CN106167059A - Use the running part of rackwork deformation and there is its firefighting movable platform - Google Patents
Use the running part of rackwork deformation and there is its firefighting movable platform Download PDFInfo
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- CN106167059A CN106167059A CN201610674164.1A CN201610674164A CN106167059A CN 106167059 A CN106167059 A CN 106167059A CN 201610674164 A CN201610674164 A CN 201610674164A CN 106167059 A CN106167059 A CN 106167059A
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- gear
- deformation
- pedestal
- running part
- sided rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of running part using rackwork to deform, drive assembly and walking assembly including: pedestal, monodentate bar Double-gear mechanism, deformation；Monodentate bar Double-gear mechanism includes that the two-sided rack and gear, the two-sided rack constitute moving sets with pedestal, and gear is two and is respectively provided at the two-sided rack both sides and is all engaged with, and two gears are pivotable with pedestal to be connected；Deformation drives assembly be connected with the two-sided rack and drive it along pedestal linear reciprocating motion；And deformation drives assembly to include screw rod, nut and actuator, described nut is connected with the two-sided rack and is connected by screw thread pair with screw rod, actuator drive screw turns thus drive the two-sided rack to move, and then drive pinion rotation drive two walking assemblies change angles, it is achieved the deformation of running part.The invention allows for a kind of firefighting movable platform including described running part, chassis height and the length of wagon of this firefighting movable platform are adjustable, improve its terrain trafficability and stability.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of running part using rackwork to deform and there is it
Firefighting movable platform, can be used for design fire-fighting robot design.
Background technology
Be applied to fire-fighting, rescue, detect, the mobile robot in the field such as investigation, often be faced with the terrain environment of complexity, this
Just require that robot has good landform adaptability, by property and kinetic stability.As a example by fire-fighting robot, some disappear
Anti-robot fire to be completed, environment detection and the sampling work of dangerization explosion scene, such fire-fighting robot needs to enter ground
The blast of shape complexity and scene of fire, thus require that fire-fighting robot has good terrain trafficability.Some landform requirement
Robot is wanted to have higher head room, to prevent obstacle jam robot chassis；Some landform, during such as climbing slope,
Ask robot to have a relatively low position of centre of gravity, increase the ground contact length of robot to provide good stability.And current machine
Device people's running part can not adjust attitude according to the change of landform, and the obstacle climbing ability so moving robot is subject to terrain trafficability
To impact.A kind of rocker type four-wheel robot proposed such as patent (patent No.: 200810023553.3), it has passive adaptation
The performance of landform, but its running part is fixing running part, it is impossible to according to landform need adjust its angle.When described machine
When people climbs the slope of heavy grade, because position of centre of gravity is higher, it is susceptible to rolling；When described robot therefrom between stride across higher barrier
When hindering thing, if head room is less than barrier, then occur jam even cannot pass through.If robot (such as fire-fighting robot) is mobile
The running part of platform can change its angle, shape on one's own initiative according to the feature of terrain obstruction, to change robot moving platform
Whole height, height of C.G., ground connection size, head room, then the landform that can improve the mobile platform using this running part is led to
The property crossed, adaptability and kinetic stability.It is currently used for environment detection and the fire tower sampling work of fire, dangerization explosion scene
Device people, does not carries out the design of deformable running part, thus, he designs a kind of deformable robot ambulation portion and use this running part
The firefighting movable platform of design is highly significant.
Summary of the invention
In order to solve technical problem present in prior art, the present invention proposes a kind of row using rackwork to deform
Walking portion and have its firefighting movable platform, this running part according to landform generation active deformation, can so use its fire-fighting to move
Moving platform can regulate whole height, position of centre of gravity, regulates its ground connection size, to adapt to different terrain.
The concrete technical scheme of the present invention is:
A kind of running part using rackwork to deform, drives assembly including: pedestal, monodentate bar Double-gear mechanism, deformation
With walking assembly；Described monodentate bar Double-gear mechanism includes: the two-sided rack, and all there is tooth and described two-sided described the two-sided rack both sides
Tooth bar constitutes moving sets with described pedestal；Gear, described gear is two, be respectively provided at described the two-sided rack both sides and all with
Described the two-sided rack engages, and two described gears are pivotable with described pedestal to be connected；Described deformation drives assembly double with described
Face tooth bar is connected and drives described the two-sided rack along pedestal linear reciprocating motion；Described walking assembly is two, described in two
Walking assembly is connected with two described gears respectively.
