CN109110001A - A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw - Google Patents
A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw Download PDFInfo
- Publication number
- CN109110001A CN109110001A CN201811331286.6A CN201811331286A CN109110001A CN 109110001 A CN109110001 A CN 109110001A CN 201811331286 A CN201811331286 A CN 201811331286A CN 109110001 A CN109110001 A CN 109110001A
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- China
- Prior art keywords
- strut
- car body
- independently
- input shaft
- obstacle detouring
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 230000009467 reduction Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 7
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
Abstract
The invention discloses the mechanisms for the auxiliary car body obstacle detouring that one kind can independently be withdrawn.The mechanism can not only be scratched using itself retinue steamboat protection car body from rough ground; extend robot service life; improve robot safety; the complicated ground handling capacity of trolley can be improved again; car body can also be actively supported simultaneously; car body height of center of mass is improved, climbing and obstacle climbing ability is improved, preferably completes task.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw.
Background technique
In recent years, wheeled and caterpillar mobile robot is widely used with its superior movenent performance, but two
Kind of mobile robot is more sensitive to load conditions, to the rugged road of some road conditions complexity, it is some relative to wheel diameter or
When height of crawler bigger barrier, two kinds of mobile robots are also helpless, move so improving wheeled and crawler type
The obstacle climbing ability of mobile robot is of great significance.The mechanism structure of some aiding overpass obstacles in existing village is complicated, and control is difficult, if
The simple aiding overpass obstacle mechanism of structure control is particularly significant in meter.
Summary of the invention
The purpose of the present invention is to provide the mechanisms for the auxiliary car body obstacle detouring that one kind can independently be withdrawn, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme:
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of auxiliary car body that can independently withdraw
The mechanism of obstacle detouring.The mechanism can not only be scratched using itself retinue steamboat protection car body from rough ground, and robot is extended
Service life improves robot safety, and can improve the complicated ground handling capacity of trolley, while can also actively support vehicle
Body improves car body height of center of mass, improves climbing and obstacle climbing ability, preferably completes task.
The technical solution that the present invention solves the technical problem is: designing a kind of auxiliary car body obstacle detouring that can independently withdraw
Mechanism, the barrier getting over mechanism includes: fixed bottom plate, motor support base, motor reducer, motor, master bevel gear, left plate, the right side
Side plate, upper plate, angular contact ball bearing, sleeve, input shaft, thrust bearing, Cam Follower, strut, retinue steamboat, clockwork spring elasticity
Device, rope anchor, thrust bearing fixinig plate.The side plate connect composition shell with upper plate, internal to be referred to as strut cabin,
Input shaft is assembled by sleeve and bearing and fixed side panel, and two Cam Followers are fixed on input shaft and act on strut
Inner wall drives strut rotation by Cam Follower compressing strut inner wall when can be realized input shaft rotation, since upper plate shape is solid
It is fixed, one end far from input shaft strut can only be made to rotate around input shaft, and then support car body.Two side position of input shaft is equipped with thrust
Bearing limits the axial displacement of strut, is connected with eight pairs of retinue steamboats and a rope anchor, clockwork spring elasticity dress on strut
It sets and is fixed on right side plate, which inputs a wire rope and be fixed in rope anchor, can guarantee strut
Shi Keyou restores the restraining force of initial position, and when strut rotates half cycle, clockwork spring elastic device is by driving wirerope to make strut
It returns in strut cabin.
Preferably, eight pairs of retinue steamboats and a rope anchor are connected on the strut, and eight pairs of retinue steamboats are in
Existing four or four distributions symmetrical above and below；
Preferably, when the strut rotates half cycle, clockwork spring elastic device is that strut returns in strut cabin by driving wirerope；
Preferably, the motor reducer selects common R series reduction, F series reduction, K series reduction, S series
Speed reducer any one；
Preferably, the number of teeth of the master bevel gear is Z1=22~30, and two master bevel gears are matched using 90 ° of engagements of angle
It closes；
Preferably, elastic slice or torque spring can be selected in the clockwork spring elastic device.
