CN107433606A - A kind of solar-energy machine people for building - Google Patents
A kind of solar-energy machine people for building Download PDFInfo
- Publication number
- CN107433606A CN107433606A CN201710873692.4A CN201710873692A CN107433606A CN 107433606 A CN107433606 A CN 107433606A CN 201710873692 A CN201710873692 A CN 201710873692A CN 107433606 A CN107433606 A CN 107433606A
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- China
- Prior art keywords
- tail
- gate
- rotating bar
- rail
- slide rail
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of solar-energy machine people for building, including running gear, the running gear includes frame, movable motor and sliding part, the frame includes anterior support body, middle part support body and rear portion support body, three rack rails be arrangeding in parallel are provided between the anterior support body and middle part support body, three rack rails be arrangeding in parallel are provided between the middle part support body and rear portion support body, the middle part support body is provided with the movable motor, vertical direction is respectively provided with a frame slide rail above each rack rail, the track of the frame slide rail is equilateral triangle.The running gear of the present invention can steadily walk, it is only necessary to which a movable motor is the alternating movement that six supporting legs can be achieved, to realize walking function, smart structural design.The implement set in carriage body had not only facilitated expansion with close ground but also can be convenient for collecting, easy to use；Tail-gate device can be posted by the outer top of carriage body after opening, be not take up space, have practicality.
Description
Technical field
The present invention relates to robotic technology field, particularly relates to a kind of solar-energy machine people for building.
Background technology
The robot architecture of prior art is complicated, it is necessary to which multiple motors cooperations could take action, it is necessary to improve；Other robot
On implement can not be close to ground, and still endure erosion by wind and rain to the fullest extent after use, or need in addition increase vest enter
Row protection, in-convenience in use；The tail-gate of existing carriage body is all turnover type, can be extended back relatively large distance opening rear tailgate,
Often can make troubles.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of solar-energy machine people for building, to solve in the prior art
Robot architecture is complicated, implement in-convenience in use, and space-consuming big technical problem when carriage body tail-gate deploys.
In order to solve the above technical problems, embodiments of the invention provide a kind of solar-energy machine people for building, including walking
Device, the running gear include frame, movable motor and sliding part, the frame include anterior support body, middle part support body with
And rear portion support body, three rack rails be arrangeding in parallel, the middle part support body are provided between the anterior support body and middle part support body
Three rack rails be arrangeding in parallel are provided between the support body of rear portion, the middle part support body is provided with the movable motor, each
Vertical direction is respectively provided with a frame slide rail above the rack rail, and the track of the frame slide rail is equilateral triangle, described
The base of equilateral triangle is parallel with horizontal plane, is rotated at the center of the equilateral triangle and is provided with a rotating bar, described turn
Lever is provided with slippage slot, and the sliding part includes slide rail sliding part, support feet rotating shaft and is connected to slide rail sliding part and branch
Slipping part between spike rotating shaft, for the slide rail sliding part on frame slide rail, the slipping part is arranged at the rotating bar
Slippage slot in so that rotating bar drives track motion of the slide rail sliding part along frame slide rail, slide and set on the rack rail
There is a guide, the outer end of the guide is provided with the guide groove being vertically arranged, is slided in the guide groove and be provided with support
Pin, the upper end of the support feet are rotationally connected with the support feet rotating shaft, and the lower end of the support feet is provided with landing part, described
Belt pulley is provided with positioned at rack rail opposite side, two belt pulleys of correspondence position and walking on the fore-and-aft direction in rotating bar
A wherein output wheel on motor is in the same plane, and is connected by a belt tension, the movable motor both ends
Portion is provided with three output wheels altogether, and the movable motor drives support feet motion to make the landing part of six support feets alternately by rotating bar
Ground is to complete walking motion；
Carriage body is connected with by carrier above the frame, the carriage body rear portion is provided with opening, is provided with the carriage body
Implement, the implement include the rail brackets for being slideably positioned in carriage body, and the rail brackets is provided with equipment guide rail,
Slider guide is slidably fitted with the equipment guide rail, mounting bracket is connected with below the slider guide, the mounting bracket is provided with one
Mounting bracket groove, the rack that can be mounted opposite the slip of frame groove is placed with the mounting bracket groove, and the rack is led with equipment
The parallel setting of rail, the mounting bracket also rotate axis connection first gear by first, and the mounting bracket also rotates by second