As preferably, the running part of the present invention, it is also possible to including angle detection module, described angle detection module is with described
Deformation drives assembly to be connected in order to detect described gear corner.
Optionally, described angle detection module is encoder.
Optionally, the running part of the present invention, described walking assembly can be running on wheels assembly, described running on wheels portion group
Part includes: running on wheels portion frame, and described running on wheels portion frame is connected with described gear；Vehicle wheel component, described vehicle wheel component and institute
Stating running part frame to be connected, wheel actuator, described wheel actuator is connected with described vehicle wheel component, and drives described vehicle wheel component
Rotate.
Optionally, the running part of the present invention, described walking assembly is crawler-type traveling assembly, described crawler-type traveling assembly
Including: track frame, described track frame is connected with described gear；Athey wheel, described Athey wheel is connected with described track frame, described shoe
Belt wheel includes driving Athey wheel and driven Athey wheel；Crawler belt, described crawler belt envelope is outside described Athey wheel, and carries out with described driving
Belt wheel is meshed；Athey wheel actuator, described Athey wheel actuator is connected with described driving Athey wheel, and drives described driving to carry out
Belt wheel rotates.
Further, the running part of the present invention, it is provided with guide rail slide block device between described the two-sided rack and described pedestal, described
It is provided with bearing between two ends that gear is axial and described pedestal, and described guide rail slide block device includes: guide rail, described guide rail is with described
Pedestal is connected；Slide block, described slide block is connected with described the two-sided rack and can move along a straight line along described guide rail.
Further, the running part of the present invention, described deformation drives assembly also to include: screw rod, described screw rod is with described
Pedestal is pivotable to be connected；Nut, described nut is connected with described the two-sided rack, and described nut passes through screw thread with described screw rod
Parafacies is even；Actuator, described actuator is fixing with described pedestal to be connected and drives described screw rod to rotate.Optionally, described drive
Moving part is motor or hydraulic motor or passes through the motor and hydraulic motor slowed down.
Further, the running part of the present invention, described gear is provided with the gear shaft coaxial with described gear, and described
The two ends of gear shaft are connected pivotly with described pedestal and stretch out described pedestal, described gear shaft the outside of described pedestal with
Described walking assembly is connected.
The running part of the present invention, described gear is imperfect gear.
By technique scheme, during the two-sided rack straight reciprocating motion of described monodentate bar Double-gear mechanism, can drive
Two described gears being meshed therewith rotate the most at the same speed；Because two described walking assemblies respectively with two described gears
It is connected, so when described deformation drives assembly to drive described the two-sided rack straight reciprocating motion, two described walking assemblies
Can oppositely swing simultaneously, thus change the angle of two described walking assemblies, it is achieved that the deformation of running part.If two institutes
The number of teeth stating gear is identical, can realize two described synchronized backswings of walking assembly；If the number of teeth of two described gears not phase
With, two described the most synchronized backswings of walking assembly can be realized.
In the inventive solutions, described gear is imperfect gear, and the production that therefore can reduce gear becomes
Basis and weight.
In the inventive solutions, it is also possible to include angle detection module, described angle detection module and described change
Shape drives assembly to be connected in order to detect gear corner, thus can detect the angle of two described walking assemblies, it is simple to running part
Deformation control.According to optional technical scheme, described angle detection module is encoder, and described encoder drives with described deformation
Assembly is connected and can indirectly detect the corner of described gear, or is coaxially connected with described gear to obtain turning of described gear
Angle thus obtain the angle of described walking assembly.
In the inventive solutions, described walking assembly can be running on wheels assembly, because two described wheeled row
Walk portion's frame to be connected with two described gears respectively, so when described deformation drives monodentate bar Double-gear mechanism described in Component driver
Time, two described running on wheels assemblies can oppositely swing simultaneously, thus can change the angle of two described running on wheels assemblies,
The wheelspan change of two described running on wheels assemblies and the change of the height of running part of the present invention can be realized.
In the inventive solutions, described walking assembly can be crawler-type traveling assembly, because two described crawler belts
Frame is connected with two described gears respectively, so when described deformation drives monodentate bar Double-gear mechanism described in Component driver,
Two described crawler-type traveling assemblies can oppositely swing simultaneously, thus can change the folder of two described crawler-type traveling assemblies
Angle, and then the ground contact length of two described crawler-type traveling assemblies and the change of the height of running part of the present invention can be realized
Change.