Compared with prior art, the beneficial effects of the present invention are:
1, the mechanism can actively support car body, promote car body height of center of mass, improve climbing and obstacle climbing ability；
2, the mechanism structure is compact simple, can self-forming modularization, any vehicle can be suitable for by changing mechanism outer dimension
Body；
3, after small size support part, controllable input shaft withdraws strut in reverse direction for the mechanism；
4, the mechanism is after completing aiding overpass obstacle, is strut along inner wall automatic drawing back cabin under the effect of clockwork spring elastic device
It is interior, it does not realize needing other mechanisms and power drive, simplifies the internal structure of an organization, reduce energy consumption；
5, the mechanism can improve rough ground handling capacity using itself retinue steamboat, and protection car body avoids scratching.
Detailed description of the invention
Fig. 1 is a kind of stereochemical structure signal of the embodiment of mechanism for the auxiliary car body obstacle detouring that one kind of the present invention can independently be withdrawn
Figure；
Fig. 2 is that the mechanism for the auxiliary car body obstacle detouring that one kind of the present invention can independently be withdrawn removes the right view of right side plate；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
In figure: 1, master bevel gear；2, motor support base；3, motor reducer；4, fixed bottom plate；5, motor；6, left plate；7, on
Plate；8, clockwork spring elastic device；9, wirerope；10, strut；11, rope anchor；12, retinue steamboat；13, thrust bearing is fixed
Piece；14, right side plate；15, Cam Follower；16, thrust bearing；17, sleeve；18, input shaft；19, angular contact ball bearing.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution:
A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw includes fixed bottom plate 4, motor support base 2, motor reducer 3, electricity
Machine 5, master bevel gear 1, left plate 6, right side plate 14, upper plate 7, angular contact ball bearing 19, sleeve 17, input shaft 18, thrust shaft
Hold 16, Cam Follower 15, strut 10, retinue steamboat 12, clockwork spring elastic device 8, rope anchor 11, thrust bearing fixinig plate
13.The number of teeth of master bevel gear 1 is Z1=22~30, and two master bevel gears 1 are using 90 ° of engagement cooperations of angle.Decelerating through motor
Device 3 select common R series reduction, F series reduction, K series reduction, S series reduction any one.
The motor 5 and motor reducer 3 are connect by motor support base 2 with fixed bottom plate 4, left plate 6, right side plate 14 and
The connection composition shell of upper plate 7, internal to be referred to as strut cabin, input shaft 18 passes through sleeve 17 and angular contact ball bearing 19 and left side
Plate 6 assembles, and two Cam Followers 15 are fixed on input shaft 18 and act on the inner wall of strut 10, can be realized input shaft
It drives strut 10 to rotate by the inner wall that Cam Follower 15 oppresses strut 10 when 18 rotation, since 7 shape of upper plate is fixed, can only make
One end of strut 10 far from input shaft 18 is rotated around input shaft 18, and then supports car body.18 liang of side positions of input shaft are equipped with only
Thrust bearing 16 limits the axial displacement of strut 18, is connected with 8 pairs of retinue steamboats 12 and a rope anchor 11 on strut 10,
Clockwork spring elastic device 8 is fixed on right side plate 14, and elastic slice or torque spring can be selected in clockwork spring elastic device 8.Clockwork spring elasticity
Device 8 inputs a wire rope 9 and is fixed in rope anchor 11, can guarantee to be carved with the pact for restoring initial position when strut 10
Beam force, when strut 10 rotates half cycle, clockwork spring elastic device 8 is by driving wirerope 9 to return to strut 18 in strut cabin.