Axis connection second gear, the first gear and second gear are respectively positioned on above rack and engaged with rack, and described first rotates
The outer end of axle is connected with guide rod in the perpendicular direction, and the side of the rail brackets is provided with slipping groove stent, the chute branch
The horizontal concrete chute set along equipment rail length direction is provided with frame and is communicated in the tip chute of the rear end of horizontal concrete chute, institute
The outer end for stating guide rod is provided with pulley, and the pulley is installed in horizontal concrete chute, and second rotary shaft connects in vertical direction
Equipment fixed plate is connected to, the equipment fixed plate is provided with operation head, set in the middle part of the slider guide along equipment rail length direction
There is a screw rod, described screw rod one end is connected with screw motor, and the screw motor drive screw turns are so as to driving slider guide along setting
Standby guide rail slides；
The carriage body is additionally provided with a tail-gate device, and the tail-gate device includes the tail-gate rotating shaft in the same side wall of carriage body
With servo-actuated rotating shaft, the tail-gate rotating shaft and servo-actuated rotating shaft are located in same level, and the tail-gate rotating shaft drives provided with tail-gate
Bar and release link, the tail-gate drive rod other end are connected on tail-gate, and the servo-actuated rotating shaft is provided with the first tappet, described
Release link and tail-gate drive rod shape angle in 90 °, the outer end of the release link are rotatably connected to the second tappet, and described first
Back-moving spring is provided between tappet and the second tappet, the tail-gate is provided with tail-gate groove, is provided with the tail-gate groove
Draw runner fixed block, the draw runner fixed block both sides are respectively equipped with draw runner, formed between draw runner and the tail-gate recess sidewall between one
Gap, the car top are hinged with tail-gate sliding sleeve close to rear end, and the both sides of the tail-gate sliding sleeve are provided with socket part and are used to slide
It is sheathed on draw runner；The servo-actuated rotating shaft is located at the front of tail-gate rotating shaft, when tail-gate is closed to carriage body, the tail-gate drive rod
In vertical position, and the junction of tail-gate drive rod and tail-gate, under the junction of tail-gate drive rod and tail-gate rotating shaft
Side, the outer end of the release link are located at close to the side of servo-actuated rotating shaft；
The carriage body is provided with article transfer apparatus, and the article transfer apparatus includes the carrier on carriage body,
The top of the carrier is provided with transferring slide rail, and guide runner is provided with the transferring slide rail, is provided with and slides in the guide runner
Block is moved, winding motor is provided with the slipping block, the hoist cable being connected with the winding motor is provided with the slipping block,
Solar panel and solar panel pole are provided with the top of the transferring slide rail, the solar panel pole
Bottom is connected with the transferring slide rail by rotary shaft, the top connection solar cell of the solar panel pole
Plate, it is provided between the middle part of the solar panel pole and the transferring slide rail and is used to adjust solar panel pole
The control cylinder of angle, battery is provided with the carrier, the solar energy electroplax is connected with the battery, described
Storage battery power supply is additionally provided with the cooling air channel being connected with the guide runner, in institute in winding motor on the transferring slide rail
State and loudspeaker collection air port is additionally provided with the top of transferring slide rail, the loudspeaker collection air port is connected with cooling air channel.
Six rotating bars be respectively designated as it is previous, the first two, first three, latter, rear two, rear three rotating bar, it is described the first two
Rotating bar is located between previous rotating bar and first three rotating bar, and rear two rotating bars are located at latter rotating bar and rear three rotating bar
Between, previous, the latter rotating bar is generally aligned in the same plane, it is described first three, rear three rotating bar be generally aligned in the same plane, before described
First, the first two, the angle that mutually forms of first three rotating bar be 120 °, the folder that latter, rear two, rear three rotating bar mutually forms
Angle is 120 °, it is described the first two, rear two rotating bar there is identical initial position, previous, rear three rotating bar has identical
Initial position, it is described first three, latter rotating bar there is identical initial position, the initial position of the previous rotating bar is along skin
The initial position that the rotation direction that belt wheel drives forwards is rotated further after 120 ° just with the latter rotating bar coincides.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
The running gear of the present invention can steadily walk, it is only necessary to which a movable motor is the alternating fortune that six supporting legs can be achieved
It is dynamic, to realize walking function, smart structural design.The implement set in carriage body had not only facilitated expansion with close ground but also can be square
Just, safely store, it is easy to use；Tail-gate device can be posted by the outer top of carriage body after opening, be not take up space, have practicality
Property.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structure chart one of the running gear of the present invention.
