CN107826172B - One kind can obstacle-detouring mobile platform - Google Patents
One kind can obstacle-detouring mobile platform Download PDFInfo
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- CN107826172B CN107826172B CN201711008511.8A CN201711008511A CN107826172B CN 107826172 B CN107826172 B CN 107826172B CN 201711008511 A CN201711008511 A CN 201711008511A CN 107826172 B CN107826172 B CN 107826172B
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- obstacle
- rack gear
- detouring
- driving motor
- strut
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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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Abstract
One kind can obstacle-detouring mobile platform, belong to mechanized equipment technical field.It is main to complete to move and cross the tasks such as the barrier of certain altitude in the plane.Including translation mechanism and barrier getting over mechanism two large divisions.Whole includes crawler belt, driving wheel, pan drive motor, driven wheel, vehicle frame, band rack gear strut, guide rail, sliding block, planet carrier, obstacle detouring driving motor, sun gear, planetary gear；Can obstacle-detouring mobile platform be symmetrical structure；Vehicle frame is I-shaped slab construction；" crawler type " translation mechanism movement speed is very fast, and ground adaptability is preferable；Barrier getting over mechanism can raised platform front end, form the elevation angle, be supporting point by barrier, hereafter it is concordant with front end holdings to raise tail end for barrier getting over mechanism, complete machine advance, completion obstacle detouring.
Description
Technical field
The present invention relates to one kind can obstacle-detouring mobile platform, belong to mechanized equipment technical field.
Technical background
China's earthquake takes place frequently, and causes damages huge.The development of special equipment rescue and detection robot, it can be achieved that its in complexity
Movement under environment can overcome obstacle to the influence of movement, may span across obstacle and continue to move to, instead of feelings inside manpower detection ruins
Condition.There is its unique advantage in robot in terms of execution task.But this field, European and American developed countries' research starting is more early, I
There is also larger gaps for state, and national rescue group's equipment is greatly mostly from import.
Summary of the invention
The technical problem to be solved by the present invention is provide one kind can obstacle-detouring mobile platform, it is main to complete to move in the plane
And the tasks such as barrier for crossing certain altitude.
To realize that above functions, the present invention adopt the following technical scheme that realize:
One kind can obstacle-detouring mobile platform, which is characterized in that mainly includes translation mechanism and barrier getting over mechanism two large divisions.It is whole
Including crawler belt (1), driving wheel (2), pan drive motor (3), driven wheel (4), vehicle frame (5), band rack gear strut (6), guide rail
(7), sliding block (8), planet carrier (9), obstacle detouring driving motor (10), sun gear (11), planetary gear (12)；Can obstacle detouring it is mobile flat
Platform is symmetrical structure；Vehicle frame (5) is I-shaped slab construction；
In the side of vehicle frame (5), pan drive motor (3) is fixed by screws on the front end of vehicle frame (5), driving wheel
(2) it is connected by holding screw with pan drive motor (3) output shaft, multiple parallel driven wheels (4) are uniformly distributed by screw
It is fixed on the side of vehicle frame (5), driving wheel (2) is matched with multiple parallel driven wheels (4) by crawler belt (1)；Obstacle detouring driving
Motor (10) is fixed together by screw with vehicle frame (5), and sun gear (11) is fixed together by screw with vehicle frame (5),
Sun gear (11) is located at below vehicle frame (5), the output shaft of obstacle detouring driving motor (10) and the circle of sun gear (11) basic circle
The heart is coaxial；Planet carrier (9) is right angle zigzag slab construction, the end face of one end plate of planet carrier (9) and obstacle detouring driving electricity
The output shaft of machine (10) is fixedly connected with merging, and the lower surface of planet carrier (9) other end plate is fixed by screw and sliding block (8)
It connects, fixation is matched with the axis of planetary gear (12) by circular hole at planet carrier (9) middle connecting plate center；Band rack gear strut
(6) downside is rack gear, and guide rail (7) is fixed to be located at the upper side with rack gear strut (6), and guide rail (7) upper side passes through groove
Agree with and matched with sliding block (8), planetary gear (12) is located at rack gear strut (6) in the following, rack gear and row with rack gear strut (6)
Star gear (12) engagement, while planetary gear (12) is engaged with sun gear (11)；Band rack gear strut (6), guide rail (7), sliding block
(8) combination can be rotated in the gap of the I-shaped slab construction side of vehicle frame (5)；Band rack gear strut (6), guide rail (7) are
Rectangular parallelepiped structure；The axis in the center of circle of driving wheel (2), driven wheel (4), planetary gear (12) sun gear (11) basic circle is parallel
's.
