CN107539386A - A kind of flat creeping system based on multiple mounted cam - Google Patents
A kind of flat creeping system based on multiple mounted cam Download PDFInfo
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- CN107539386A CN107539386A CN201610503233.2A CN201610503233A CN107539386A CN 107539386 A CN107539386 A CN 107539386A CN 201610503233 A CN201610503233 A CN 201610503233A CN 107539386 A CN107539386 A CN 107539386A
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- mounted cam
- multiple mounted
- exopodal
- backward
- section unit
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Abstract
The invention discloses a kind of flat creeping system based on multiple mounted cam, it is made up of the bionical section unit collaboration of some machineries, save in unit, lifting module is using transverse movement drives driving sliding block to move forward and backward by a small margin caused by multiple mounted cam, drive surface on driving sliding block drives interior foot to move up and down, interior foot is set alternately to contact ground with exopodal, realize that the interior foot of section unit replaces support with exopodal, module is moved forward and backward using significantly transverse movement drives exopodal to move forward and backward caused by multiple mounted cam, support is replaced by interior foot and exopodal, realize that the interior foot of section unit advances in turn with exopodal, the traveling of each section cooperative achievement system, steering and obstacle detouring, designed with flattening, reduce whole height, improve Operational Effectiveness Rat, reduce soldier's physical consumption, reduce bullet face area.
Description
Technical field
The present invention relates to a kind of flat creeping system based on multiple mounted cam, by imitating class in flexible row of creeping
Body kinematics posture when entering, is designed using flattening, realizes the automation that the low appearance of wartime individual soldier crawls to advance.Belong to raising to make
War efficiency, reduces soldier's physical consumption, reduces the flat creeping system for playing face area.
Background technology
The low appearance of individual soldier is crept for snugly passing through obstacle close under target or enemy's firepower using short blindage is rapid
Thing.My the low appearance of army individual soldier is crept to be carried out on the basis of droping to the ground, using arm take off and two the feet step on the ground it is harmonious
Advance forward.But in training or actual combat, low appearance, which is crept, to be still suffered from many and waits improvements.
1) when the low appearance of individual soldier is crept body it is most of with ground is micro- connects, frictional force is big, and advance is obstructed.Increase soldier's body
It can consume, influence Operational Effectiveness Rat.Meanwhile when being crept under complicated landform, soldier's body dipping and heaving, easily expanding bullet face
Area, in turn result in non-essential combat casualty.
Therefore, by imitating class in the flexible body kinematics posture creeped when advancing, designed using flattening, will be by more
The bionical section unit of section machinery forms a kind of flat creeping system based on multiple mounted cam, and then optimization design goes out to meet individual soldier
Individual soldier's machine first of operational need.Make soldier's body and ground slightly gap, reduce friction.The energy carried using machine first is advanced,
Soldier's physical consumption is reduced, preserves combat power.Meanwhile flattening design can reduce soldier's exposed area, reduce bullet face face
Product, effectively reduces non-combat casualty.
2) power to advance when the low appearance of individual soldier is crept is provided by arm and bipod more.When arm takes off forward ground, hand
Elbow joint hand bone collides with ground, causes elbow epidermis gouge to be damaged.Training injury is caused in training, and wartime is into unnecessary
Non- fight wound, and then influence training or operation benefit.
Therefore, according to individual soldier's machine first of flat creeping Optimized System Design, soldier's body is separated with ground, effectively
Prevent the situation of colliding with soldier's body and ground, prevent the generation of training injury, wartime improves operation benefit.
The content of the invention
The purpose of the present invention, it is to provide a kind of raising Operational Effectiveness Rat, reduces soldier's physical consumption, reduce and play face area
Flat creeping system.
The object of the present invention is achieved like this：A kind of flat creeping system based on multiple mounted cam is by some machineries
Bionical section unit composition, the bionical section unit of machinery include：Section unit main body, lift module, move forward and backward module three parts.
