CN107096153A - A kind of gearshift of fire-fighting robot - Google Patents
A kind of gearshift of fire-fighting robot Download PDFInfo
- Publication number
- CN107096153A CN107096153A CN201710358570.1A CN201710358570A CN107096153A CN 107096153 A CN107096153 A CN 107096153A CN 201710358570 A CN201710358570 A CN 201710358570A CN 107096153 A CN107096153 A CN 107096153A
- Authority
- CN
- China
- Prior art keywords
- gear
- gearshift
- driving lever
- rotating disk
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
Abstract
The present invention relates to a kind of gearshift of fire-fighting robot, including frame, frame is fixedly arranged in the middle of gearshift motor, the upper end of frame is provided with the driving lever being connected by rack pinion with gearshift motor, the lower end of frame is provided with input shaft, first gear group, second gear group are installed on input shaft, the installing plate that rotating disk is mounted in both ends of the surface is fixed with driving lever, rotating disk is connected with rack-mounted output shaft, the short pin for being fixed with and coordinating with hole on hole, rotating disk is provided with first gear group, second gear group.It can realize that robot speed change is advanced using the present invention, the present invention drives the form of driving lever to realize remote gear control by motor of shifting gears, the mode coordinated using pin-and-hole between rotating disk and gear train carries out rapid and convenient gearshift, sets two-stage speed change, it is to avoid the operation that number of steps of speeds is excessively caused is chaotic.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of gearshift of fire-fighting robot.
Background technology
Fire-fighting robot plays very important work further as one kind of specialized robot in fire extinguishing and rescue
With.Various Large Scale Petrochemical Enterprises, tunnel, subway etc. are on the increase, and oil product combustion gas, toxic gas leakage blast, tunnel, subway collapse
The Hidden hazrads such as collapse are continuously increased.Fire-fighting robot can replace fire-fighting and rescue personnel to enter inflammable and explosive, poisonous, anoxic, dense smoke
Data sampling and processing, feedback are carried out Deng the hazards scene of the accident.
The fire-fighting robot that currently there are, travel speed is fixed, relatively slowly, the time for fire scene rescue
It is particularly important, when in case of emergency, robot should react the very first time, therefore robot should have it is certain
Multistage speed advancement function.
The content of the invention
In order to solve the deficiency in the presence of prior art, the present invention proposes a kind of gearshift of fire-fighting robot.
A kind of gearshift of fire-fighting robot, including frame, the frame are fixedly arranged in the middle of gearshift motor, the machine
The upper end of frame is provided with the driving lever being connected by rack pinion with gearshift motor, and the lower end of the frame is provided with input
It is provided with first gear group, second gear group, the driving lever to be fixed with both ends of the surface on axle, the input shaft and is mounted on turning
The installing plate of disk, the rotating disk is connected with rack-mounted output shaft, the first gear group, second gear group and is all provided with
It is equipped with the short pin for being fixed with and coordinating with hole on hole, the rotating disk.
As a further improvement on the present invention, the rack-mounted mode of the driving lever is to be slidably installed.
As a further improvement on the present invention, the rotating disk is to be symmetrical arranged on a mounting board.
As a further improvement on the present invention, the gearshift motor can be oil hydraulic cylinder.
As a further improvement on the present invention, the rack pinion includes the little gear being connected with gearshift motor, institute
State rear end in the middle part of driving lever and be provided with the rack engaged with little gear, the front end at the middle part of the driving lever is provided with table top, the machine
The roller coordinated with table top is installed on frame.
As a further improvement on the present invention, the installing plate, rotating disk, output shaft, input shaft, first gear group, second
Gear train, input gear are provided with two groups in frame.
As a further improvement on the present invention, the first gear group include be arranged on input shaft on the first little gear,
The first gear wheel on output shaft, the second gear group includes the second little gear, the installation being arranged on input shaft
The second gear wheel on output shaft, the hole is arranged on the first gear wheel and the second gear wheel.It should be noted that output
Axle is connected with rotating disk, and rotating disk is arranged on driving lever by installing plate, and output shaft is slided together with driving lever level, and whole mechanism exists
During original state, output shaft is not connected with the first gear wheel, the second gear wheel, and the first gear wheel empty set positioned at right-hand member is in output
There is gap on axle and between output shaft, the second gear wheel empty set positioned at left end is deposited on output shaft and between output shaft
In gap, when output shaft is slided to the right, now, the first gear wheel is connected with output shaft and carries out synchronous axial system, works as output shaft
When sliding to the left, the second gear wheel is connected with output shaft and carries out synchronous axial system.
As a further improvement on the present invention, the gearratio of the first gear group is more than the gearratio of second gear group.
As a further improvement on the present invention, the hole be provided with the first gear wheel and the second gear wheel it is N number of, it is described
N is more than or equal to 1.
