CN109131620A - mobile device - Google Patents
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- Publication number
- CN109131620A CN109131620A CN201811009276.0A CN201811009276A CN109131620A CN 109131620 A CN109131620 A CN 109131620A CN 201811009276 A CN201811009276 A CN 201811009276A CN 109131620 A CN109131620 A CN 109131620A
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- China
- Prior art keywords
- mobile device
- eccentric
- traveling wheel
- traveling
- contact portion
- 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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- 238000005096 rolling process Methods 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 235000012054 meals Nutrition 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- -1 for example Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Toys (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of mobile devices, including being provided with the ontology of limiting section, traveling wheel, motor and lifting part with movable end, eccentric position and the contact portion between movable end and eccentric position, lifting part, which passes through the eccentric traveling that is swingingly connected in eccentric position, takes turns, movable end is slidably connected with limiting section, contact portion is protruded outward along moving direction beyond the rolling surface that traveling is taken turns, so that under the action of being lifted part, traveling wheel can be across higher barrier, suitable for swimmingly moving on uneven ground after being lifted.
Description
Technical field
The present invention relates to a kind of mobile device more particularly to a kind of mobile devices for across obstacle.
Background technique
With the development of science and technology and the improvement of people's living standards, occur a variety of traveling wheels of being equipped in the market
Mobile device, for example, household cleaning machine people, robot of accompanying and attending to, meal delivery robot, remote control toy car etc., in practical application
In, it is limited to travel the factors such as the size of wheel in mobile device, mobile device is not easy to lead to mobile device across higher barrier
Scope of activities it is limited, can not swimmingly move on uneven ground.
Summary of the invention
Technical problem to be solved by the present invention lies in providing one kind can be suitable for across higher barrier not
The mobile device of smooth movement on flat ground.
In order to solve the above-mentioned technical problem, the invention adopts the following technical scheme:
A kind of mobile device, comprising:
Ontology is provided with limiting section；
Traveling is taken turns and motor, traveling wheel rotation described in the motor driven, to drive the ontology to move on the ground；With
And
It is lifted part, it is described with movable end, eccentric position and the contact portion between the movable end and the eccentric position
Lifting part is swingingly connected on the traveling wheel by the way that the eccentric position is eccentric, and the movable end and the limiting section slide
Connection, the contact portion are protruded outward along moving direction beyond the rolling surface that the traveling is taken turns.
Wherein, the limiting section includes position limiting slide block, and the movable end offers limit sliding chutes, and the position limiting slide block penetrates
The limit sliding chutes.
Wherein, the limiting section includes limit sliding chutes, and the movable end has position limiting slide block, and the position limiting slide block penetrates institute
State limit sliding chutes.
Wherein, described in the motor driven when rotation of traveling wheel, the traveling wheel drives the lifting part eccentric swing, with
Make opposite sliding between the position limiting slide block and the limit sliding chutes.
Wherein, the lifting part between the movable end and the eccentric position bends downward to form the contact portion.
Wherein, the lower part of the contact portion has contact surface.
Wherein, the contact surface is at least partly made of flexible material.
Wherein, the traveling wheel includes wheel hub and the tire by the hub support, and the tire has the rolling surface；
Eccentric position is eccentric is swingingly connected on the wheel hub by described for the lifting part.
Wherein, the eccentric position includes location hole, and the position that its center of rotation is deviateed on the wheel hub has protruded out convex
Block, the locating convex block penetrate the location hole.
Wherein, the eccentric position includes locating convex block, and the position that its center of rotation is deviateed on the wheel hub offers positioning
Hole, the locating convex block penetrate the location hole.
Wherein, the mobile device further includes pivoting the arm of force and spring, and described one end for pivoting the arm of force is articulated in described
Body, the traveling wheel are rotationally connected with the other end for pivoting the arm of force, and the spring is separately connected the ontology and the pivot
Turn the arm of force, under the elastic force effect of the spring, the other end body exterior rotation oriented always for pivoting the arm of force
Trend.
A kind of mobile device provided in an embodiment of the present invention, including be provided with limiting section ontology, traveling wheel, motor and
Lifting part with movable end, eccentric position and the contact portion between the movable end and the eccentric position, lifting part pass through
Eccentric position is eccentric to be swingingly connected on traveling wheel, and movable end is slidably connected with limiting section, and contact portion exceeds along moving direction
It travels the rolling surface of wheel and protrudes outward, so that traveling wheel can cross over higher barrier after being lifted under the action of being lifted part
Hinder object, suitable for swimmingly moving on uneven ground.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other variants are obtained according to these attached drawings.
