CN107323550A - A kind of mechanical arm auxiliary is gone upstairs and across the mechanical device and method of complicated landform - Google Patents
A kind of mechanical arm auxiliary is gone upstairs and across the mechanical device and method of complicated landform Download PDFInfo
- Publication number
- CN107323550A CN107323550A CN201710450879.3A CN201710450879A CN107323550A CN 107323550 A CN107323550 A CN 107323550A CN 201710450879 A CN201710450879 A CN 201710450879A CN 107323550 A CN107323550 A CN 107323550A
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- Prior art keywords
- tentacle
- flat board
- horizontal
- mechanical arm
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Handcart (AREA)
Abstract
Gone upstairs the invention discloses a kind of mechanical arm auxiliary and across the mechanical device of complicated landform, including Mecanum wheel chassis, be fixed on Mecanum wheel chassis motor, be connected with machine shaft cylinder, be connected with Telescopic-cylinder end support column, be connected with support column flat board, be fixed on flat board micro-machine, for eminence step screens horizontal tentacle and vertical tentacle；Horizontal tentacle is arranged on the front end of flat board, and horizontal tentacle is fixedly installed downwards with flat board according to default angle of inclination；Vertical tentacle is arranged on below flat board, is vertically arranged with horizontal tentacle.Present invention can apply to transport field, it is easy to the transport of complicated landform.
Description
Technical field
The present invention relates to carrying field, more particularly to a kind of mechanical arm auxiliary is gone upstairs and filled across the machinery of complicated landform
Put and method.
Background technology
When transportation robot runs into step frequently with crawler belt or by the structure of wheel lifting, crawler belt is because of its dumb highway
Poor-performing has its significant limitation, and the method by wheel lifting is complicated, and manufacturing cost is high.It is therefore desirable to provide one
New equipment is planted to solve the problem.
The content of the invention
It is an object of the invention to overcome the shortcoming and deficiency of prior art to be gone upstairs there is provided a kind of mechanical arm auxiliary and across
The mechanical device of more complicated landform, is easy to the transport of complicated landform.
Another object of the present invention is to provide a kind of method that mechanical arm auxiliary is gone upstairs and crosses over complicated landform.
The purpose of the present invention is realized by following technical proposals：
A kind of mechanical arm aids in going upstairs and crossing over the mechanical device of complexity landform, including Mecanum wheel chassis, fixation
Motor on Mecanum wheel chassis, the cylinder being connected with machine shaft, the support column being connected with Telescopic-cylinder end, with support
The connected flat board of post, the micro-machine being fixed on flat board, for eminence step screens horizontal tentacle and vertical tentacle；Water
Flat tentacle is arranged on the front end of flat board, and horizontal tentacle is fixedly installed downwards with flat board according to default angle of inclination；Vertical tentacle
It is arranged on below flat board, is vertically arranged with horizontal tentacle.
The upper surface of the flat board is arranged to ladder-type or zigzag.Increase wheel after the upper surface of flat board is handled
Frictional force is conducive to car to go up a slope.
The mechanical arm aids in going upstairs and crossing over the mechanical device of complexity landform, in addition to step.Mechanical device is in fortune
Defeated car passes through dell, and puddle during the complicated landform that stone riprap meadow is not easily passed through, can fill onboard and carry a step, selects phase
Answer the autonomous bridged crossing barrier of suitable plate length.
It is another object of the present invention to what is realized by following technical proposals：
A kind of mechanical arm auxiliary is gone upstairs and across the method for complicated landform, comprised the steps of：
S1, when running into step, cylinder stretch out, motor from initial position drive support column turn on certain angle, flat board
Micro-machine equally turn over certain angle, the wheel on Mecanum wheel chassis reaches horizontal tentacle and vertical tentacle point before step
The not upper surface with step and contacts side surfaces；
S2, after horizontal tentacle and vertical tentacle card good position, motor and micro-machine power-off, make support column be in freely
Swing state, closing air cylinder air source makes cylinder be in free retracted position, and now the front-wheel on Mecanum wheel chassis continues forward
Traveling can step on flat board upward slope；
S3, the trailing wheel on Mecanum wheel chassis continue forward impelling to wheel and climb up step completely；
S4, wheel are climbed up after step completely, and motor turns over certain angle, and micro-machine also turns over certain angle, and cylinder is received
Flat board is packed up in contracting, is so far completed one and is put bridging action.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the present invention can carry suitable step choosing when emergency case runs into the complexity landform such as stone riprap dell in transit
Select self-service put up a bridge of suitable plate length and cross over complicated landform.