As a further improvement on the present invention, it is provided with the input shaft in input gear, the frame and is located at driving lever
Two ends be fixed with driving lever set.
As a further improvement on the present invention, the both sides of the installing plate are provided with the spring being arranged on driving lever.
Reasonable in design of the present invention, compact in design is easy to use, drives the form of driving lever to realize by motor of shifting gears distant
Speed change is controlled, passes through the form control driving lever of rack-and-pinion so that driving lever change process is steady, is sold using between rotating disk and gear train
The mode that hole coordinates carries out rapid and convenient gearshift, sets two-stage speed change, it is to avoid the operation that number of steps of speeds is excessively caused is chaotic.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is stereogram of the invention；
Fig. 2 is Fig. 1 partial enlarged drawing.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figure 1 to Figure 2, a kind of gearshift of fire-fighting robot, including frame 1, the middle part of the frame 1 is fixed
There is gearshift motor 2, the upper end of the frame 1 is provided with the driving lever 3 being connected by rack pinion with gearshift motor 2, described
The lower end of frame 1, which is provided with input shaft 4, the input shaft 4, is provided with first gear group, second gear group, on the driving lever 3
The installing plate 6 that rotating disk 5 is mounted in both ends of the surface is fixed with, the rotating disk 5 is connected with the output shaft 7 in frame 1, institute
State first gear group, the short pin 15 for being fixed with and coordinating with hole 14 on hole 14, the rotating disk 5 is provided with second gear group.
In this way, gearshift motor 2 can be realized to automatically control by the rack pinion between driving lever 3 changes
Gear, using by way of the cooperation of hole 14 in short pin 15 and first gear group and second gear group, letter can be carried out on rotating disk 5
It is single quickly to realize shift speed change.
The driving lever 3 is arranged on the mode in frame 1 to be slidably installed, and motor 2 of shifting gears in this way passes through small tooth
When wheel 8 drives driving lever 3, frictional resistance is small to be easy to implement.
The rotating disk 5 is symmetrically arranged structure on installing plate 6, realizes rotating disk 5 and first gear group and second gear
The cooperation of group.
The rack pinion includes the little gear 8 being connected with gearshift motor 2, and the middle part rear end of driving lever 3 is provided with
The rack engaged with little gear 8, the front end at the middle part of the driving lever 3, which is provided with table top 3a, the frame 1, to be provided with and table top
The roller 9 that 3a coordinates.Using this structure, little gear 8 engages driving driving lever 3 with the rack on driving lever 3 through the driving of motor 2 of shifting gears
Slid back and forth along along the direction of output shaft 7, the rotating disk 5 on installing plate 6 is assembled conjunction with first gear group or second gear, realize and become
Speed, roller 9 coordinates with the table top 3a on driving lever 3, is that driving lever 3 is oriented to, the overall intensity of bar 3, and it is curved to ensure that driving lever 3 will not occur
Roll over deformation.
The installing plate 6, rotating disk 5, output shaft 7, input shaft 4, first gear group, second gear group, input gear 16 are equal
Two groups are provided with frame 1.
The first gear group includes the first little gear 10 on input shaft 4, first on output shaft 7
Gear wheel 11, the second little gear 12 that the second gear group includes being arranged on input shaft 4, the on output shaft 7
Two gear wheels 13, the hole 14 is arranged on the first gear wheel 11 and the second gear wheel 13.It should be noted that output shaft 7 is with turning
Disk 5 is connected, and rotating disk 5 is arranged on driving lever 3 by installing plate 6, and output shaft 7 is slided together with the level of driving lever 3, and whole mechanism exists
During original state, output shaft 7 is not connected with the first gear wheel 11, the second gear wheel 13, and the first gear wheel 11 positioned at right-hand member is empty
Be enclosed on output shaft 7 and there is gap between output shaft 7, positioned at left end the empty set of the second gear wheel 11 on output shaft 7 with it is defeated
There is gap between shaft 7, when output shaft 7 is slided to the right, now, the first gear wheel 11 is connected with output shaft 7 to be synchronized
Rotate, when output shaft 7 is slided to the left, the second gear wheel 13 is connected with output shaft 7 and carries out synchronous axial system.
The gearratio of the first gear group is more than the gearratio of second gear group.When rotating disk 5 assembles conjunction with first gear
Low-speed forward is realized, realizes and advances at utmost speed when rotating disk 5 assembles conjunction with second gear.
The hole 14 be provided with the first gear wheel 11 and the second gear wheel 13 it is N number of, the N be more than or equal to 1.Using
This mode, rotating disk 5 and first gear group and the cooperation efficiency of second gear group can be improved by the quantity of providing holes 14.
Two ends in input gear 16, the frame 1 positioned at driving lever 3 are installed on the input shaft 4 and are fixed with driving lever set
17.The driving lever set 17 can be spacing and protects driving lever 3.
