CN108502033A - A kind of unmanned detective's vehicle wheel decoupling rod - Google Patents
A kind of unmanned detective's vehicle wheel decoupling rod Download PDFInfo
- Publication number
- CN108502033A CN108502033A CN201810546504.1A CN201810546504A CN108502033A CN 108502033 A CN108502033 A CN 108502033A CN 201810546504 A CN201810546504 A CN 201810546504A CN 108502033 A CN108502033 A CN 108502033A
- Authority
- CN
- China
- Prior art keywords
- workbench
- hinged
- rod
- connecting rod
- detective
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of unmanned detective's vehicle wheel decoupling rods, include：Head rod is fixedly connected with workbench, is set among head rod there are one spring channels；Second connecting rod is equipped with spring channels among it；Spring is located in the spring channels, and is in compressive state；It is set on head rod there are one protrusion, the interior card division being equipped with and card division coordinates of the second connecting rod, head rod and the second connecting rod are connected and keep spring for compressive state by the two cooperation.
Description
Technical field
The present invention relates to detective's vehicles.
Background technology
Scout car should be able to land and water traveling, and as possible use civilian component, Germany develop echo boomers' tonnage wheel
Formula vehicle, front and back to share for 10 years, car body is the monocoque of steel plate welding, and part uses spaced armor, vehicle front left
For cockpit, it is followed by actuating unit, is followed by load person cabin.
The vehicle if existing detective car owner someone scouts, there are also unmanned detective's vehicles, but it is applicable in various landform.
Invention content
It is an object of the invention to：In view of the above problems, a kind of unmanned detective's vehicle wheel decoupling rod is provided, it is special
Sign is comprising has：
Head rod is fixedly connected with workbench, is set among head rod there are one spring channels；
Second connecting rod is equipped with spring channels among it；
Spring is located in the spring channels, and is in compressive state.
It is set on head rod there are one protrusion, is equipped in the second connecting rod and the card division of card division cooperation, the two cooperation will
It is compressive state that head rod and the second connecting rod, which connect and keep spring,.
As an improvement, the wheel decoupling rod is connected with workbench with idler wheel respectively.
As an improvement, when the pressure between workbench and idler wheel is less than certain value, head rod and the second connecting rod
It will not relatively move, when the pressure between workbench and idler wheel is more than certain value, head rod and the second connecting rod can phases
To movement, cushioning effect can be played.
A kind of unmanned detective's vehicle, which is characterized in that include claim 1-3 any one of them decoupling rods.
Further include：
Workbench, the workbench are equipped with camera, and decoupling rod, decoupling rod connection rolling are connected on the workbench
Wheel, the workbench install self balancing device；Idler wheel includes front wheel and rear roller, and front wheel and rear roller are carried out by two respectively
Band connection；
Column, the column are fixedly connected with workbench；
The dynamic connection of hinged block, the hinged block and column, can along vertical direction rotate with column；
Rotating bar, the rotating bar and hinged block are hinged, and the articulated shaft is mobilizable articulated shaft, the articulated shaft
It can move up and down along vertical direction, there are one telescopic shaft, the telescopic shaft and hinged blocks to connect for rotating bar connection
It connects, the length of the telescopic shaft can change；
Cursor, the cursor and rotating bar are hinged, and articulated shaft is horizontal direction；
Telescopic arm, the telescopic arm are connected with cursor, and the telescopic arm can be opposite along the axial direction of telescopic arm
It is flexible in cursor；
Instrument connecting seat, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the connecting seat of unloading
For fixation surgical instrument；
Sampling pincers, sampling pincers include a central shaft, and center shaft end is hinged with three sampling arms, is cased on central shaft
One portable pillar, portable pillar can be moved above along central shaft, be hinged with connecting rod in portable pillar, the other end of connecting rod and
Sampling arm is hinged.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Unmanned detective's vehicle of the present invention
Various landform can be applicable in, will not be met with obstruction in traveling process, and using robot arm device can use it is multiple from
By the sampling spent, detective's vehicle of the invention sets the direction for vehicle of scouting by the rotation control of the wheel there are one wheel in rear end,
It is easy to advance in various mountainous regions, reduces the mechanical resistance that rotation is brought.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the schematic diagram of present invention sampling pincers；
Fig. 3 is the self balancing device of the present invention；
Fig. 4 is the fundamental diagram of balance motor；
Fig. 5 is the location drawing of middle roller connecting rod；
Fig. 6 is-structural schematic diagram of middle roller connecting rod；
Fig. 7 is the schematic diagram of the second connecting rod；