Described section unit main body is subtracted by section unit pedestal, multiple mounted cam, the JS50 of flat creeping system section unit
Speed motor forms.Exported by JS50 reducing motors and circular motion is switched into the different linear motion of amplitude through multiple mounted cam, and then
Driving lifts the lifting of module and moves forward and backward moving forward and backward for module.Horizontal guide rail and vertical guide rail on section unit pedestal are
Lifting module provides spacing guarantee with module is moved forward and backward.
Described lifting module is made up of interior foot, the driving sliding block of flat creeping system section unit.Multiple mounted cam produces
Raw transverse movement by a small margin drives driving sliding block to move forward and backward, and drives the drive surface on sliding block to drive interior foot to move up and down.
The described module that moves forward and backward is made up of the exopodal of flat creeping system section unit.It is big caused by multiple mounted cam
Amplitude transverse movement drives exopodal to move forward and backward.
A kind of flat creeping system based on multiple mounted cam of the present invention employs the technical scheme of the above, has following
Advantage and feature：
Circular motion is switched to the different linear motion of amplitude by the multiple mounted cam for the 1st, saving unit main body, and then sufficient in driving
Lifting moves forward and backward with exopodal.
2nd, module is lifted using transverse movement drives driving sliding block to move forward and backward by a small margin caused by multiple mounted cam, and driving is slided
Drive surface on block drives interior foot to move up and down, and interior foot is alternately contacted ground with exopodal, realizes the interior foot and exopodal of section unit
Alternately support.
3rd, module is moved forward and backward using significantly transverse movement drives exopodal to move forward and backward caused by multiple mounted cam, by interior
Foot and the support that replaces of exopodal, realize that the interior foot of section unit advances in turn with exopodal.
4th, a kind of flat creeping system based on multiple mounted cam of the present invention uses multiple mounted cam, and single circumference is transported
Turn turns to the linear motion of different amplitudes, and then realizes the specific function of disparate modules.
5th, a kind of flat creeping system based on multiple mounted cam of the present invention forms work(by the bionical section unit of multi-jointed mechanical
Energy full-order system, each traveling, steering and obstacle detouring for saving cooperative achievement system, to improve Operational Effectiveness Rat, reduce soldier's physical efficiency and disappear
Consumption, reduce bullet face area and premise is provided.
Brief description of the drawings
Fig. 1 is a kind of bionical section model of element model machine of flat creeping system mechanics based on multiple mounted cam of the present invention
Outside drawing
Fig. 2 is a kind of bionical section model of element model machine section of flat creeping system mechanics based on multiple mounted cam of the invention
The appearance assumption diagram of unit main body
Fig. 3 is a kind of bionical section model of element model machine liter of flat creeping system mechanics based on multiple mounted cam of the invention
The appearance assumption diagram of module drops
Before Fig. 4 is a kind of bionical section model of element model machine of flat creeping system mechanics based on multiple mounted cam of the present invention
The appearance assumption diagram of motion module afterwards
Fig. 5 is that a kind of bionical section model of element model machine of flat creeping system mechanics based on multiple mounted cam of the present invention is answered
Close the appearance assumption diagram of cam
Before Fig. 6 is a kind of bionical section model of element model machine of flat creeping system mechanics based on multiple mounted cam of the present invention
Motion principle figure afterwards
Fig. 7 is on a kind of bionical section model of element model machine of flat creeping system mechanics based on multiple mounted cam of the present invention
Lower motion principle figure
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention be it is a kind of improve Operational Effectiveness Rat, reduce soldier's physical consumption, reduce playing the flat wriggling of face area and climb
Row system.Change system to be made up of the bionical section unit of some machineries, the bionical section unit of machinery by lifting module, move forward and backward module,
Save unit main body three parts composition.
First, Fig. 1 is referred to.A kind of flat creeping system based on multiple mounted cam of the present invention is by some bionical sections of machinery
Unit (such as Fig. 1) collaboration connection composition.