The both sides of the installing plate 6 are provided with the spring 18 being arranged on driving lever 3.In rotating lever 3, on rotating disk 5
Short pin 15 with hole 14 when not coordinating, and the space that spring 18 can provide a buffering prevents the changing of the relative positions of driving lever 3.
The application method to the present invention is further elaborated below：
In use, input shaft 4 is connected by input gear 16 with external motive device, first gear group and second gear group
In idling conditions, control gearshift motor 2, little gear 8 is rotated and engaged with the rack on driving lever 3, and driving driving lever 3 or so is sliding
It is dynamic.
When the control driving lever 3 of motor 2 of shifting gears is slided to the left, the short pin 15 on rotating disk 5 is matched somebody with somebody with the hole 14 in second gear group
Close, output shaft 7 carries out high-speed rotation.
When the control driving lever 3 of motor 2 of shifting gears is slided to the right, the short pin 15 on rotating disk 5 is matched somebody with somebody with the hole 14 in first gear group
Close, output shaft 7 is slowly run.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Thing is defined.
Claims (6)
1. a kind of gearshift of fire-fighting robot, including frame (1), it is characterised in that：Frame (1) is fixedly arranged in the middle of
Gearshift motor (2), the upper end of the frame (1) is provided with the driving lever being connected by rack pinion with gearshift motor (2)
(3), the lower end of the frame (1) is provided with input shaft (4), the input shaft (4) and is provided with first gear group, second gear
The installing plate (6) that rotating disk (5) are mounted in both ends of the surface is fixed with group, the driving lever (3), the rotating disk (5) is connected with peace
Hole (14), the rotating disk are provided with output shaft (7) in frame (1), the first gear group, second gear group
(5) the short pin (15) coordinated with hole (14) is fixed with.
2. a kind of gearshift of fire-fighting robot according to claim 1, it is characterised in that：The driving lever (3) is installed
Mode in frame (1) is to be slidably installed.
3. a kind of gearshift of fire-fighting robot according to claim 1, it is characterised in that：The rotating disk (5) is in peace
It is to be symmetrical arranged on dress plate (6).
4. a kind of gearshift of fire-fighting robot according to claim 1, it is characterised in that：The rack pinion
Including the little gear (8) being connected with gearshift motor (2), rear end is provided with the tooth engaged with little gear (8) in the middle part of the driving lever (3)
Bar.
5. a kind of gearshift of fire-fighting robot according to claim 1, it is characterised in that：The first gear group bag
Include the first little gear (10) on the input shaft (4), the first gear wheel (11) on output shaft (7), described the
Two gear trains include the second little gear (12) on input shaft (4), the second gear wheel on output shaft (7)
(13), the hole (14) is arranged on the first gear wheel (11) and the second gear wheel (13).
6. a kind of gearshift of fire-fighting robot according to claim 1, it is characterised in that：The installing plate (6)
Both sides are provided with the spring (18) being arranged on driving lever (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358570.1A CN107096153A (en) | 2017-05-19 | 2017-05-19 | A kind of gearshift of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358570.1A CN107096153A (en) | 2017-05-19 | 2017-05-19 | A kind of gearshift of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107096153A true CN107096153A (en) | 2017-08-29 |
Family
ID=59669848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710358570.1A Pending CN107096153A (en) | 2017-05-19 | 2017-05-19 | A kind of gearshift of fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107096153A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2728553Y (en) * | 2004-10-13 | 2005-09-28 | 徐东勤 | Small-sized fire extinguishing robot |
| CN101725679A (en) * | 2008-11-03 | 2010-06-09 | 胡仰庸 | Hand control continuously variable transmission of automobile |
| CN104776173A (en) * | 2015-04-19 | 2015-07-15 | 李美取 | Automatic transmission for electric tricycles or electric quadricycles |
| CN206979882U (en) * | 2017-05-19 | 2018-02-09 | 芜湖普唯特智能装备有限公司 | A kind of gearshift of fire-fighting robot |
-
2017
- 2017-05-19 CN CN201710358570.1A patent/CN107096153A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2728553Y (en) * | 2004-10-13 | 2005-09-28 | 徐东勤 | Small-sized fire extinguishing robot |
| CN101725679A (en) * | 2008-11-03 | 2010-06-09 | 胡仰庸 | Hand control continuously variable transmission of automobile |
| CN104776173A (en) * | 2015-04-19 | 2015-07-15 | 李美取 | Automatic transmission for electric tricycles or electric quadricycles |
| CN206979882U (en) * | 2017-05-19 | 2018-02-09 | 芜湖普唯特智能装备有限公司 | A kind of gearshift of fire-fighting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170829 |
|
| RJ01 | Rejection of invention patent application after publication |