Additionally, the invention allows for a kind of firefighting movable platform, comprising: main car body, two described employing tooth bars
The running part of deformation, and the described pedestal of two described running parts using rackwork deformation is respectively at described main car
The both sides of body are connected.
In the inventive solutions, it also includes differential balance device, two described employing rackwork deformation
The described pedestal of running part is connected pivotly with described main car body, described differential balance device respectively with described main car body and two
Individual described pedestal is connected.
By technique scheme, the reason of the running part using rackwork deformation described in using, this fire-fighting
The chassis height of mobile platform and position of centre of gravity can up-down adjustment, the most described fire-fightings along with the change of described running part angle
Mobile platform just can according to need to regulate chassis, height of C.G. by landform, and the entire length of mobile platform, to adjust
The terrain trafficability of high mobile platform, adaptability and kinetic stability.
Use technical scheme can obtain following beneficial effect: (1) uses described monodentate bar Double-gear mechanism
Achieve two described walking assembly angles and the regulation of described running part height of described running part；(2) described row is used
Walk the firefighting movable platform in portion and achieve the height on chassis and the length adjustment of vehicle body of firefighting movable platform, thus improve
The terrain trafficability of firefighting movable platform and adaptability；(3) use the firefighting movable platform of described differential balance device have by
The ability of dynamic adaptation to the ground；(4) use the present invention program can with fire-fighting robot and the robot of other field, and other move
Dynamic equipment.
Accompanying drawing explanation
Fig. 1 is the schematic front view in running on wheels portion according to embodiments of the present invention；
Fig. 2 is the schematic perspective view in the running on wheels portion shown in Fig. 1；
Fig. 3 is another schematic perspective view in the running on wheels portion shown in Fig. 1；
Fig. 4 is the exploded perspective figure of the running on wheels portion part-structure shown in Fig. 1；
Fig. 5 is the schematic front view during running on wheels portion adjustment angle 180 degree shown in Fig. 1；
Fig. 6 be running on wheels portion shown in Fig. 1 adjust angle less time schematic front view；
Fig. 7 is the schematic front view in crawler-type traveling portion according to another embodiment of the present invention；
Fig. 8 is the schematic front view that the center of gravity in the crawler-type traveling portion shown in Fig. 7 is higher；
Fig. 9 is the schematic front view that the center of gravity in the crawler-type traveling portion shown in Fig. 7 is relatively low；
Figure 10 is the schematic perspective view of the mobile platform with the running on wheels portion shown in Fig. 1；
Figure 11 is the schematic diagram that the wheeled firefighting movable platform shown in Fig. 7 improves head room；
Figure 12 is the schematic diagram that the wheeled firefighting movable platform shown in Fig. 7 reduces head room；
Figure 13 be have shown in Fig. 7 the schematic perspective view of firefighting movable platform in crawler-type traveling portion；
Figure 14 is that the firefighting movable platform equipped with differential balance device of another embodiment of the present invention is by rolling ground
State diagram；
Figure 15 is the schematic perspective view of the fire-fighting robot for environment detection with mobile platform shown in Figure 10；
Reference:
1100 running on wheels portions；1200 crawler-type traveling portions；2000 main car bodies；3000 differential balance devices；4000 sides turn
Axle；
1 pedestal；
11 base frames；
111 footstocks；112 bases；
12 side plates；
121 gear shaft block installing holes；122 connect interface；
13 gear shaft blocks；
2 monodentate bar Double-gear mechanisms；
21 the two-sided racks；
22 gears；
221 gear shafts；
2211 keys；
3 deformation drive assembly；
31 screw rods；
32 nuts；
33 actuators；
4 guide rail slide block devices；
41 guide rails；
42 slide blocks；
5 walking assemblies；
51 running on wheels assemblies；5101 revolver type walking assemblies；5102 right running on wheels assemblies；
511 running on wheels portion framves；
5111 connect frame；
51111 ear mount；51112 opening long slot bores；51113 fixing holes；
512 vehicle wheel components；
513 wheel actuators；
514 ring flanges；
5141 dowel holes；5142 fix screwed hole；
515 attaching nuts；
516 screws；
52 crawler-type traveling assemblies；5201 left crawler-type traveling assemblies；5202 right-hand track chiain formula walking assemblies；
521 track frames；
5211 track frame mainboards；5212 track frame connecting plates；
522 Athey wheels；
5221 drive Athey wheel；5222 driven Athey wheels；
523 crawler belts；
524 Athey wheel actuators；
6 encoders；
Detailed description of the invention
Embodiments of the invention are described below in detail, are exemplary by the embodiment being described with reference to the drawings, are only used for
Explain the present invention, and be not considered as limiting the invention.