Can obstacle-detouring mobile platform be equipped with an obstacle detouring driving motor (10), there are two parallel right for obstacle detouring driving motor (10) tool
The output shaft of title.
Its obstacle detouring mode is, obstacle detouring driving motor (10) drives planet carrier (9) movement, band rack gear strut (6) change with
While the relative angle on ground, under the driving of driven planetary gear (12) engagement strut upper rack, axially movable, support
Bar one end and ground face contact, band rack gear strut (6), ground, vehicle frame (5) constitute triangle, drive in obstacle detouring driving motor (10)
During, with rack gear strut (6) endpoint to the increase of sliding block (8) segment length and with rack gear strut (6) relative to first
The elevation angle of the increase of position angle, platform constantly increases, so that crawler belt (1) can be with barrier highest point contact and by barrier most
High point is as fulcrum, and then, obstacle detouring driving motor (10) counter motion, band rack gear strut (6) one end is no longer contacted with ground, puts down
Using barrier and ground two o'clock as fulcrum, obstacle detouring driving motor (10) works on platform, so that with the another of rack gear strut (6)
One end and ground face contact, during obstacle detouring driving motor (10) drive, crawler belt (1) no longer with ground face contact, is supportted with rack gear
The other end of bar (6), which is, becomes platform with the two o'clock that is a little total to that one end of ground face contact and barrier are contacted with crawler belt (1)
Fulcrum, obstacle detouring driving motor (10) work on, with one end with rack gear strut (6) and ground face contact to sliding block (8) segment length
The increase of degree and increase with rack gear strut (6) relative to first position angle, band rack gear strut (6) constantly lift platform rear end
Height, when platform is whole substantially parallel with ground, pan drive motor (3) drives driving wheel (2) to drive crawler belt (1), makes platform
Movement, when Platform center clears the jumps edge, obstacle detouring driving motor (10) forward motion, band rack gear strut (6) and ground emaciated face
From contacting and withdrawing, pan drive motor (3) continues that driving wheel (2) is driven to drive crawler belt (1) that platform is made to advance, and completes obstacle detouring.
Band rack gear strut (6) has freedom degree along whole axis direction, when obstacle detouring driving motor (10) drive planet carrier (9)
When movement, compared to the strut being connected with planet carrier (9), with rack gear strut (6) under the driving of driven planetary gear (12),
It can produce certain displacement, shift length is the product that planet carrier (9) relative motion corner multiplies sun gear (11) reference radius.
So that platform is identical in stay length, in the identical situation of planet carrier (9) corner, compared to the connected formula knot of planet carrier (9)-strut
Structure obtains the bigger elevation angle.
The present invention can obtain it is following the utility model has the advantages that
1, so that platform is generated the elevation angle by band rack gear strut (6), realize obstacle detouring.
2, band gear strut (6) is axially driven along rod piece, makes it relative to fixed strut, in support platform,
It can be made to obtain the bigger elevation angle, across higher obstacle.
Detailed description of the invention
Fig. 1 is isometric drawing of the invention.
Fig. 2 is the isometric drawing of barrier getting over mechanism of the present invention
In figure: 1, crawler belt；2, driving wheel；3, pan drive motor；4, driven wheel；5, vehicle frame；6, band rack gear strut；7, it leads
Rail；8, sliding block；9, planet carrier；10, obstacle detouring driving motor；11, sun gear；12, planetary gear.
Fig. 3 is the schematic diagram of mechanism of barrier getting over mechanism of the present invention.