2nd, Fig. 1 is referred to.A kind of mechanical bionical section unit of the flat creeping system based on multiple mounted cam of the present invention
By section unit main body (such as Fig. 2), lifting module (such as Fig. 3), move forward and backward module (such as Fig. 4) three parts and form.
1st, Fig. 2 and Fig. 5 are referred to.A kind of section unit main body of the flat creeping system based on multiple mounted cam of the present invention
It is made up of A001 section units pedestal, A002 multiple mounted cams (such as Fig. 5), the A003JS reducing motors of section unit, will by multiple mounted cam
The circular motion of JS50 reducing motors output switchs to the different linear motion of amplitude, and then drives the lifting of lifting module and front and rear
Motion module moves forward and backward.Horizontal guide rail and vertical guide rail on section unit pedestal carry to lift module and moving forward and backward module
For spacing guarantee.
2nd, Fig. 3 and Fig. 7 are referred to.A kind of lifting module of the flat creeping system based on multiple mounted cam of the present invention by
Foot and B002 driving sliding block compositions, are exported JS50 reducing motors by the D002 sectors (such as Fig. 5) of multiple mounted cam in B001
Circular motion switch to amplitude be 8mm transverse movement, drive B002 driving sliding block relative to section unit main body move forward and backward, profit
With on section unit pedestal vertical guide rail it is spacing, B002 driving two drive surfaces of sliding block or so promote single relative to section enough in B001
First main body moves up and down.
3rd, Fig. 4 and Fig. 6 are referred to.A kind of flat creeping system based on multiple mounted cam of the present invention moves forward and backward mould
Block is made up of C001 exopodals, and the circumference for being exported JS50 reducing motors by the D001 eccentric cams (such as Fig. 5) of multiple mounted cam is transported
Turn is the transverse movement that amplitude is 40mm, and using the spacing of horizontal guide rail on unit pedestal is saved, realization moves forward and backward module phase
For moving forward and backward for section unit main body.
A kind of flat creeping system based on multiple mounted cam of the present invention, passed through by 1 JS50 reducing motor
Multiple mounted cam controls lifting and advanced respectively so that single power drives the continuous motion of different directions, is the reality of systemic-function
Now establish pedestal.
A kind of flat creeping system based on multiple mounted cam of the present invention, different width are produced using multiple mounted cam
The linear motion of degree, significantly linear motion driving section unit move forward and backward, by a small margin linear motion driving section unit in foot with
Exopodal alternately lands, and advances in turn.
A kind of flat creeping system based on multiple mounted cam of the present invention, utilize the bionical section list of some section machineries
First synergistic combination, composition function full-order system, realize and advance, the function such as steering and obstacle detouring.
A kind of flat creeping system based on multiple mounted cam of the present invention, creeped by imitating class flexible
Body kinematics posture during traveling, is designed using flattening, and the bionical section unit composition one kind of multi-jointed mechanical is based on into multiple mounted cam
Flat creeping system, and then optimization design goes out to meet individual soldier's machine first of individual combat demand.Make soldier's body and ground
Slightly gap, reduce friction.The energy carried using machine first is advanced, and realizes the automation that the low appearance of wartime individual soldier crawls to advance.Subtract
Few soldier's physical consumption, preserves combat power, reduces bullet face area, improves battlefield survival rate, improves Operational Effectiveness Rat.