The running part using rackwork deformation according to embodiments of the present invention is described in detail below in conjunction with Fig. 1-Figure 15, should
Running part can be used for mobile platform, but is not limited to this.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, according to some embodiments of the present invention, the walking of rackwork deformation is used
Portion, drives assembly 3, guide rail slide block device 4 and walking assembly 5 including: pedestal 1, monodentate bar Double-gear mechanism 2, deformation；Such as Fig. 4
Shown in, pedestal 1 also includes connecting interface 122, connects interface 122 and is used for connecting main car body 2000 and running part；Monodentate bar bidentate
Wheel mechanism 2 includes: the two-sided rack 21, and the two-sided rack 21 both sides all have tooth, the two-sided rack 21 to be movably connected with pedestal 1；Tooth
Wheel 22, gear 22 is two, two gear 22 symmetries be located at the two-sided rack both sides and respectively with the tooth of the two-sided rack 21 both sides
Engagement；Deformation drives assembly 3 be connected with the two-sided rack 21 and drive the two-sided rack 21 along described pedestal 1 linear reciprocating motion；
Concrete, deformation drives assembly 3 to include: screw rod 31, nut 32 and actuator 33, nut 32 is fixed with the two-sided rack 21 upper surface
Connecting, the two-sided rack 21 vertically has through hole, and screw rod 31 is connected by screw thread pair with nut 32, and screw rod 31 is pivotable
Set on the pedestal 1, actuator 33 is fixed with pedestal 1, and is connected with screw rod 31 by shaft coupling, to drive screw rod 31 to rotate；
Guide rail slide block device 4 includes guide rail 41 and slide block 42, and guide rail 41 is connected with pedestal 1, and slide block 42 is connected with the two-sided rack 21；Walking
Assembly 5 is two, and two walking assemblies 5 are connected with two gears 22 respectively；In embodiment shown in Fig. 1, Fig. 2, two gears
The number of teeth of 22 is identical with modulus.
As shown in Figure 1 and Figure 2, according to some embodiments of the present invention, pedestal 1 is body structure, including base frame 11, side
Plate 12, gear shaft block 13；The top of base frame 11 is provided with footstock 111 in centre position, and the bottom of base frame 11 is in centre position
Being provided with base 112, footstock 111 is coaxially set with base 112；Side plate 12 is two, is connected with base frame 11, and side plate 12 sets
There are two gear shaft block installing holes 121, side plate 12 is additionally provided with connection interface 122；Gear shaft block 13 is arranged on gear shaft block peace
In dress hole 121 and it is connected with side plate.Pedestal 1 is all located at by the two-sided rack 21 and two gears 22 of monodentate bar Double-gear mechanism 2
In body structure.The gear 22 of monodentate bar Double-gear mechanism 2 is provided with gear shaft 221, specifically, in the present embodiment, such as Fig. 4
Shown in, gear shaft 221 is additionally provided with key 2211, and gear shaft 221 is linked together by key 2211 with gear 22.Gear shaft
The two ends of 221 are supported in the gear shaft block 13 of both sides, and stretch out gear shaft block 13, when being embodied as, and gear shaft 221 and gear
Axle bed 13 is provided with bearing.The two-sided rack 21 is provided with between two gears 22 and is meshed with two gears 22.According to the present invention's
Some embodiments, screw rod 31 supports in the footstock 111 and the base 112 that are arranged on base frame 11, by footstock 111 and base 112
Supporting, when being embodied as, between footstock 111 and screw rod 31, between base 112 and screw rod 31, be equipped with bearing.
According to some embodiments of the present invention, as shown in Figure 1 and Figure 2, gear 22 is imperfect gear, the tooth of gear 22
Several need to engage and arrive two extreme positions with the two-sided rack 21, the most both can guarantee that the size of gear corner met need
Ask, the volume of gear 22, weight and the volume of pedestal 1 can be reduced again.
According to some embodiments of the present invention, actuator 33 be motor or hydraulic motor or through the motor that deceleration with
Hydraulic motor.The actuator 33 of the embodiment shown in Fig. 1, Fig. 2 have employed the motor through slowing down.