Fig. 8 is the sectional view of the second connecting rod；
It is marked in figure：It is marked in figure：1- columns, 101- idler wheels, 2- hinged blocks, 201- telescopic shafts, 3- rotating bars, 4- cursors,
401- torque arm, 5- telescopic arms, 501- springs, 502- decks, 6- instrument connecting seats, 7- sampling pincers, 701- central shafts, 702- samplings
Arm, 703- portable pillars, 704- connecting rods, 8- workbench, 901- rear roller connecting rods, 902- rear rollers, idler wheel connects in 10-
Bar, idler wheel in 1001-, 1002- head rods, 1003- spring channels, 1004- springs, the second connecting rods of 1005-, 1006-
Card division, 11- crawler belts, 12- cameras, 13- front wheel connecting rods, 1301- front wheels, 14- self balancing devices, 1401- balance road,
1402- balancing poles, 1403- balance motors, 1404- balance weights.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Specific embodiment 1：As shown in Figs. 1-2, the present invention provides a kind of land detective vehicle, including：
Workbench, the workbench are equipped with camera, and rear roller connecting rod, rear roller connection are connected on the workbench
Bar is connected with 1 rear roller, and the workbench is also associated with middle roller connecting rod, and middle roller connecting rod is connected with positioned at work
The middle idler wheel of platform both sides, workbench are connected with front wheel connecting rod, and front wheel connecting rod is connected with before workbench both ends
Idler wheel；
Column, the column are fixedly connected with workbench；
Hinged block, the hinged block and column rotation connection, can along vertical direction rotate with column；
Rotating bar, the rotating bar and hinged block are hinged, and the articulated shaft is mobilizable articulated shaft, the articulated shaft
It can move up and down along vertical direction, there are one telescopic shaft, the telescopic shaft and hinged blocks to connect for rotating bar connection
It connects, the length of the telescopic shaft can change；
Cursor, the cursor and rotating bar are hinged, and articulated shaft is horizontal direction；
Telescopic arm, the telescopic arm are connected with cursor, and the telescopic arm can be opposite along the axial direction of telescopic arm
It is flexible in cursor；
Instrument connecting seat, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the connecting seat of unloading
For fixation surgical instrument；
Sampling pincers, sampling pincers include a central shaft, and center shaft end is hinged with three sampling arms, is cased on central shaft
One portable pillar, portable pillar can be moved above along central shaft, be hinged with connecting rod in portable pillar, the other end of connecting rod and
Sampling arm is hinged.
The cursor is equipped with the channel for placing telescopic arm, is set on cursor flexible there are one telescopic arm is controlled
Torque arm, one end of the torque arm connects with telescopic arm, and the other end is hinged in rotating bar, and the telescopic arm is equipped with one
A deck is equipped with spring between deck and cursor.What is be distributed along vertical direction there are one being set on the hinged block is hinged
The articulated shaft of axis channel, the hinged block is located in hinged axis channel and can be moved up and down along hinged axis channel.Institute
One end that the telescopic shaft stated is located at hinged block is connected with motor, and the motor is located in hinged block, the telescopic shaft and turn
Lever is threadedly coupled, and control hinged block by motor drives telescopic shaft to rotate moves along articulated shaft channel direction.
The sampling arm surface is equipped with wearing layer, and the wearing layer is by titanium alloy material by way of electrostatic spinning
It is ejected into sampling arm surface, titanium alloy includes 100 parts of titanium, 10 parts of lithium, 2 parts of gallium, 1 part of indium, 1 part of lanthanum, cerium 1 according to parts by weight
Part.
Embodiment 2：Relative to embodiment 1, the improvement of embodiment 2 is, is filled according to having self balancing device, self-balancing
It sets on the detective's vehicle of land comprising have：Angular-rate sensor is used to detect the equilibrium state of detective's vehicle both sides；
Controller is connected with angular-rate sensor, and receives to handle the equilibrium state data received from angular-rate sensor；
Self balancing device, the self-balancing include balance motor 1403, can be driven from flat by the rotation of balance motor
The movement for the device center of gravity that weighs, balance motor are connected and are controlled by a controller with controller.
The balance motor and balancing pole 1402 connect, which is equipped with balance weight 1404, balance weight and balancing pole
Lead screw connects, and when the right balance motor of balancing pole drives rotation, balance weight can be moved along the axial direction of balancing pole,
The self balancing device further includes the balance road 1401 having on detective's vehicle, balances and is equipped with the logical of installation balancing pole in road
Road, balance weight can be moved along the channel direction in balance road.
When the on the way road surface of injustice, detective's vehicle left and right directions deflects, and angular-rate sensor detector is inclined
Indexing is set, and then controls moving left and right for balance weight by controller, is moved to the side of rise, and then keeps the flat of detective's vehicle
Weighing apparatus.