2nd, mechanical structure of the invention, which has, does not influence car performance, is convenient to mount and dismount, the advantages of replacing facilitates.
3rd, of the invention horizontal tentacle and vertical tentacle can be such that flat board is completely fixed on step without entering in Chinese herbaceous peony
Disengaging is produced under thrust and the frictional force of wheel.
4th, the present invention is that the telescopic end for avoiding cylinder is directly connected stress with flat board, passes through the telescopic end and support column of cylinder
It is connected, the method protection cylinder that support column is connected with flat board.
Brief description of the drawings
Fig. 1 is the structural representation for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
Figure.
Fig. 2 is the structural representation for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
Figure.
Fig. 3 is the structural representation for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
Figure.
Fig. 4 is the state of going up on the stage for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
One schematic diagram.
Fig. 5 is the state of going up on the stage for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
Two schematic diagram.
Fig. 6 is the state of going up on the stage for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
Three schematic diagram.
Fig. 7 is the state of going up on the stage for the mechanical device that a kind of mechanical arm auxiliary of the present invention is gone upstairs and crosses over complicated landform
Four schematic diagram.
It is shown in figure：1- motors；2- cylinders；3- support columns；4- flat boards；5- micro-machines；The vertical tentacles of 6-；7- levels
Tentacle；8- Mecanum wheels chassis.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but the scope of protection of present invention is not
It is confined to the scope of embodiment expression.
As shown in Figure 1, 2, 3, a kind of mechanical arm auxiliary is gone upstairs and across the mechanical device of complicated landform, and its feature exists
In：The cylinder 2 being connected including Mecanum wheel chassis 8, the motor being fixed on chassis 1, with machine shaft and Telescopic-cylinder end
Connected support column 3, the flat board 4 being connected with support column 3, the micro-machine 5 being fixed on flat board 4, the card for eminence step
The horizontal tentacle 7 and vertical tentacle 6 of position.
As shown in Figure 4：The mechanical structure is when running into step, and cylinder 2 stretches out, and motor 1 is from initial position driving mechanical
The micro-machine 5 that arm is turned on certain angle, chassis equally turns over certain angle, and the horizontal tentacle of beginning before step is reached on wheat wheel chassis
7 and the upper surface respectively with step of vertical tentacle 6 and contacts side surfaces.
After described horizontal tentacle 7 and the card good position of vertical tentacle 6, motor 1 and micro-machine 5 is in power-off and freely put
Dynamic state, closing the source of the gas of cylinder 2 makes cylinder be in free retracted position, and now wheat wheel, which continues traveling forward, can step on flat board 4
Go up a slope, be illustrated in figure 5 the state of wheel top bar.
As shown in Figure 6：Described trailing wheel, which continues to push ahead, can climb up step.
As shown in Figure 7：Climb up motor 1 and micro-machine 5 after step completely to flip an angle, cylinder 2 is packed up flat
Plate 4 completes a set of action of appearing on the stage.
The embodiment of the present invention is described above in association with accompanying drawing, but these explanations can not be understood to limitation
The scope of the present invention, protection scope of the present invention is limited by appended claims, any in the claims in the present invention base
Change on plinth is all protection scope of the present invention.
