanced are adjustable, according to floor truck different loads
It is required that the transmission mechanisms such as leadscrew-nut mechanism, cylinder or hydraulic cylinder can be used.The present embodiment is by taking leadscrew-nut mechanism as an example to upper
Telescopic rod 5 and lower telescopic rod 7 elaborate.
As shown in Fig. 2, upper telescopic rod 5 is similar with the structure of lower telescopic rod 7, by the first connector 11, slide bar 12, set
The components such as cylinder 13, lead screw 14, the second connector 15, gear reduction unit 16 and motor 17 composition, the second connector of upper telescopic rod 5
15 are connected with driving wheel 3 and can rotate around 3 axis of rotation of driving wheel, the second connector 15 of lower telescopic rod 7 and middle 8 phase of driven wheel
Lian Bingke is rotated around middle 8 axis of rotation of driven wheel.The slide bar 12 of upper telescopic rod 5 and lower telescopic rod 7 respectively passes through one first connector
11 are connected with front driven wheel 6, and two first connectors 11 can be rotated around 6 axis of rotation of front driven wheel.Stepping electricity can be selected in motor 17
Machine (in the case of low-load) or DC servo motor (under high load condition) simultaneously drive lead screw 14 along it by gear reduction unit 16
Axis rotation, slide bar 12 are screwed on 14 screw thread of lead screw, and slide bar 12 is in sliding fit with sleeve 13, since sleeve 13 is subtracted by gear
The cabinet of fast device 16 is fixed on the second connector 15, and therefore, slide bar 12 passes through the screw thread of lead screw 14 under the driving of motor 17
It pushes to make to move forward or back along axis and move.
Walking mechanism, which climbs building process and can be divided into climbing up, building and climbs down two, building basic process, and the present embodiment track type climbing-building is removed
Fortune running gear for trolley can be improved in above-mentioned two basic process climbs building stability, and basic principle is respectively such as Fig. 3 and Fig. 4 institute
Show, is described below and (in the present embodiment, climbs building floor truck and can detect trolley by infrared distance sensor and progress climbed up into building
Process still climbs down building process):
Walking mechanism climbs up building process as shown in figure 3, under original state, the length phase of upper telescopic rod 5 and upper fixed link 2
Together, lower telescopic rod 7 is identical as the length of lower fixed link 9, i.e., by driving wheel 3, front driven wheel 6 and 10 three of back front driven wheel revolution
The triangle that the heart is constituted is isosceles triangle, and middle driven wheel 8 is located at the line of 10 centre of gyration of front driven wheel 6 and back front driven wheel
Upper (Fig. 3 (a))；When walking mechanism starts to contact first segment step, upper telescopic rod 5 shortens and lower telescopic rod 7 extends, the two
Elongation and shortening ratio can be calculated under the constant restrictive condition of track length by the length dimension of each geometric features, this
When, front driven wheel 6 will be lifted up certain altitude, and the size of raising height can be determined according to the height of detected single-unit stair
(Fig. 3 (b))；When driven wheel 8 starts to contact first segment step in the middle, upper telescopic rod 5 extends and lower telescopic rod 7 shortens, vehicle with walking machine
The structure shape that restPoses walks (Fig. 3 (c)) on stair；When front driven wheel 6 crosses final section step, upper telescopic rod
5 extend and the shortening of lower telescopic rod 7, at this point, front driven wheel 6 will tilt down until it touches final section ledge surface (Fig. 3
(d))；When back front driven wheel 10 crosses final section step, upper telescopic rod 5 shortens, lower telescopic rod 7 extends, and walking mechanism is restored
Original state shape is walked on level land.
Similarly, walking mechanism climbs down building process as shown in figure 4, Fig. 4 (a) is in front of showing walking mechanism contact stair
Original state；When front driven wheel 6 initially moves off first segment step, the upper elongation of telescopic rod 5, lower telescopic rod 7 shorten, at this point, preceding
Driven wheel 6 will tilt down until it touches the second section ledge surface (Fig. 4 (b))；Driven wheel 8 leaves first segment step side in the middle
When edge, upper telescopic rod 5 shortens, lower telescopic rod 7 extends, and the walking mechanism shape that restPoses is walked (Fig. 4 on stair
(c))；When front driven wheel 6 starts to touch final section step (level land), upper telescopic rod 5 shortens, lower telescopic rod 7 extends, this
When, front driven wheel 6 will be lifted up certain altitude, and the size of raising height can be determined according to the height of detected single-unit stair
(Fig. 4 (d))；When back front driven wheel 10 leaves stair completely, the upper elongation of telescopic rod 5, lower telescopic rod 7 shorten, and walking mechanism is restored
Original state shape walks (Fig. 4 (e)) on level land.
Track type climbing-building floor truck stabilized walking mechanism of the present invention in the process of walking, is lifted by controlling front driven wheel
Certain altitude makes two parts before and after crawler belt relatively rotate and be formed certain angle, can eliminate creeper undercarriage when climbing building and starting
The impact of crawler belt and stair improves walking stability and the safety for climbing building floor truck.