Fig. 3 is the structure chart two of the running gear of the present invention.
Fig. 4 is the structure chart three of the running gear of the present invention.
Fig. 5 is the local structural graph one of the running gear of the present invention.
Fig. 6 is the explosive view of the running gear of the present invention.
Fig. 7 is the local structural graph two of the running gear of the present invention.
Fig. 8 is the local structural graph three of the running gear of the present invention.
Fig. 9 is the explosive view of the implement of the present invention.
Figure 10 is the stereogram of the implement of the present invention.
Figure 11 is the partial perspective view one of the implement of the present invention.
Figure 12 is the partial perspective view two of the implement of the present invention.
Figure 13 is the partial perspective view three of the implement of the present invention.
Figure 14 is the structure chart after the operation head upset of the implement of the present invention.
Figure 15 is the structural representation one of the tail-gate device of the present invention.
Figure 16 is the explosive view of the tail-gate device of the present invention.
Figure 17 is the schematic diagram of draw runner and tail-gate sliding sleeve in tail-gate device of the invention.
Figure 18 is draw runner, tail-gate, the schematic diagram of tail-gate draw runner in tail-gate device of the invention.
Figure 19 is that the tail-gate of the tail-gate device of the present invention is turned down to schematic diagram during half.
Figure 20 is that the tail-gate of the tail-gate device of the present invention is turned down to schematic diagram during car top.
Figure 21 is the structure chart of the article transfer apparatus of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, front end, front portion, direction of advance, right direction for after, rear end, after
Portion, direction of retreat.
As shown in Figures 1 to 8, the embodiment of the present invention provides a kind of solar-energy machine people for building, including running gear 1,
The running gear 1 includes frame, movable motor 10 and sliding part 11, and the frame includes anterior support body 12, middle part support body
13 and rear portion support body 14, three rack rails 15 be arrangeding in parallel are provided between the anterior support body 12 and middle part support body 13,
It is provided with three rack rails 15 be arrangeding in parallel between the middle part support body 13 and rear portion support body 14, each rack rail 15 is along water
Square the movable motor 10 is provided with to setting, the middle part support body 13, each top vertical direction of rack rail 15
A frame slide rail 16 is respectively provided with, the track of the frame slide rail 16 is equilateral triangle, the base of the equilateral triangle and water
Plane parallel, rotate at the center of the equilateral triangle and be provided with a rotating bar 17, the rotating bar 17 is provided with slippage slot
18, the sliding part 11 includes slide rail sliding part 111, support feet rotating shaft 112 and is connected to slide rail sliding part 111 and support feet
Slipping part 113 between rotating shaft 112, on frame slide rail 16, the slipping part 113 is arranged at the slide rail sliding part 111
So that rotating bar drives track motion of the slide rail sliding part 111 along frame slide rail 16 in the slippage slot 18 of the rotating bar 17,
Slided on the rack rail 15 and be provided with a guide 19, the guide 19 makees horizontal slip on rack rail 15, described
The outer end of guide 19 is provided with the guide groove 20 being vertically arranged, and is slided in the guide groove 20 and is provided with support feet 21, described
The upper end of support feet 21 is rotationally connected with the support feet rotating shaft 112, and the lower end of the support feet 21 is provided with landing part 22, institute
State and be provided with belt pulley 23 positioned at rack rail opposite side in rotating bar 17, the diameter of each belt pulley is identical, the fore-and-aft direction
A wherein output wheel on two belt pulleys 23 and movable motor 10 of upper correspondence position is in the same plane, and passes through a skin
The tensioning of band 24 is connected, and the both ends of movable motor 10 are provided with three output wheels 25 altogether, and the movable motor 10 passes through rotation
Bar 17, which drives support feet 21 to move, makes the landing part 22 of six support feets 21 alternately land to complete walking motion.