Fig. 4 is the schematic diagram when present invention starts the obstacle detouring generation elevation angle.
Fig. 5 is after the present invention contacts barrier, to be lifted schematic diagram when rear end.
Fig. 6 is after barrier is climbed up in present invention advance, to withdraw the schematic diagram with gear strut.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Not constituting conflict between this can be combined with each other.
Embodiment 1
One kind as shown in Figure 1 can obstacle-detouring mobile platform, the main barrier for completing to move and cross certain altitude in the plane
Hinder the tasks such as object.
It is whole include crawler belt 1, driving wheel 2, pan drive motor 3, driven wheel 4, vehicle frame 5, band rack gear strut 6, guide rail 7,
Sliding block 8, planet carrier 9, obstacle detouring driving motor 10, sun gear 11, planetary gear 12.Pan drive motor 3 is fixed by screw
On vehicle frame 5, driving wheel 2 is connected by holding screw with pan drive motor 3, and driven wheel 4 is connected by screw with vehicle frame 5
It connects, crawler belt 1 is matched with driving wheel 2 and driven wheel 4.Obstacle detouring driving motor 10 is fixed by screws on vehicle frame 5, sun tooth
Wheel 11 is fixed by screws on vehicle frame 5, and the center of circle of the output shaft and 11 basic circle of sun gear of obstacle detouring driving motor 10 is coaxial
's.The hole of 9 one end of planet carrier and the output shaft of obstacle detouring driving motor 10 cooperate, and are connected by holding screw, the other end passes through spiral shell
Nail is connected with sliding block 8, and the circular hole at center is matched with the axis of planetary gear 12, is fixed by end face.Band rack gear strut 6 is logical
It crosses screw to be connected with guide rail 7, guide rail 7 is agreed with by groove to be matched with sliding block 8, the rack gear with rack gear strut 6 and planet tooth
12 engagement of wheel.Planetary gear 12 is engaged with sun gear 11.
Further, obstacle detouring mode is, as shown in figure 4, obstacle detouring driving motor 10 drives planet carrier 9 to move, band rack gear
Strut 6 is while changing the relative angle with ground, under the driving that driven planetary gear 12 engages strut upper rack, edge
It is axially moved, strut one end and ground face contact, band rack gear strut 6, ground, vehicle frame 5 constitute triangle, in obstacle detouring driving motor 10
During driving, with 6 endpoint of rack gear strut to the increase of 8 segment length of sliding block and with rack gear strut 6 relative to initial position
The elevation angle of the increase of angle setting degree, platform constantly increases, and enables crawler belt 1 and barrier highest point contact and by barrier highest point
As fulcrum.
Further, as shown in figure 5,10 counter motion of obstacle detouring driving motor, band 6 one end of rack gear strut no longer connect with ground
Touching, using barrier and ground two o'clock as fulcrum, obstacle detouring driving motor 10 works on platform, so that with rack gear strut 6
The other end and ground face contact, obstacle detouring driving motor 10 drive during, crawler belt 1 no longer with ground face contact, band rack gear strut 6
The other end be with one end of ground face contact and barrier contact with crawler belt 1 a little be total to two o'clock as platform fulcrum, more
Barrier driving motor 10 works on, the increase and band with one end with rack gear strut 6 and ground face contact to 8 segment length of sliding block
Increase of the rack gear strut 6 relative to first position angle, band rack gear strut 6 constantly raise platform rear end, when platform is whole and ground
When face is substantially parallel, pan drive motor 3 drives driving wheel 2 to drive crawler belt 1, moves platform.
Further, as shown in fig. 6, when Platform center clears the jumps edge, 10 forward motion of obstacle detouring driving motor, band
Rack gear strut 6 is disengaged and is withdrawn with ground, and pan drive motor 3 continues before driving driving wheel 2 that crawler belt 1 is driven to make platform
Into completion obstacle detouring.
Above-described embodiment is only intended to clearly illustrate the citing that the invention is made, and not to the invention
The restriction of specific embodiment.For those of ordinary skill in the art, it can also do on the basis of the above description
Other various forms of variations or variation out.There is no necessity and possibility to exhaust all the enbodiments.It is all in the present invention
Spirit and principle within any obvious changes or variations for extending out still in the invention claim
In protection scope.