By such scheme, deformation drives the actuator 33 of assembly 3 to drive screw rod 31 to rotate, and drives the two-sided rack 21 leading
Leading of rail slide block device 4 moves up and down downward along pedestal 1；The two-sided rack 21 drives two gears being meshed therewith 22 reverse
Rotate；Because two walking assemblies 5 are connected with two gears 22 respectively, so when deformation drives assembly 3 to drive the two-sided rack
21 linear motion time, two walking assembly 5 can backswing, thus change two walking assemblies 5 angle, it is achieved that walking
The deformation in portion.If two gears 22 are identical when the number of teeth, then the angle that two walking assemblies 5 swing is identical；If two gears 22 are worked as
The number of teeth differs, then the angle of two walking assembly 5 swings differs.
According to some embodiments of the present invention, as shown in Figure 1, Figure 2, Figure 3 shows, according to some embodiments of the present invention, use
The running part of rackwork deformation, it is also possible to include that angle detection module, angle detection module are encoder 6, encoder 6 and change
Shape drives assembly 3 to be connected can detect the corner of gear 22 indirectly.According to other embodiments of the present invention, encoder 6 with
Gear 22 can coaxially be connected to obtain the corner of gear 22 thus obtain the angle of two walking assemblies 5.
According to some embodiments of the present invention, walking assembly 5 is running on wheels assembly 51, as it is shown in figure 1, running on wheels group
Part divides revolver type walking assembly 5101 and right running on wheels assembly 5102, and running on wheels assembly 51 includes: running on wheels portion frame
511, running on wheels portion frame 511 is connected with gear 22；Vehicle wheel component 512, vehicle wheel component 512 is connected with running on wheels portion frame 511；
Wheel actuator 513, wheel actuator 513 is connected with vehicle wheel component 512 and drives vehicle wheel component 512 to rotate；Ring flange 514,
Mounting flange 514 is connected with gear 22 and running on wheels portion frame 511；Attaching nut 515, and attaching nut 515 passes through screw thread pair
It is connected with gear shaft 221 and fixed flange 514.
According to some embodiments of the present invention, as shown in Figure 1, Figure 2, Figure 3, Figure 4, running on wheels assembly 51 passes through ring flange
514 are connected with gear 22 with attaching nut 515, specifically, as shown in Figure 4, and the running on wheels portion frame of running on wheels assembly 51
511 one end are provided with connection frame 5111, and the ear mount 51111 connecting frame 5111 is provided with opening long slot bore 51112, opening long slot bore
51112 are provided around fixing hole 51113；Ring flange 514 center of running on wheels assembly 51 is provided with dowel hole 5141, and periphery is provided with
Fixing screwed hole 5142, two ring flanges 514 are respectively fitted on the two ends of gear shaft 221, and with gear shaft 221 by key 2211
Being connected, gear shaft 221 end stretches out ring flange 514, and the section of stretching out of gear shaft 221 puts into opening of the ear mount 51111 of connection frame 5111
In mouth long slot bore 51112, utilizing screw 516 ear mount 51111 connecting frame 5111 to be connected with ring flange 514, screw 516 passes
Fixing hole 51113 is threadeded with fixing screwed hole 5142；Gear shaft 221 two ends external thread section is carried out by two nuts 515
Axially location, concrete, nut 515 uses locking nut, and the nut 515 by regulation gear shaft 221 can be to running on wheels group
Part 51 carries out the fine setting that gear shaft 221 is axial.Therefore, by this scheme and structure, gear 22 is connected coaxially with gear shaft 221
Together, gear shaft 221 is linked together by key 2211 with ring flange 514, the running on wheels portion frame of running on wheels assembly 51
511 are fixed together by screw 516 with ring flange 514, so, and two running on wheels assemblies 51 and two gear 22 phases
Even and change angle along with the rotation of two gear shafts 221.Number of teeth phase when two gears 22 of monodentate bar Double-gear mechanism 2
Meanwhile, when deformation drives assembly 3 to drive monodentate bar Double-gear mechanism 2 to move, gear 22 drives revolver type to walk assembly 5101 He
Right running on wheels assembly 5102 is synchronized to be rotated backward, it is achieved thereby that the regulation of the corner dimension of two running on wheels assemblies 51,
I.e. achieve the deformation in the running on wheels portion of the present invention.According to other some embodiments, the number of teeth of two gears 22 differs,
Two the most synchronized backswings of walking assembly 51 can be realized, it is possible to realize the deformation in the running on wheels portion of the present invention.