Six rotating bars 17 be respectively designated as previous rotating bar 171, the first two rotating bar 172, first three rotating bar 173,
Latter rotating bar 174, rear two rotating bar 175, rear three rotating bar 176, the first two described rotating bar 172 are located at previous rotating bar 171
Between first three rotating bar 173, rear two rotating bars 175 are located between latter rotating bar 174 and rear three rotating bar 176, institute
State previous rotating bar 171, latter rotating bar 174 is generally aligned in the same plane, first three described rotating bar 173, rear three rotating bar 176 are located at
Same plane, the angle that the previous rotating bar 171, the first two rotating bar 172, first three rotating bar 173 mutually form is 120 °,
The angle that the latter rotating bar 174, rear two rotating bar 175, rear three rotating bar 176 mutually form is 120 °, it is described the first two
Rotating bar 172, rear two rotating bar 175 have identical initial position, and the previous rotating bar 171, rear three rotating bar 176 have
Identical initial position, first three described rotating bar 173, latter rotating bar 174 have identical initial position, the previous rotation
The initial position of bar 171 drive forwards along belt pulley 25 rotation direction in (direction that i.e. belt wheel driving running gear advances) after
The continuous initial position rotated after 120 ° just with the latter rotating bar 174 coincides.Initial position refers to that movable motor 10 stops
When only working, the location of each rotating bar relation.
During work, initial position is illustrated in figure 8, previous landing part 221, rear three landing part 226 are liftoff state, the first two
Landing part 222, first three landing part 223, latter landing part 224, rear two landing part 25 are the state that lands, when belt pulley turns over 120 °
Behind angle, previous landing part 221, first three landing part 223, latter landing part 224, rear three landing part 226 are the state that lands, and the first two
Ground portion 222, rear two landing part 224 are liftoff state, and during advance, wherein four in six landing parts remain
Ground state, it is ensured that the steady walking of running gear.
As shown in Fig. 1, Fig. 9 to Figure 14, carriage body 52 is connected with by carrier 80 above the frame, after the carriage body 52
Portion is provided with opening, and implement 30 is provided with the carriage body 52, and the implement 30 includes being slideably positioned in leading for carriage body 52
Rail support 31, rail brackets 31 can slide along the fore-and-aft direction of carriage body, and be provided with and latch (not shown) be used for rail brackets 31
Lock, which is set, to be fixed on a position, and the rail brackets 31 is provided with equipment guide rail 32, and the equipment guide rail 32 is indulged along carriage body 31
Installed to direction, i.e. direction before and after carriage body, slider guide 33, the lower section of slider guide 33 are slidably fitted with the equipment guide rail 32
Mounting bracket 34 is connected with, the mounting bracket 34 is provided with a mounting bracket groove 341, and being placed with the mounting bracket groove 341 can
It is mounted opposite the rack 35 of frame groove slip, the rack 35 and the 32 parallel setting of equipment guide rail, by 341 liang of mounting bracket groove
Side is spacing, and rack 35 can only be moved along the length direction of equipment guide rail 32, and the mounting bracket 34 is also connected by the first rotary shaft 36
Connect first gear 37, the mounting bracket 34 also connects second gear 39 by the second rotary shaft 38, the first gear 37 and the
Two gears 39 are respectively positioned on the top of rack 35 and engaged with rack 35, and the outer end of first rotary shaft 36 is in the perpendicular direction
Guide rod 40 is connected with, the side of the rail brackets 31 is provided with slipping groove stent 41, is provided with the slipping groove stent 41 and is led along equipment
The length direction of rail 32 set horizontal concrete chute 42 and be communicated in horizontal concrete chute 42 rear end tip chute 43, tip chute 43
Tilting downwards, the outer end of the guide rod 40 is provided with pulley 44, and the pulley 44 is installed in horizontal concrete chute 42, and described first
The rotary shaft 38 of rotary shaft 36 and second is each perpendicular to the length direction of equipment guide rail 32, and it is front and rear separately set, described second turn
Moving axis 38 is connected with equipment fixed plate 45 in vertical direction, and during initial position, i.e., pulley 44 is located in horizontal concrete chute 42, equipment
Fixed plate 45 is horizontally situated, and the equipment fixed plate 45 is provided with operation first 46, and operation first 46 can be drying unit, spray
Water installations, dust exhaust apparatus etc., this is prior art, and therefore not to repeat here.Along equipment rail length side in the middle part of the slider guide 33
To provided with screw rod 47, described one end of screw rod 47 is connected with screw motor 48, the drive screw 47 of screw motor 48 rotate so as to
Slider guide 33 is driven to be slided along equipment guide rail 32.For implement in receiving state, slider guide is located at the high order end of equipment guide rail,
First unblock lock makes the rear end of rail brackets be moved to the rear outside of carriage body, then locks lock to fix rail brackets, so
Screw motor starts afterwards, drives screw rod rotation, screw rod drives slider guide rearward to be moved along equipment guide rail, due to first gear
Be engaged on rack, the first rotary shaft had not only connected first gear but also connection guide, when pulley is in horizontal concrete chute, first turn
Moving axis also can only do the translation of horizontal direction, therefore first gear can not rotate, and can only be put down backward together with slipping groove stent
Move, rack can not be mounted opposite the movement of frame groove, therefore first gear, second gear, rack keep phase with slipping groove stent
To static, when pulley motion to tip chute, guide rod turns an angle, so as to drive first gear to rotate, first gear
Band carry-over bar travels forward, and rack drives second gear rotates, and second gear drives equipment fixed plate to rotate, so as to fulfil assignment
The upset of head, makes operation head rest near the ground, convenient working.When needing storage, it is only necessary to slider guide is moved to equipment guide rail
High order end, then manual unlocking latches again, rail brackets is locked lock again after being accommodated in completely in carriage body.