Claims (6)
1. track type climbing-building floor truck stabilized walking mechanism, it is characterized in that including crawler belt, upper fixed link, driving wheel, middle fixation
Bar, upper telescopic rod, front driven wheel, lower telescopic rod, middle driven wheel, lower fixed link and back front driven wheel, driving wheel, front driven wheel and after
The centre of gyration of driven wheel constitutes triangular shape and the middle driven wheel centre of gyration is located at front driven wheel and the back front driven wheel centre of gyration
On line；Driving wheel, front driven wheel, middle driven wheel, back front driven wheel wind crawler belt；Middle fixed link upper and lower ends are rotatably assorted respectively
Driving wheel, middle driven wheel；The both ends of upper telescopic rod are rotatably assorted driving wheel, front driven wheel respectively；Distinguish at the both ends of upper fixed link
Be rotatably assorted driving wheel, back front driven wheel；The both ends of lower telescopic rod are rotatably assorted front driven wheel, middle driven wheel respectively；Lower fixed link
Both ends be rotatably assorted respectively back front driven wheel, middle driven wheel；Fixed bar, middle fixed link and lower fixed link are in the walking
Length is fixed during mechanism advances.
2. track type climbing-building floor truck stabilized walking mechanism as described in claim 1, it is characterized in that: the driving wheel by
Power source drive and rotate.
3. track type climbing-building floor truck stabilized walking mechanism as claimed in claim 2, it is characterized in that: the power source is logical
Cross chain conveyer, gear drive or V belt translation driving driving wheel rotation.
4. track type climbing-building floor truck stabilized walking mechanism as described in any one of claims 1-3, it is characterized in that: described
Driving wheel, front driven wheel, back front driven wheel are in isosceles triangle shape, and the middle driven wheel is located at front driven wheel and back front driven wheel returns
Turn the central point of the line of centres.
5. track type climbing-building floor truck stabilized walking mechanism as described in claim 1, it is characterized in that: the upper telescopic rod
Or/and lower telescopic rod makees stretching motion using leadscrew-nut mechanism, cylinder or Driven by Hydraulic Cylinder.
6. track type climbing-building floor truck stabilized walking mechanism as claimed in claim 5, it is characterized in that: the upper telescopic rod
Or lower telescopic rod includes the first connector, slide bar, sleeve, lead screw, the second connector, gear reduction unit, motor, the first connector
It is connected with driving wheel and can be rotated around the axis of rotation of driving wheel, slide bar is connected by the first connector with front driven wheel, and the
A connection piece can be rotated around the axis of rotation of front driven wheel；Motor drives lead screw to rotate along its axis by gear reduction unit, sliding
Bar is screwed on threads of lead screw, and slide bar is in sliding fit with sleeve, and sleeve is fixed on the second connection by the cabinet of gear reduction unit
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610654420.0A CN106114596B (en) | 2016-08-10 | 2016-08-10 | Track type climbing-building floor truck stabilized walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610654420.0A CN106114596B (en) | 2016-08-10 | 2016-08-10 | Track type climbing-building floor truck stabilized walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114596A CN106114596A (en) | 2016-11-16 |
| CN106114596B true CN106114596B (en) | 2018-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610654420.0A Active CN106114596B (en) | 2016-08-10 | 2016-08-10 | Track type climbing-building floor truck stabilized walking mechanism |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994216A (en) * | 2017-05-27 | 2017-08-01 | 安徽沪宁智能科技有限公司 | A kind of efficient fire-fighting robot |
| CN113443032B (en) * | 2021-08-06 | 2022-04-12 | 中建八局第三建设有限公司 | Double-layer crawler-type carrying stair climbing device and stair climbing method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09109947A (en) * | 1995-10-16 | 1997-04-28 | Toyota Autom Loom Works Ltd | Triangular crawler and crawler vehicle |
| CN202130524U (en) * | 2011-06-27 | 2012-02-01 | 哈尔滨工程大学 | Obstacle crossing mechanism with retractable and structure-variable main arm |
| CN202529053U (en) * | 2012-04-25 | 2012-11-14 | 厦门大学 | Triangular track walking device adopting spring to damp |
| CN203381697U (en) * | 2013-07-10 | 2014-01-08 | 江苏省农垦农业发展股份有限公司 | Triangular crawler belt travelling mechanism for tractor |
| CN205930836U (en) * | 2016-08-10 | 2017-02-08 | 杭州电子科技大学 | Crawler -type is climbed building floor truck and is stabilized running gear |
-
2016
- 2016-08-10 CN CN201610654420.0A patent/CN106114596B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09109947A (en) * | 1995-10-16 | 1997-04-28 | Toyota Autom Loom Works Ltd | Triangular crawler and crawler vehicle |
| CN202130524U (en) * | 2011-06-27 | 2012-02-01 | 哈尔滨工程大学 | Obstacle crossing mechanism with retractable and structure-variable main arm |
| CN202529053U (en) * | 2012-04-25 | 2012-11-14 | 厦门大学 | Triangular track walking device adopting spring to damp |
| CN203381697U (en) * | 2013-07-10 | 2014-01-08 | 江苏省农垦农业发展股份有限公司 | Triangular crawler belt travelling mechanism for tractor |
| CN205930836U (en) * | 2016-08-10 | 2017-02-08 | 杭州电子科技大学 | Crawler -type is climbed building floor truck and is stabilized running gear |
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| CN106114596A (en) | 2016-11-16 |
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