CN107264669A - A kind of obstacle detouring moving trolley - Google Patents
A kind of obstacle detouring moving trolley Download PDFInfo
- Publication number
- CN107264669A CN107264669A CN201710496434.9A CN201710496434A CN107264669A CN 107264669 A CN107264669 A CN 107264669A CN 201710496434 A CN201710496434 A CN 201710496434A CN 107264669 A CN107264669 A CN 107264669A
- Authority
- CN
- China
- Prior art keywords
- linear actuator
- auxiliary wheel
- wheel linear
- car body
- center
- 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
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Classifications
-
- 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
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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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 obstacle detouring moving trolley, it is characterized in that including being also equipped with preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator in the middle of car body, front driving wheel, rear drive sprocket, described car body, described preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator bottom are mounted on road wheel, preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator can stretch, preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator one V-arrangement of formation, described vehicle body upper portion have gravity adjusting device.
Description
Technical field
The present invention relates to a kind of obstacle detouring moving trolley.
Background technology
Bad for existing dolly obstacle performance, the present invention provides a kind of obstacle detouring moving trolley of new structure.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of obstacle detouring moving trolley, obstacle detouring effect is good.
To achieve these goals, the technical solution adopted by the present invention is：A kind of obstacle detouring moving trolley, it is characterised in that including
Car body, front driving wheel, rear drive sprocket, it is also equipped with preceding auxiliary wheel linear actuator and rear auxiliary wheel straight line in the middle of described car body
Driver, described preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator bottom are mounted on road wheel, preceding auxiliary
Wheel linear actuator and rear auxiliary wheel linear actuator can stretch, and preceding auxiliary wheel linear actuator and rear auxiliary wheel straight line drive
One V-arrangement of dynamic device formation, described vehicle body upper portion has gravity adjusting device.
Described gravity adjusting device includes center of gravity block, steel wire rope, and the fixed pulley installed in vehicle body upper portion two ends, weight
Heart block two ends are fixedly connected by steel wire rope, form the loop of a center of gravity block, steel wire rope and fixed pulley so that center of gravity block can
Return to slide on car body by steel wire rope.
The beneficial effects of the invention are as follows：When running into ladder obstacle, by extending after preceding auxiliary wheel linear actuator, car body
Incline so that front driving wheel height can be more than the height of obstacle ladder, now rear drive sprocket and preceding auxiliary wheel linear actuator bottom
Road wheel support car body balance, and advanced with motor vehicles bodies, when front driving wheel is highly reached above obstacle ladder, preceding auxiliary wheel
Linear actuator bounces back until the road wheel and front driving wheel of preceding auxiliary wheel linear actuator are in same level, and preceding auxiliary wheel is straight
Line drive retraction stops retraction so that front driving wheel contacts obstacle stepped surfaces, and car body is moved on, then started after elongation
Auxiliary wheel linear actuator, now auxiliary wheel linear actuator road wheel lands afterwards, continues to extend, until car body reaches and obstacle
Ladder is opposing parallel, is now landed for rear auxiliary wheel linear actuator road wheel.In order to keep the weight on the balance of car body, car body
Heart block is mobile to car body front so that overall center of gravity is started to shrink in most front side, then rear auxiliary wheel linear actuator, is at this moment
The road wheel of preceding auxiliary wheel linear actuator supports car body with front driving wheel.
Brief description of the drawings
Fig. 1 is the structure chart of the present invention.
Fig. 2 is the walking states one of the present invention.
Fig. 3 is the walking states two of the present invention.
Fig. 4 is the walking states three of the present invention.
Fig. 5 is the walking states four of the present invention.
In figure：1st, car body, 2, front driving wheel, 3, rear drive sprocket, 4, preceding auxiliary wheel linear actuator, 5, rear auxiliary wheel straight line
Driver, 6, road wheel, 7, center of gravity block, 8, steel wire rope, 9, fixed pulley.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
A kind of obstacle detouring moving trolley, it is characterised in that in the middle of car body 1, front driving wheel 2, rear drive sprocket 3, described car body
Preceding auxiliary wheel linear actuator 4 and rear auxiliary wheel linear actuator 5 are also equipped with, described preceding auxiliary wheel linear actuator is with after
Auxiliary wheel linear actuator bottom is mounted on road wheel 6, and preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator are equal
It can stretch, preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator one V-arrangement of formation, described vehicle body upper portion have
Gravity adjusting device.
Described gravity adjusting device includes center of gravity block 7, steel wire rope 8, and the fixed pulley installed in vehicle body upper portion two ends
9, center of gravity block two ends are fixedly connected by steel wire rope, form the loop of a center of gravity block, steel wire rope and fixed pulley so that center of gravity block
It can return slide on car body by steel wire rope.