As shown in Figure 5, Figure 6, Fig. 5 be running part angle be the view of 180 degree, now, the length of running part is
Greatly, and center of gravity is relatively low；Fig. 6 is running on wheels portion angle view when reaching less, now, the length in running on wheels portion
Minimum, its center of gravity is higher.In some other embodiments, the gear 22 of monodentate bar Double-gear mechanism 2 is full teeth gear, this
Sample, the pivot angle excursion of the running on wheels assembly in running on wheels portion is some larger, in some designs, the wheel in running on wheels portion
Formula walking assembly can in the position shown in Fig. 5 upwards, downward both direction swing.
Optionally, according to embodiments of the invention, wheel actuator 513 is motor or hydraulic motor or passes through deceleration
Motor and hydraulic motor.The wheel actuator 513 of the embodiment shown in Fig. 1, Fig. 2 have employed the motor through slowing down.
According to another embodiment of the present invention, walking assembly 5 can also be crawler-type traveling assembly 52, as shown in Figure 7
In embodiment, the left crawler-type traveling assembly 5201 of crawler-type traveling assembly 52 points and right-hand track chiain formula walking assembly 5202, crawler type
Walking assembly 52 includes: track frame 521, track frame 521 is connected with gear 22；Athey wheel 522, Athey wheel 522 and track frame 521
Being connected, Athey wheel 522 includes driving Athey wheel 5221 and driven Athey wheel 5222；Crawler belt 523, crawler belt 523 envelope is at Athey wheel
Outside 522, and it is meshed with driving Athey wheel 5221；Athey wheel actuator 524, Athey wheel actuator 524 and driving Athey wheel
5221 are connected, and drive Athey wheel 5221 to rotate.In embodiment shown in Fig. 7, Athey wheel actuator 524 and driving crawler belt
Have employed flexible element transmission between wheel 5221, concrete, described flexible element transmission have employed chain drive, and described flexible element transmission is also
Toothed belt transmission can be used.In some other embodiment, can also adopt between Athey wheel actuator 524 and driving Athey wheel 5221
With coaxial be connected transmission or gear drive.
In the embodiment shown in fig. 7, similar with the connected mode of running on wheels assembly 51 and gear 22, by crawler type
Walking assembly 52 is connected with gear 22.Concrete, track frame 521 includes track frame body frame 5211 and track frame connecting plate 5212,
Track frame connecting plate 5212 is fixing with track frame body frame 5211 to be connected, and track frame connecting plate 5212 is connected with gear 22；Crawler belt
Frame connecting plate 5212 and the connected mode of gear 22 and running on wheels assembly 51 and gear in Fig. 1, Fig. 2 and embodiment illustrated in fig. 4
The connected mode of 22 is similar to.
Fig. 8, Fig. 9 are the state diagrams under two track unit are in different angle of the crawler-type traveling assembly, in Fig. 8, this
The ground contact length in the crawler-type traveling portion of invention is less, it is simple to turning to, now center of gravity is higher；In Fig. 9, the crawler type row of the present invention
The ground contact length walking portion is bigger, it is simple to by soft landform, it is simple to by landform such as raceway grooves, now crawler-type traveling portion center of gravity
Low, it is possible to obtain preferable stability.
In a word, according to some embodiments of the present invention, the rotation of actuator 33 is converted into two by monodentate bar Double-gear mechanism 2
The synchronized reverse rotation of individual gear 22, and two walking assemblies 5 are connected, the most just by two by ring flange 514 with gear 22
The rightabout rotation of individual gear 22 is converted into the rightabout rotation of two walking assemblies 5, therefore, two walking assemblies
Rightabout change is there is in the angle of 5 under the driving of actuator 33.
The invention allows for a kind of firefighting movable platform, including main car body 2000 and the walking using rackwork deformation
Portion；Described running part is two, and is respectively provided at main car body 2000 both sides and is connected with main car body 2000.According to the present invention one
A little embodiments, described running part can be running on wheels portion 1100, and described running part can also be crawler-type traveling portion 1200.Figure
For using the mobile platform in running on wheels portion 1100 in 10, Figure 13 is the firefighting movable platform using crawler-type traveling portion 1200.
In the embodiment shown in fig. 10, use link by connecting interface 122 by running on wheels portion 1100 and main car body 2000 phase
Even.