Embodiment 3：It is that its roller connecting rod is a kind of decoupling rod with the difference of embodiment 1 and implementation 2, such as 10 be it
The location drawing, Fig. 6-8 are specific structure charts comprising are had：
Head rod 1002, is fixedly connected with workbench, is set among head rod there are one spring channels 1003；
Second connecting rod 1005 is equipped with spring channels among it；
Spring 1004 is located in the spring channels, and is in compressive state.
It is set on head rod there are one protrusion, the second connecting rod is interior to be equipped with the card division 1006 coordinated with card division, and the two is matched
It is compressive state that head rod and the second connecting rod are connected and keep spring by conjunction.The wheel decoupling rod respectively and work
Platform is connected with idler wheel.When the pressure between workbench and idler wheel is less than certain value, head rod and the second connecting rod will not
Relative movement, when the pressure between workbench and idler wheel is more than certain value, head rod and the second connecting rod opposite can be moved
It is dynamic, cushioning effect can be played.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
In the description of the present invention, it should be noted that term "center", "lower", "left", "right", " is erected at "upper"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
Person be the invention product using when the orientation or positional relationship usually put, be merely for convenience of the description present invention and simplification retouched
It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition
The concrete meaning of above-mentioned term in the present invention.
Claims (6)
1. a kind of unmanned detective's vehicle wheel decoupling rod, which is characterized in that it includes：
Head rod（1002）, it is fixedly connected, sets among head rod there are one spring channels with workbench（1003）；
Second connecting rod（1005）, it is equipped with spring channels among it；
Spring（1004）, it is located in the spring channels, and be in compressive state.
2. being set on head rod, there are one protrusion, the interior card divisions being equipped with and card division coordinates of the second connecting rod（1006）, the two matches
It is compressive state that head rod and the second connecting rod are connected and keep spring by conjunction.
3. unmanned detective's vehicle wheel decoupling rod according to claim 1, which is characterized in that the wheel decoupling rod difference
It is connected with workbench with idler wheel.
4. unmanned detective's vehicle wheel decoupling rod according to claim 2, which is characterized in that when between workbench and idler wheel
When pressure is less than certain value, head rod and the second connecting rod will not relatively move, when the pressure between workbench and idler wheel
When more than certain value, head rod and the second connecting rod can relatively move, and can play cushioning effect.
5. a kind of unmanned detective's vehicle, which is characterized in that include claim 1-3 any one of them decoupling rods.
6. unmanned detective's vehicle according to claim 4, which is characterized in that further include：
Workbench（8）, the workbench（8）It is equipped with camera（12）, decoupling rod, damping are connected on the workbench
Bar connects idler wheel, which installs self balancing device；Idler wheel includes front wheel and rear roller, and front wheel and rear roller lead to respectively
Cross two crawler belts（11）Connection；
Column（1）, the column is fixedly connected with workbench；
Hinged block（2）, the hinged block and column（1）Rotation connection, can along vertical direction rotate with column；
Rotating bar（3）, the rotating bar and hinged block is hinged, and the articulated shaft is mobilizable articulated shaft, the hinge
Spindle can move up and down along vertical direction, and there are one telescopic shafts for rotating bar connection（201）, the telescopic shaft and
Hinged block connects, and the length of the telescopic shaft can change；
Cursor（4）, the cursor and rotating bar is hinged, and articulated shaft is horizontal direction；
Telescopic arm（5）, the telescopic arm connects with cursor, and the telescopic arm can be along the axial direction phase of telescopic arm
It is flexible for cursor；
Instrument connecting seat（6）, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the company of unloading
Joint chair is used for fixation surgical instrument；
Sampling pincers（7）, the sampling pincers include a central shaft（701）, center shaft end is hinged with three sampling arms
（702）, there are one portable pillars for set on central shaft（703）, portable pillar can move above along central shaft, be hinged in portable pillar
Connecting rod（704）, the other end and sampling arm of connecting rod are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546504.1A CN108502033A (en) | 2018-05-31 | 2018-05-31 | A kind of unmanned detective's vehicle wheel decoupling rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546504.1A CN108502033A (en) | 2018-05-31 | 2018-05-31 | A kind of unmanned detective's vehicle wheel decoupling rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108502033A true CN108502033A (en) | 2018-09-07 |
Family
ID=63402108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810546504.1A Withdrawn CN108502033A (en) | 2018-05-31 | 2018-05-31 | A kind of unmanned detective's vehicle wheel decoupling rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108502033A (en) |
-
2018
- 2018-05-31 CN CN201810546504.1A patent/CN108502033A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180907 |