When car body direction of advance has and is inevitably lower than height of center of mass barrier, normal condition needs very big power
It realizes obstacle detouring, can solve the problems, such as this with Vehicular body front using the present invention at this time.The auxiliary car body that the present invention can independently be withdrawn
The working principle and workflow of the mechanism of obstacle detouring: when there is such state, motor 5 is obtained enough by motor reducer 3
Big torque is transferred power on input shaft 18 by master bevel gear 1, and input shaft 18 is (right from advancing around rotating counterclockwise
Side direction is seen), two Cam Followers 15 being connected on input shaft 18 force strut 10 around defeated by squeezing 10 inner wall of strut
Enter the rotation of axis 18, the retinue steamboat 12 connected close to 10 one end of strut of input shaft 18 by top along 7 shape movement of upper plate,
10 one end of strut far from input shaft 18 rotates contact ground supports car body around input shaft 18, promotes front-wheel height, completes obstacle detouring
Later, control 5 opposite direction of motor rotation makes strut 10 along backtracking to strut cabin, completes aiding overpass obstacle.
When car body direction of advance has and is inevitably higher than the barrier of height of center of mass, the front end of normal condition car body
Barrier can be ridden over but to skid or topple because can not meet obstacle detouring condition, can be solved using the present invention in hull back at this time
Certainly such issues that.The working principle and workflow of the mechanism for the auxiliary car body obstacle detouring that the present invention can independently be withdrawn: when there is this
When class state, motor 5 obtains sufficiently large torque by motor reducer 3, transfers power to input by master bevel gear 1
On axis 18, input shaft 18 rotates (in terms of advance right direction) clockwise, two cam followings being connected on input shaft 18
Device 15 forces strut 10 to rotate around input shaft 18 by squeezing 10 inner wall of strut, passes through close to 10 one end of strut of input shaft 18 upper
Along 7 shape movement of upper plate, 10 one end of strut far from input shaft 18 connects the retinue steamboat 12 of side connection around the rotation of input shaft 18
Tread surface supports car body, promotes height of center of mass, and then meets obstacle detouring condition and complete obstacle detouring.Strut 10 cannot return along former road at this time
Return in strut cabin, need motor 5 continue provide power be strut 10 turn to fixation bottom plate 4 it is parallel when, strut 10
By the traction for being fixed on wirerope in rope anchor 11, strut 10 is made to return to strut cabin, completes an aiding overpass obstacle movement.
When car body direction of advance has and is inevitably higher than the barrier of height of center of mass and car body front end can not ride over barrier
When hindering on object, being mounted on mechanism of the present invention in car body front and rear part can also be broken the barriers by cooperation.First with installation
Mechanism of the present invention in car body front end is that car body front end can ride on barrier, passes through the machine of the present invention of hull back again later
Structure realizes that height of center of mass promotes the purpose for having reached obstacle detouring, and specific workflow is same as above, and details are not described herein, and the present invention does not address
Place is suitable for the prior art.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. the mechanism for the auxiliary car body obstacle detouring that one kind can independently be withdrawn, including two master bevel gears (1) engaged, passes through fixation
Motor reducer (3) input terminal, the motor of hex screw is installed on bottom plate (4) motor (5), the connection of motor (5) output end subtract
One of master bevel gear (1), the motor reducer (3) of fast device (3) output end connection are fixed on motor support base (2)；
It is characterized by also including be mounted on can surmount obstacles and invert as motor (5) rotate forward on the fixed bottom plate (4)
The barrier getting over mechanism independently withdrawn.
2. the mechanism for the auxiliary car body obstacle detouring that one kind according to claim 1 can independently be withdrawn, it is characterised in that: described to get over
Hindering mechanism further includes left plate (6), upper plate (7), clockwork spring elastic device (8), wirerope (9), strut (10), rope anchor
(11), retinue steamboat (12), thrust bearing fixinig plate (13), right side plate (14), two Cam Followers (15), thrust bearings
(16), sleeve (17), input shaft (18), angular contact ball bearing (19)；It is the left plate (6) installed on the fixed bottom plate (4), right
The inside that side plate (14), upper plate (7) collectively constitute shell is strut cabin, another described master bevel gear (1) is fixedly connected on
Input shaft (18), input shaft (18) other end connect thrust bearing fixinig plate (13), and input shaft (18) passes through sleeve (17), stops
Thrust bearing (16) and angular contact ball bearing (19) and fixed side panel assemble, and two Cam Followers (15) are fixed on input shaft
(18) strut is oppressed by Cam Follower (15) when on and acting on strut (10) inner wall, and realizing input shaft (18) rotation
(10) inner wall drives strut (10) rotation；
Moving trolley and rope anchor (11) are connected on the strut (10), rope anchor (11) passes through wirerope (9)
Fixed clockwork spring elastic device (8), and clockwork spring elastic device (8) is fixed on right side plate (14).