The beneficial effects of the invention are as follows：When running into ladder obstacle, by extending after preceding auxiliary wheel linear actuator, car body
Incline so that front driving wheel height can be more than the height of obstacle ladder, now rear drive sprocket and preceding auxiliary wheel linear actuator bottom
Road wheel support car body balance, and advanced with motor vehicles bodies, when front driving wheel is highly reached above obstacle ladder, preceding auxiliary wheel
Linear actuator bounces back until the road wheel and front driving wheel of preceding auxiliary wheel linear actuator are in same level, and preceding auxiliary wheel is straight
Line drive retraction stops retraction so that front driving wheel contacts obstacle stepped surfaces, and car body is moved on, then started after elongation
Auxiliary wheel linear actuator, now auxiliary wheel linear actuator road wheel lands afterwards, continues to extend, until car body reaches and obstacle
Ladder is opposing parallel, is now landed for rear auxiliary wheel linear actuator road wheel.In order to keep the weight on the balance of car body, car body
Heart block is mobile to car body front so that overall center of gravity is started to shrink in most front side, then rear auxiliary wheel linear actuator, is at this moment
The road wheel of preceding auxiliary wheel linear actuator supports car body with front driving wheel.
Claims (2)
1. a kind of obstacle detouring moving trolley, it is characterised in that including also pacifying in the middle of car body, front driving wheel, rear drive sprocket, described car body
Equipped with preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator, described preceding auxiliary wheel linear actuator and rear auxiliary wheel
Linear actuator bottom is mounted on road wheel, and preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator can be stretched
Contracting, preceding auxiliary wheel linear actuator and rear auxiliary wheel linear actuator one V-arrangement of formation, described vehicle body upper portion have center of gravity tune
Regulating device.
2. a kind of obstacle detouring moving trolley according to claim 1, it is characterised in that described gravity adjusting device includes center of gravity
Block, steel wire rope, and the fixed pulley installed in vehicle body upper portion two ends, center of gravity block two ends are fixedly connected by steel wire rope, form one
The loop of individual center of gravity block, steel wire rope and fixed pulley so that center of gravity block can return slide by steel wire rope on car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496434.9A CN107264669A (en) | 2017-06-26 | 2017-06-26 | A kind of obstacle detouring moving trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496434.9A CN107264669A (en) | 2017-06-26 | 2017-06-26 | A kind of obstacle detouring moving trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107264669A true CN107264669A (en) | 2017-10-20 |
Family
ID=60069487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710496434.9A Pending CN107264669A (en) | 2017-06-26 | 2017-06-26 | A kind of obstacle detouring moving trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107264669A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757750A (en) * | 2017-10-26 | 2018-03-06 | 青岛大学 | Obstacle-detouring method and its implementation based on adjustment position of centre of gravity |
| CN110253527A (en) * | 2019-07-15 | 2019-09-20 | 上海工程技术大学 | A kind of roller running gear based on Disaster Relief Robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070017716A1 (en) * | 2005-07-19 | 2007-01-25 | Wen-Chyan Shin | Vehicle adaptable to various terrains |
| CN104527822A (en) * | 2014-12-22 | 2015-04-22 | 孙欣 | Crawling ladder traveling device |
| JP2017003383A (en) * | 2015-06-09 | 2017-01-05 | 三菱電機株式会社 | Step detection device and step getting-over device |
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
| CN106627829A (en) * | 2016-11-30 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Assistant wheel type lifting obstacle-crossing robot |
-
2017
- 2017-06-26 CN CN201710496434.9A patent/CN107264669A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070017716A1 (en) * | 2005-07-19 | 2007-01-25 | Wen-Chyan Shin | Vehicle adaptable to various terrains |
| CN104527822A (en) * | 2014-12-22 | 2015-04-22 | 孙欣 | Crawling ladder traveling device |
| JP2017003383A (en) * | 2015-06-09 | 2017-01-05 | 三菱電機株式会社 | Step detection device and step getting-over device |
| CN106627829A (en) * | 2016-11-30 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Assistant wheel type lifting obstacle-crossing robot |
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757750A (en) * | 2017-10-26 | 2018-03-06 | 青岛大学 | Obstacle-detouring method and its implementation based on adjustment position of centre of gravity |
| CN110253527A (en) * | 2019-07-15 | 2019-09-20 | 上海工程技术大学 | A kind of roller running gear based on Disaster Relief Robot |
| CN110253527B (en) * | 2019-07-15 | 2022-06-07 | 上海工程技术大学 | Rolling type walking device based on disaster relief 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: 20171020 |
|
| RJ01 | Rejection of invention patent application after publication |