Claims (4)
- A kind of 1. flat creeping system based on multiple mounted cam, it is therefore intended that：Realize that the low appearance of wartime individual soldier crawls what is advanced Automation, soldier's physical consumption is reduced, preserve combat power, reduce bullet face area, improve battlefield survival rate, improve effect of fighting Rate, the object of the present invention is achieved like this：A kind of flat creeping system based on multiple mounted cam is bionical by some machineries Unit is saved, the bionical section unit of machinery includes：Section unit main body, lift module, move forward and backward module three parts, described section unit Main body is made up of section unit pedestal, multiple mounted cam, the JS50 reducing motors of flat creeping system section unit, is slowed down by JS50 Circular motion is switched to the different linear motion of amplitude by motor output through multiple mounted cam, and then drives the lifting of lifting module and preceding Motion module moves forward and backward afterwards, saves the horizontal guide rail on unit pedestal and vertical guide rail as lifting module and moves forward and backward module Spacing guarantee is provided, described lifting module is made up of interior foot, the driving sliding block of flat creeping system section unit, Convex Composite Transverse movement drives driving sliding block to move forward and backward by a small margin caused by wheel, drives the drive surface on sliding block to drive interior foot to be transported up and down Dynamic, the described module that moves forward and backward is made up of the exopodal of flat creeping system section unit, caused by multiple mounted cam significantly Transverse movement drives exopodal to move forward and backward.
- A kind of 2. flat creeping system based on multiple mounted cam according to claim 1, it is characterised in that：Save unit Circular motion is switched to the different linear motion of amplitude by the multiple mounted cam of main body, and then sufficient lifting in driving and exopodal is front and rear Motion.
- A kind of 3. flat creeping system based on multiple mounted cam according to claim 1, it is characterised in that：Lift mould Block drives the drive surface on sliding block to drive using transverse movement drives driving sliding block to move forward and backward by a small margin caused by multiple mounted cam Interior foot moves up and down, and interior foot is alternately contacted ground with exopodal, realizes that the interior foot of section unit replaces support with exopodal, moves forward and backward Module replaces branch using significantly transverse movement drives exopodal to move forward and backward caused by multiple mounted cam by interior foot and exopodal Support, realize that the interior foot of section unit advances in turn with exopodal.
- A kind of 4. flat creeping system based on multiple mounted cam according to claim 1, it is characterised in that：The present invention A kind of flat creeping system based on multiple mounted cam is by the bionical section unit composition function full-order system of multi-jointed mechanical, each section Traveling, steering and the obstacle detouring of cooperative achievement system, are designed with flattening, reduce whole height, improve Operational Effectiveness Rat, reduce war Scholar's physical consumption, reduce bullet face area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610503233.2A CN107539386B (en) | 2016-06-23 | 2016-06-23 | A kind of flat creeping system based on multiple mounted cam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610503233.2A CN107539386B (en) | 2016-06-23 | 2016-06-23 | A kind of flat creeping system based on multiple mounted cam |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107539386A true CN107539386A (en) | 2018-01-05 |
| CN107539386B CN107539386B (en) | 2019-08-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610503233.2A Expired - Fee Related CN107539386B (en) | 2016-06-23 | 2016-06-23 | A kind of flat creeping system based on multiple mounted cam |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113531285A (en) * | 2021-06-09 | 2021-10-22 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1948076A (en) * | 2006-11-03 | 2007-04-18 | 重庆大学 | Inchworm type creeping robot device |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN104249599A (en) * | 2013-06-27 | 2014-12-31 | 中国北方车辆研究所 | Portable moving device with wheel-leg hybrid advancing function |
| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
| CN205273662U (en) * | 2016-01-11 | 2016-06-01 | 中国人民解放军军事交通学院 | For military use bionical operation robot based on bionics principle |
-
2016
- 2016-06-23 CN CN201610503233.2A patent/CN107539386B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1948076A (en) * | 2006-11-03 | 2007-04-18 | 重庆大学 | Inchworm type creeping robot device |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN104249599A (en) * | 2013-06-27 | 2014-12-31 | 中国北方车辆研究所 | Portable moving device with wheel-leg hybrid advancing function |
| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
| CN205273662U (en) * | 2016-01-11 | 2016-06-01 | 中国人民解放军军事交通学院 | For military use bionical operation robot based on bionics principle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113531285A (en) * | 2021-06-09 | 2021-10-22 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
| CN113531285B (en) * | 2021-06-09 | 2022-10-25 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
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| Publication number | Publication date |
|---|---|
| CN107539386B (en) | 2019-08-20 |
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