As shown in Figure 15 to Figure 20, the carriage body 52 is additionally provided with a tail-gate device 100, and the tail-gate device 100 includes setting
Tail-gate rotating shaft 101 and servo-actuated rotating shaft 102 in 52 same side wall of carriage body, the tail-gate rotating shaft 101 and servo-actuated rotating shaft 102 are located at
In same level, the tail-gate rotating shaft 101 is provided with tail-gate drive rod 103 and release link 104, the tail-gate drive rod 103
The other end is connected on tail-gate 105, and when tail-gate 105 is closed to carriage body 52, tail-gate 105 is is vertically arranged, the servo-actuated rotating shaft
102 are provided with the first tappet 106, the release link 104 and the shape of tail-gate drive rod 103 angle in 90 °, release link 104 and tail
Door drive rod 103 is relatively fixed, and the outer end of the release link 104 is rotatably connected to the second tappet 107, and described first is servo-actuated
Back-moving spring 108 is provided between the tappet 107 of bar 106 and second, the tail-gate 105 is provided with tail-gate groove 109, works as tail-gate
105 when being closed to carriage body 52, and tail-gate groove 109 is provided with draw runner fixed block 110 to be vertically arranged in the tail-gate groove 109, cunning
The both sides of bar fixed block 110 are respectively equipped with draw runner 111, and a gap 115 is formed between draw runner 111 and tail-gate groove 109 side wall,
The top of carriage body 52 is hinged with tail-gate sliding sleeve 112 close to rear end, and the both sides of the tail-gate sliding sleeve 112 are provided with socket part 113
Draw runner 111 is located at for slip cap, tail-gate sliding sleeve 112 can slidably reciprocate at the gap 115；The servo-actuated rotating shaft 102
In the front of tail-gate rotating shaft 101, when tail-gate 105 is closed to carriage body 52, the tail-gate drive rod 103 is in vertical position, and
The junction of tail-gate drive rod 103 and tail-gate 105, positioned at the lower section of tail-gate drive rod 103 Yu the junction of tail-gate rotating shaft 101,
The outer end of the release link 104 is located at close to the side of servo-actuated rotating shaft 102；Tail-gate drive rod 103 may be configured as with arc or
Person bends an angle at middle part, is avoided with this when tail-gate drive rod 103 drives tail-gate 105 to top, tail-gate driving
The top plate body phase of bar 103 and carriage body 52 is interfered.The top outer of carriage body 52 is additionally provided with snubber block 114, when tail-gate is driven by tail-gate
When bar is driven to highest point, it can be posted by snubber block and be used for damping.When in use, tail-gate is flipped up by manually opened, when
Tail-gate drive rod have rotated close to after 180 °, and tail-gate can be by turnover to close at car top, after loosing one's grip, such as Figure 17 institutes
Show, now the second tappet 107 is positioned at position as shown in the figure, and the active force of back-moving spring forms self-locking, by the extensive of back-moving spring
Multiple power can show that the horizontal forward power that back-moving spring is given is more than power straight down, therefore tail-gate drives after being decomposed
Bar will not be driven.When tail-gate is driven by external force, i.e., after human hand firmly drives tail-gate to move downward, back-moving spring, which may also function as, to be carried
For the effect of restoring force, power-saving function is played.