Owing to described firefighting movable platform has the running part using rackwork to deform, when described running part drives in deformation
When dynamic assembly 3 drives lower angle that the most synchronized change occurs, the length of wagon of described firefighting movable platform changes accordingly, with
The chassis height of Shi Suoshu firefighting movable platform also changes, so, and the chassis height of described firefighting movable platform and vehicle body
Length is adjustable, can carry out obstacle detouring by regulation chassis height when described firefighting movable platform runs into barrier；Work as institute
State firefighting movable platform when moving on the slope, reduce chassis height and can improve the stability of mobile platform, to avoid platform to incline
Cover.Therefore, have use the firefighting movable platform of running part of rackwork deformation have more preferable landform adaptability, stability with
Adaptability.
As shown in Figure 11,12, Figure 11 is that the firefighting movable platform with running on wheels portion 1100 is by tune during relatively high obstacle
The state diagram of joint head room, Figure 12 is that the firefighting movable platform with running on wheels portion 1100 is by change weight during relatively low obstacle
The state diagram of the stability of mobile platform is improved in heart position, is schemed by two it can be seen that have the fire-fighting in running on wheels portion 1100
Mobile platform can be by regulating the road surface that head room adapts to have the obstacle that is uneven.
According to some embodiments of the present invention, the invention allows for a kind of firefighting movable platform, this firefighting movable platform
Also include differential balance device 3000；The described pedestal 1 of the running part of two described employing rackwork deformation and main car body
2000 are connected pivotly, differential balance device 3000 respectively with main car body 2000 and the pedestal 1 in two running on wheels portions 1100
It is connected.Described running part in embodiment illustrated in fig. 14 is running on wheels portion 1100；Concrete, main car body 2000 is by side rotating shaft
4000 are connected with running on wheels portion 1100, and side rotating shaft 4000 is two, and two side rotating shafts 4000 are pivotable is located at main car body
The both sides of 2000；Differential balance device 3000 can be connected with main car body 2000 and two side rotating shafts 4000 respectively, thus, it is possible to logical
Crossing differential balance device 3000 makes running on wheels portion 1100 adapt to the landform of big rise and fall, and then improves firefighting movable platform
Landform adaptability and stability.Figure 14 also show the firefighting movable platform with running on wheels portion 1100 by having height
The effect of the road surface time difference dynamic poise device of uneven obstacle.The firefighting movable platform of other embodiments according to the present invention also may be used
Use crawler-type traveling portion 1200
Optionally, differential balance device 3000 is link-type differential balance device or gear type differential bascule.
Additionally, have, to use the mobile platform of running part of rackwork deformation to can be also used for designing head room adjustable
Robot and other mobile devices, if Figure 15 is a kind of disappearing for environment detection used designed by mobile platform of the present invention
Anti-robot
Other for fire-fighting robot and other mobile devices are constituted, such as link-type differential balance device or gear
Formula differential balance device, has been prior art, and is known to one of ordinary skill in the art, therefore is not described in detail.
Although an embodiment of the present invention has been shown and described, these can be implemented by those of ordinary skill in the art
Example carries out multiple change, revises, replaces and modification, and the scope of the present invention is limited by claim and equivalent thereof.
Claims (10)
1. the running part using rackwork to deform, it is characterised in that including:
Pedestal；
Monodentate bar Double-gear mechanism, described monodentate bar Double-gear mechanism includes:
The two-sided rack, described the two-sided rack both sides all have tooth and described the two-sided rack to constitute moving sets with described pedestal；
Gear, described gear is two, be respectively provided at described the two-sided rack both sides and respectively with described the two-sided rack both sides
Tooth engages, and two described gears are pivotable with described pedestal to be connected；
Deformation drives assembly, and described deformation drives assembly be connected with described the two-sided rack and drive described the two-sided rack along described
Pedestal linear reciprocating motion；
Walking assembly, described walking assembly is two, and two described walking assemblies are connected with two described gears respectively.
The running part of employing rackwork the most according to claim 1 deformation, it is characterised in that also include:
Angle detection module, described angle detection module drives assembly to be connected to detect described gear corner with described deformation；
Described angle detection module is encoder.
The running part of employing rackwork the most according to claim 1 deformation, it is characterised in that described walking assembly is wheel
Formula walking assembly, described running on wheels assembly includes:
Running on wheels portion frame, described running on wheels portion frame is connected with described gear；
Vehicle wheel component, described vehicle wheel component is connected with described running part frame；
Wheel actuator, described wheel actuator is connected with described vehicle wheel component, and drives described vehicle wheel component to rotate.