3. the mechanism for the auxiliary car body obstacle detouring that one kind according to claim 1 can independently be withdrawn, it is characterised in that: the branch
Eight pairs of retinue steamboats (12) and a rope anchor (11) are connected on bar (10), and eight pairs of retinue steamboats (12) are presented up and down
Symmetrical four or four distribution.
4. the mechanism for the auxiliary car body obstacle detouring that one kind according to claim 1 can independently be withdrawn, it is characterised in that: when described
When strut (10) rotates half cycle, clockwork spring elastic device (8) is by driving wirerope (9) to return to strut (10) in strut cabin.
5. the mechanism for the auxiliary car body obstacle detouring that one kind according to claim 1 can independently be withdrawn, it is characterised in that: the electricity
Machine retarder (3) select common R series reduction, F series reduction, K series reduction, S series reduction any one.
6. the mechanism for the auxiliary car body obstacle detouring that one kind according to claim 1 can independently be withdrawn, it is characterised in that: the mark
The number of teeth of quasi- bevel gear (1) is Z1=22~30, and two master bevel gears (1) are using 90 ° of engagement cooperations of angle.
7. the mechanism for the auxiliary car body obstacle detouring that one kind according to claim 1 can independently be withdrawn, it is characterised in that: the hair
Elastic slice or torque spring can be selected in elastic device (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811331286.6A CN109110001A (en) | 2018-11-09 | 2018-11-09 | A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811331286.6A CN109110001A (en) | 2018-11-09 | 2018-11-09 | A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109110001A true CN109110001A (en) | 2019-01-01 |
Family
ID=64853833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811331286.6A Pending CN109110001A (en) | 2018-11-09 | 2018-11-09 | A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109110001A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN103318288A (en) * | 2013-06-03 | 2013-09-25 | 上海大学 | Synchronous belt driving type full tracked robot |
| CN107284541A (en) * | 2017-07-17 | 2017-10-24 | 安徽工业大学 | A kind of right angle legs rotate barrier-crossing traveling mechanism |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| CN107985443A (en) * | 2017-12-23 | 2018-05-04 | 长安大学 | A kind of wheeled more ground adaptability vehicles and its obstacle-detouring method |
| CN208036471U (en) * | 2018-02-07 | 2018-11-02 | 河北省安装工程有限公司 | A kind of obstacle negotiation trucks |
| CN209176807U (en) * | 2018-11-09 | 2019-07-30 | 洛阳圣瑞智能机器人有限公司 | A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw |
-
2018
- 2018-11-09 CN CN201811331286.6A patent/CN109110001A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN103318288A (en) * | 2013-06-03 | 2013-09-25 | 上海大学 | Synchronous belt driving type full tracked robot |
| CN107284541A (en) * | 2017-07-17 | 2017-10-24 | 安徽工业大学 | A kind of right angle legs rotate barrier-crossing traveling mechanism |
| CN107985443A (en) * | 2017-12-23 | 2018-05-04 | 长安大学 | A kind of wheeled more ground adaptability vehicles and its obstacle-detouring method |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| CN208036471U (en) * | 2018-02-07 | 2018-11-02 | 河北省安装工程有限公司 | A kind of obstacle negotiation trucks |
| CN209176807U (en) * | 2018-11-09 | 2019-07-30 | 洛阳圣瑞智能机器人有限公司 | A kind of mechanism for the auxiliary car body obstacle detouring that can independently withdraw |
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