As shown in Fig. 1 and Figure 21, article transfer apparatus 7 is additionally provided with the carriage body 52, the article transfer apparatus 7 includes
Carrier 70 on carriage body 52, transferring slide rail 71 is provided with the top of the carrier 70, in the transferring slide rail 71
Provided with guide runner 72, slipping block 73 is provided with the guide runner 72, winding motor 74 is provided with the slipping block 73, in institute
State slipping block 73 and be provided with the hoist cable 75 being connected with the winding motor 74, the sun is provided with the top of the transferring slide rail 71
Energy cell panel 76 and solar panel pole 77, the bottom of the solar panel pole 77 are logical with the transferring slide rail 71
Cross rotary shaft 78 to be connected, the top connection solar panel 76 of the solar panel pole 77, in the solar energy
The control for being used for adjusting solar panel pole angle is provided between the middle part of cell panel pole 77 and the transferring slide rail 71
Cylinder 78, battery 79 is provided with the carrier 70, the solar energy electroplax 76 is connected with the battery 79, described
Battery 79 is powered at winding motor 74, and the cooling wind being connected with the guide runner 72 is additionally provided with the transferring slide rail 71
Road 69, loudspeaker collection air port 68, the loudspeaker collection air port 68 and the phase of air channel 69 that cools are additionally provided with the top of the transferring slide rail 71
Connection.Article transfer apparatus can carry out article transfer operation.It is solar powered that there is energy saving and environmental protection effect.Convert solar energy into
Electric energy, so as to greatly save electric energy, energy-saving effect is obvious, and be provided with transferring slide rail be connected with guide runner by temperature
Air channel, effectively slipping block and winding motor can be cooled, substantially increase service life, strong applicability, practicality is good.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of solar-energy machine people for building, it is characterised in that including running gear, the running gear includes frame, OK
Motor and sliding part are walked, the frame includes anterior support body, middle part support body and rear portion support body, the anterior support body and middle part
Three rack rails be arrangeding in parallel are provided between support body, are be arranged in parallel between the middle part support body and rear portion support body provided with three
Rack rail, the middle part support body is provided with the movable motor, and vertical direction is respectively provided with above each rack rail
One frame slide rail, the track of the frame slide rail is equilateral triangle, and the base of the equilateral triangle is parallel with horizontal plane,
Rotated at the center of the equilateral triangle and be provided with a rotating bar, the rotating bar is provided with slippage slot, and the sliding part includes
Slide rail sliding part, support feet rotating shaft and the slipping part being connected between slide rail sliding part and support feet rotating shaft, the slide rail are slided
Dynamic portion is on frame slide rail, and the slipping part is arranged in the slippage slot of the rotating bar so that rotating bar drives slide rail to slide
Track motion of the portion along frame slide rail, slide on the rack rail and be provided with a guide, the outer end of the guide is set
There is the guide groove being vertically arranged, slided in the guide groove and be provided with support feet, the upper end of the support feet is rotationally connected with institute
State in support feet rotating shaft, the lower end of the support feet is provided with landing part, is provided with the rotating bar positioned at rack rail opposite side
Belt pulley, the wherein output wheel on the fore-and-aft direction on two belt pulleys and movable motor of correspondence position is positioned at same flat
On face, and it is connected by a belt tension, the movable motor both ends are provided with three output wheels altogether, and the movable motor leads to
Crossing rotating bar drives support feet motion the landing part of six support feets is alternately landed to complete walking motion；
Carriage body is connected with by carrier above the frame, the carriage body rear portion is provided with opening, operation is provided with the carriage body
Equipment, the implement include the rail brackets for being slideably positioned in carriage body, and the rail brackets is provided with equipment guide rail, described
Slider guide is slidably fitted with equipment guide rail, mounting bracket is connected with below the slider guide, the mounting bracket is provided with an installation
Frame groove, the rack that can be mounted opposite the slip of frame groove, the rack and equipment guide rail phase are placed with the mounting bracket groove
It is arranged in parallel, the mounting bracket also rotates axis connection first gear by first, and the mounting bracket is also connected by the second rotary shaft
Second gear is connect, the first gear and second gear are respectively positioned on above rack and engaged with rack, first rotary shaft
Outer end is connected with guide rod in the perpendicular direction, and the side of the rail brackets is provided with slipping groove stent, in the slipping groove stent
Tip chute provided with the horizontal concrete chute set along equipment rail length direction and the rear end for being communicated in horizontal concrete chute, it is described to lead