Claims (4)
1. a kind of mechanical arm aids in going upstairs and crossing over the mechanical device of complexity landform, it is characterised in that：Including Mecanum wheel
Chassis, the motor being fixed on Mecanum wheel chassis, the cylinder being connected with machine shaft, the support being connected with Telescopic-cylinder end
Post, the flat board being connected with support column, the micro-machine being fixed on flat board, for eminence step screens horizontal tentacle and hang down
Straight tentacle；Horizontal tentacle is arranged on the front end of flat board, and horizontal tentacle is fixedly installed downwards with flat board according to default angle of inclination；
Vertical tentacle is arranged on below flat board, is vertically arranged with horizontal tentacle.
2. mechanical arm aids in going upstairs and crossing over the mechanical device of complexity landform according to claim 1, it is characterised in that：Institute
The upper surface for stating flat board is arranged to ladder-type or zigzag.
3. mechanical arm aids in going upstairs and crossing over the mechanical device of complexity landform according to claim 1, it is characterised in that：Institute
State the mechanical device that mechanical arm auxiliary is gone upstairs and crosses over complicated landform, in addition to step.
4. a kind of method that mechanical arm auxiliary is gone upstairs and crosses over complicated landform, it is characterised in that comprise the steps of：
S1, when running into step, cylinder stretch out, motor from initial position drive support column turn over it is small on certain angle, flat board
Type motor equally turns over certain angle, the wheel on Mecanum wheel chassis reach before step horizontal tentacle and vertical tentacle respectively with
The upper surface of step and contacts side surfaces；
S2, after horizontal tentacle and vertical tentacle card good position, motor and micro-machine power-off, make support column be in freely swing
State, closing air cylinder air source makes cylinder be in free retracted position, and now the front-wheel on Mecanum wheel chassis continues to travel forward
Flat board upward slope can be stepped on；
S3, the trailing wheel on Mecanum wheel chassis continue forward impelling to wheel and climb up step completely；
S4, wheel are climbed up after step completely, and motor turns over certain angle, and micro-machine also turns over certain angle, and cylinder, which shrinks, to be received
Flat board is played, one is so far completed and puts bridging action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710450879.3A CN107323550B (en) | 2017-06-15 | 2017-06-15 | Mechanical device and method for assisting mechanical arm to go upstairs and crossing complex terrain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710450879.3A CN107323550B (en) | 2017-06-15 | 2017-06-15 | Mechanical device and method for assisting mechanical arm to go upstairs and crossing complex terrain |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107323550A true CN107323550A (en) | 2017-11-07 |
| CN107323550B CN107323550B (en) | 2023-06-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710450879.3A Active CN107323550B (en) | 2017-06-15 | 2017-06-15 | Mechanical device and method for assisting mechanical arm to go upstairs and crossing complex terrain |
Country Status (1)
| Country | Link |
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| CN (1) | CN107323550B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016521A (en) * | 2017-12-01 | 2018-05-11 | 吴传江 | A kind of stabilization conveying equipment for municipal road pavement subgrade construction construction |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
| CN111531561A (en) * | 2020-05-08 | 2020-08-14 | 广东电网有限责任公司东莞供电局 | Autonomous bridging robot and bridging method |
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2017
- 2017-06-15 CN CN201710450879.3A patent/CN107323550B/en active Active
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| JPH0966838A (en) * | 1995-09-04 | 1997-03-11 | Sanwa:Kk | Stair climbing carrier |
| JP2007118853A (en) * | 2005-10-31 | 2007-05-17 | Koichi Okamoto | Escalator cart for airport |
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| CN104002880A (en) * | 2014-06-03 | 2014-08-27 | 东南大学 | Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs |
| CN106400672A (en) * | 2016-09-21 | 2017-02-15 | 武汉理工大学 | Special vehicle for fast reopening damaged road surface and for emergency rescue |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016521A (en) * | 2017-12-01 | 2018-05-11 | 吴传江 | A kind of stabilization conveying equipment for municipal road pavement subgrade construction construction |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
| CN109533051B (en) * | 2018-11-29 | 2020-09-18 | 北京理工大学 | Convertible stair climbing robot with collapsible swing arm |
| CN111531561A (en) * | 2020-05-08 | 2020-08-14 | 广东电网有限责任公司东莞供电局 | Autonomous bridging robot and bridging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107323550B (en) | 2023-06-20 |
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