Claims (4)
1. one kind can obstacle-detouring mobile platform, which is characterized in that mainly include translation mechanism and barrier getting over mechanism two large divisions；Whole packet
Include crawler belt (1), driving wheel (2), pan drive motor (3), driven wheel (4), vehicle frame (5), band rack gear strut (6), guide rail (7),
Sliding block (8), planet carrier (9), obstacle detouring driving motor (10), sun gear (11), planetary gear (12)；Can obstacle-detouring mobile platform be
Symmetrical structure；Vehicle frame (5) is I-shaped slab construction；
In the side of vehicle frame (5), pan drive motor (3) is fixed by screws on the front end of vehicle frame (5), and driving wheel (2) is logical
It crosses holding screw to be connected with pan drive motor (3) output shaft, multiple parallel driven wheels (4) are uniformly fixed on by screw
The side of vehicle frame (5), driving wheel (2) are matched with multiple parallel driven wheels (4) by crawler belt (1)；Obstacle detouring driving motor
(10) it is fixed together by screw with vehicle frame (5), sun gear (11) is fixed together by screw with vehicle frame (5), the sun
Gear (11) is located at below vehicle frame (5), and the center of circle of the output shaft and sun gear (11) basic circle of obstacle detouring driving motor (10) is
Coaxial；Planet carrier (9) is right angle zigzag slab construction, the end face of one end plate of planet carrier (9) and obstacle detouring driving motor
(10) output shaft is fixedly connected with merging, and the lower surface of planet carrier (9) other end plate connects by the way that screw and sliding block (8) are fixed
It connects, fixation is matched with the axis of planetary gear (12) by circular hole at planet carrier (9) middle connecting plate center；Band rack gear strut
(6) downside is rack gear, and guide rail (7) is fixed to be located at the upper side with rack gear strut (6), and guide rail (7) upper side passes through groove
Agree with and matched with sliding block (8), planetary gear (12) is located at rack gear strut (6) in the following, rack gear and row with rack gear strut (6)
Star gear (12) engagement, while planetary gear (12) is engaged with sun gear (11)；Band rack gear strut (6), guide rail (7), sliding block
(8) combination can be rotated in the gap of the I-shaped slab construction side of vehicle frame (5)；Band rack gear strut (6), guide rail (7) are
Rectangular parallelepiped structure；The axis in the center of circle of driving wheel (2), driven wheel (4), planetary gear (12), sun gear (11) basic circle is flat
Capable.
2. one kind according to claim 1 can obstacle-detouring mobile platform, which is characterized in that can obstacle-detouring mobile platform be equipped with one
Obstacle detouring driving motor (10), there are two the output shafts of Parallel Symmetric for obstacle detouring driving motor (10) tool.
3. one kind described in claim 1 can obstacle-detouring mobile platform obstacle-detouring method, which is characterized in that obstacle detouring driving motor (10)
Planet carrier (9) movement, band rack gear strut (6) one end and ground face contact are driven, band rack gear strut (6), ground, vehicle frame (5) are constituted
Triangle, during obstacle detouring driving motor (10) drive, the elevation angle of platform constantly increases, so that crawler belt (1) energy and obstacle
Object highest point contact and using barrier highest point as fulcrum, then, obstacle detouring driving motor (10) counter motion, band rack gear strut
(6) one end is no longer contacted with ground, and for platform using barrier and ground two o'clock as fulcrum, obstacle detouring driving motor (10) continues work
Make, so that the other end with rack gear strut (6) and ground face contact, during obstacle detouring driving motor (10) drive, crawler belt (1)
No longer with ground face contact, the other end with rack gear strut (6) is contacted with one end of ground face contact and barrier with crawler belt (1)
Some two o'clock becomes the fulcrum of platform altogether, obstacle detouring driving motor (10) works on, and band rack gear strut (6) constantly will be after platform
End is raised, and when platform is whole substantially parallel with ground, pan drive motor (3) drives driving wheel (2) to drive crawler belt (1), makes
Platform movement, when Platform center clears the jumps edge, obstacle detouring driving motor (10) forward motion, band rack gear strut (6) and ground
Face disengages and withdraws, and pan drive motor (3) continues that driving wheel (2) is driven to drive crawler belt (1) that platform is made to advance, and completes to get over
Barrier.