The outer end of bar is provided with pulley, and the pulley is installed in horizontal concrete chute, and second rotary shaft is connected with vertical direction
Equipment fixed plate, the equipment fixed plate are provided with operation head, and the slider guide middle part is provided with spiral shell along equipment rail length direction
Bar, described screw rod one end are connected with screw motor, and the screw motor drive screw turns are so as to driving slider guide to be led along equipment
Rail slides；
The carriage body is additionally provided with a tail-gate device, the tail-gate device include tail-gate rotating shaft in the same side wall of carriage body and with
Turn axle, the tail-gate rotating shaft and servo-actuated rotating shaft are located in same level, the tail-gate rotating shaft be provided with tail-gate drive rod and
Release link, the tail-gate drive rod other end are connected on tail-gate, and the servo-actuated rotating shaft is provided with the first tappet, the reset
Bar and tail-gate drive rod shape angle in 90 °, the outer end of the release link are rotatably connected to the second tappet, and described first is servo-actuated
Back-moving spring is provided between bar and the second tappet, the tail-gate is provided with tail-gate groove, draw runner is provided with the tail-gate groove
Fixed block, the draw runner fixed block both sides are respectively equipped with draw runner, a gap, institute are formed between draw runner and the tail-gate recess sidewall
State car top and be hinged with tail-gate sliding sleeve close to rear end, the both sides of the tail-gate sliding sleeve are located at provided with socket part for slip cap
On draw runner；The servo-actuated rotating shaft is located at the front of tail-gate rotating shaft, and when tail-gate is closed to carriage body, the tail-gate drive rod is in perpendicular
Straight position, and the junction of tail-gate drive rod and tail-gate, it is described positioned at the lower section of tail-gate drive rod Yu the junction of tail-gate rotating shaft
The outer end of release link is located at close to the side of servo-actuated rotating shaft；
The carriage body is provided with article transfer apparatus, and the article transfer apparatus includes the carrier on carriage body, described
The top of carrier is provided with transferring slide rail, and guide runner is provided with the transferring slide rail, and slipping block is provided with the guide runner,
Winding motor is provided with the slipping block, the hoist cable being connected with the winding motor is provided with the slipping block, in institute
The top for stating transferring slide rail is provided with solar panel and solar panel pole, the bottom of the solar panel pole
It is connected with the transferring slide rail by rotary shaft, the top connection solar panel of the solar panel pole,
It is provided between the middle part of the solar panel pole and the transferring slide rail and is used to adjust solar panel pole angle
Control cylinder, battery is provided with the carrier, the solar energy electroplax is connected with the battery, the electric power storage
Pond is powered at winding motor, the cooling air channel being connected with the guide runner is additionally provided with the transferring slide rail, at described turn
Move at the top of slide rail and be additionally provided with loudspeaker collection air port, the loudspeaker collection air port is connected with cooling air channel.
2. running gear according to claim 1, it is characterised in that six rotating bars are respectively designated as previous, preceding
2nd, first three, latter, rear two, rear three rotating bar, the first two described rotating bar is located between previous rotating bar and first three rotating bar, institute
Two rotating bars are located between latter rotating bar and rear three rotating bar after stating, and previous, the latter rotating bar is generally aligned in the same plane, institute
State first three, rear three rotating bar be generally aligned in the same plane, it is described it is previous, the first two, the angle that mutually forms of first three rotating bar be 120 °,
The angle that latter, rear two, rear three rotating bar mutually forms is 120 °, it is described the first two, rear two rotating bar there is identical
Initial position, previous, rear three rotating bar have an identical initial position, it is described first three, latter rotating bar there is identical
Initial position, the rotation direction that the initial position of the previous rotating bar drives forwards along belt pulley be rotated further 120 ° after just with
The initial position of the latter rotating bar coincides.
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| CN201710873692.4A CN107433606A (en) | 2017-09-25 | 2017-09-25 | A kind of solar-energy machine people for building |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163086A (en) * | 2017-12-25 | 2018-06-15 | 陈德梅 | A kind of road walking robot |
| CN108259928A (en) * | 2018-03-26 | 2018-07-06 | 黄小宝 | A kind of audio/video information processing system |
-
2017
- 2017-09-25 CN CN201710873692.4A patent/CN107433606A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163086A (en) * | 2017-12-25 | 2018-06-15 | 陈德梅 | A kind of road walking robot |
| CN108259928A (en) * | 2018-03-26 | 2018-07-06 | 黄小宝 | A kind of audio/video information processing system |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171205 |
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Addressee: Yu Jingli Document name: Notification of Approving Refund |