The running part of employing rackwork the most according to claim 1 deformation, it is characterised in that described walking assembly is for carrying out
Belt walking assembly, comprising:
Track frame, described track frame is connected with described gear；
Athey wheel, described Athey wheel is connected with described track frame, and described Athey wheel includes driving Athey wheel and driven Athey wheel；
Crawler belt, described crawler belt envelope is outside described Athey wheel, and is meshed with described driving Athey wheel；
Athey wheel actuator, described Athey wheel actuator is connected with described driving Athey wheel, and drives described driving crawler belt round
Dynamic.
The running part of employing rackwork the most according to claim 1 deformation, it is characterised in that described the two-sided rack and institute
State and between pedestal, be provided with guide rail slide block device, be provided with bearing between two ends that described gear is axial and described pedestal, and described guide rail is sliding
Block assembly includes:
Guide rail, described guide rail is connected with described pedestal；
Slide block, described slide block is connected with described the two-sided rack and can move along a straight line along described guide rail.
The running part of employing rackwork the most according to claim 1 deformation, it is characterised in that described deformation driving group
Part also includes:
Screw rod, described screw rod is pivotable with described pedestal to be connected；
Nut, described nut is connected with described the two-sided rack, and described nut is connected by screw thread pair with described screw rod；
Actuator, described actuator is fixing with described pedestal to be connected and drives described screw rod to rotate, and described actuator is motor
Hydraulic motor or through deceleration motor and hydraulic motor.
Employing rackwork the most according to claim 1 deformation running part, it is characterised in that described gear be provided with
The gear shaft that described gear is coaxially connected, and the two ends of described gear shaft are connected pivotly with described pedestal and stretch out described base
Frame, described gear shaft is connected with described walking assembly in the outside of described pedestal.
The running part of employing rackwork the most according to claim 1 deformation, it is characterised in that described gear is imperfect
Gear.
9. a firefighting movable platform, it is characterised in that including:
Main car body；
Use the running part of rackwork deformation according to any one of two claim 1-8, and described employing rackwork becomes
The described pedestal of the running part of shape both sides with described main car body respectively are connected.
Firefighting movable platform the most according to claim 9, it is characterised in that also include differential balance device, described in two
The described pedestal using the running part of rackwork deformation is connected pivotly with described main car body, and described differential balance device divides
It is not connected with described main car body and two described pedestals.
A kind of garlic digging machine of stabilized structure, it is characterised in that: a length of 1.5m of described shovel head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610674164.1A CN106167059A (en) | 2016-08-16 | 2016-08-16 | Use the running part of rackwork deformation and there is its firefighting movable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610674164.1A CN106167059A (en) | 2016-08-16 | 2016-08-16 | Use the running part of rackwork deformation and there is its firefighting movable platform |
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| CN106167059A true CN106167059A (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610674164.1A Pending CN106167059A (en) | 2016-08-16 | 2016-08-16 | Use the running part of rackwork deformation and there is its firefighting movable platform |
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| CN107055113A (en) * | 2016-12-20 | 2017-08-18 | 信宜市恒大机械科技有限公司 | Twin tong setting machine for rotary kiln |
| CN111059409A (en) * | 2019-12-12 | 2020-04-24 | 莆田市子都贸易有限公司 | Motion control structure of micro wireless pipeline robot |
| CN113086012A (en) * | 2021-05-24 | 2021-07-09 | 安徽信息工程学院 | Mobile robot with adjustable chassis |
| CN114811346A (en) * | 2022-05-12 | 2022-07-29 | 宁波伟峰智能科技有限公司 | Improved camera device |
| CN115071856A (en) * | 2022-05-31 | 2022-09-20 | 中国矿业大学(北京) | Wheel-leg type mobile platform and detection inspection robot with same |
| CN115837979A (en) * | 2023-02-24 | 2023-03-24 | 浙江省交通工程管理中心 | Climbing robot adapting to curvature of cross section of tunnel |
| CN117734843A (en) * | 2024-02-20 | 2024-03-22 | 成都理工大学 | Obstacle surmounting robot with adjustable body size |
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| CN115837979B (en) * | 2023-02-24 | 2023-08-29 | 浙江省交通工程管理中心 | Climbing robot adapting to curvature of tunnel section |
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| CN117734843B (en) * | 2024-02-20 | 2024-04-30 | 成都理工大学 | Obstacle surmounting robot with adjustable body size |
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Application publication date: 20161130 |