4. obstacle-detouring method according to claim 3, it is characterised in that: band rack gear strut (6) has along whole axis direction
There is freedom degree, when obstacle detouring driving motor (10) driving planet carrier (9) movement, compared to the strut being connected with planet carrier (9), band
Rack gear strut (6) can produce certain displacement under the driving of driven planetary gear (12), and shift length is planet carrier (9) phase
Multiply the product of sun gear (11) reference radius to moving corner；So that platform is identical in stay length, planet carrier (9) corner
In identical situation, compared to the connected formula structure of planet carrier (9)-strut, the bigger elevation angle is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711008511.8A CN107826172B (en) | 2017-10-25 | 2017-10-25 | One kind can obstacle-detouring mobile platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711008511.8A CN107826172B (en) | 2017-10-25 | 2017-10-25 | One kind can obstacle-detouring mobile platform |
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| Publication Number | Publication Date |
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| CN107826172A CN107826172A (en) | 2018-03-23 |
| CN107826172B true CN107826172B (en) | 2019-09-27 |
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| CN201711008511.8A Active CN107826172B (en) | 2017-10-25 | 2017-10-25 | One kind can obstacle-detouring mobile platform |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056868A (en) * | 2022-05-16 | 2022-09-16 | 王维 | Obstacle crossing method of traveling device and traveling device applying same |
| CN114872809B (en) * | 2022-05-24 | 2023-02-28 | 深圳市乐惠光电科技有限公司 | Obstacle-crossing self-walking chassis and self-walking equipment |
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|---|---|---|---|---|
| JPS6181280A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Travel system |
| JPS62214071A (en) * | 1986-03-14 | 1987-09-19 | Agency Of Ind Science & Technol | Moving device |
| CN101424327A (en) * | 2008-11-21 | 2009-05-06 | 董双利 | Drive assembly for stairs climbing wheelchair and pinion and rack set thereof |
| CN205524547U (en) * | 2016-04-26 | 2016-08-31 | 西南大学 | Loop surmounting mechanism |
| CN205524560U (en) * | 2016-04-26 | 2016-08-31 | 西南大学 | Control homophase connecting rod wheel surmounting mechanism |
| CN107054498A (en) * | 2017-06-07 | 2017-08-18 | 邓晗 | Obstacle detouring platform truck |
-
2017
- 2017-10-25 CN CN201711008511.8A patent/CN107826172B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6181280A (en) * | 1984-09-27 | 1986-04-24 | Toshiba Corp | Travel system |
| JPS62214071A (en) * | 1986-03-14 | 1987-09-19 | Agency Of Ind Science & Technol | Moving device |
| CN101424327A (en) * | 2008-11-21 | 2009-05-06 | 董双利 | Drive assembly for stairs climbing wheelchair and pinion and rack set thereof |
| CN205524547U (en) * | 2016-04-26 | 2016-08-31 | 西南大学 | Loop surmounting mechanism |
| CN205524560U (en) * | 2016-04-26 | 2016-08-31 | 西南大学 | Control homophase connecting rod wheel surmounting mechanism |
| CN107054498A (en) * | 2017-06-07 | 2017-08-18 | 邓晗 | Obstacle detouring platform truck |
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| Publication number | Publication date |
|---|---|
| CN107826172A (en) | 2018-03-23 |
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Effective date of registration: 20201118 Address after: No. 159, Chengjiang Middle Road, Jiangyin City, Wuxi City, Jiangsu Province Patentee after: Jiangyin Intellectual Property Operation Co., Ltd Address before: 100124 Chaoyang District, Beijing Ping Park, No. 100 Patentee before: Beijing University of Technology |
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