Fig. 1 is a kind of side sectional view of mobile device provided in an embodiment of the present invention；
Fig. 2 is that the contact portion of lifting part is overlapped on the situation schematic diagram of step edge；
Fig. 3 is that the traveling wheel of mobile device starts hanging situation schematic diagram；
Situation schematic diagram when Fig. 4 is the rolling face contact step of traveling wheel；
Situation schematic diagram when Fig. 5 is traveling wheel climb steps；
Fig. 6 is the structural schematic diagram that part is lifted shown in Fig. 1；
Fig. 7 is the structural schematic diagram for being lifted another embodiment of part；
When Fig. 8 to Figure 11 is that lifting part is in four kinds of exemplary positions, the side sectional view of mobile device；
Figure 12 is the side sectional view that the mobile device of spring is schematically shown in Fig. 1.
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 is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of mobile device, which can be the mobile device independently travelled, example
Such as, clean robot, robot of accompanying and attending to, meal delivery robot etc.；Mobile device is also possible to the mobile device of remote controlled travelling, example
Such as, remote control toy car, remote control monitoring automobile etc..
Fig. 1 is a kind of side sectional view of mobile device 10 provided in an embodiment of the present invention, illustrates only mobile device 10
Easy structure.The mobile device 10 includes: ontology 100, traveling wheel 200, motor 300, lifting part 400.In the present embodiment,
Mobile device 10 includes universal wheel 500 and two traveling wheels 200,200 rotation of the driving traveling of motor 300 wheel, to drive ontology 100
It moves on the ground.Fig. 1 illustrates only a traveling wheel 200, it is readily appreciated that, two traveling wheels 200 are arranged symmetrically, each traveling
Wheel 200 can be driven by corresponding motor 300, and each traveling wheel 200 can also be correspondingly arranged a lifting part 400.?
In other embodiments, mobile device 10 can also include three or four traveling wheels 200.
In order to express easily, succinctly, hereinafter the traveling wheel 200 shown in equal attached drawing, motor 300, the lifting components such as part 400
It is explained.
Limiting section is provided on ontology 100, lifting part 400 has movable end 410, contact portion 420 and eccentric position 430, connects
Contact portion 420 is located between movable end 410 and eccentric position 430.Position 430 is eccentric is swingingly connected to by eccentric for lifting part 400
On traveling wheel 200, movable end 410 is slidably connected with limiting section, rolling of the contact portion 420 along moving direction R beyond traveling wheel 200
Face 201 and protrude outward.In the present embodiment, limiting section includes limit sliding chutes 110, and movable end 410 has position limiting slide block 411,
Position limiting slide block 411 penetrates limit sliding chutes 110.It is applied in example at other, limiting section includes position limiting slide block, and movable end 410 opens up limited
Position sliding slot, position limiting slide block penetrate limit sliding chutes.
In the embodiment shown in fig. 1, when 200 rotation of wheel of the driving of motor 300 traveling, traveling wheel 200 drives lifting part 400
Eccentric swing, so that opposite sliding between position limiting slide block 411 and limit sliding chutes 110.
It is provided in an embodiment of the present invention to be suitable for crossing over various types of barriers, with mobile device 10 shown in Fig. 2 to Fig. 5
Applied to being illustrated for the process for climbing step S.
Fig. 2 is that the contact portion 420 of lifting part 400 is overlapped on the situation schematic diagram at the edge step S；Fig. 3 is in lifting part 400
Under the action of, the traveling wheel 200 of mobile device 10 starts hanging situation schematic diagram.Mobile device 10 is along moving direction R from Fig. 2
Into the change procedure of Fig. 3, traveling wheel 200 drives lifting 400 eccentric swing of part in CW rotation process along clockwise direction, is lifting
It rises under the lifting effect of part 400, traveling wheel 200 is lifted and hanging.
Fig. 4 is under the action of being lifted part 400, and the rolling surface 201 of traveling wheel 200 contacts situation schematic diagram when step S.
In change procedure from Fig. 3 to Fig. 4, traveling wheel 200 continues CW along clockwise direction and rotates, and makees in the road holding of lifting part 400
Under, the rolling surface 201 of traveling wheel 200 can be realized and contact contacting for step S.
Fig. 5 is under the action of being lifted part 400, and traveling takes turns situation schematic diagram when 200 climb steps S.From Fig. 4 to Fig. 5
Change procedure in, traveling wheel 200 continue along clockwise direction CW rotate, lifting part 400 supporting role, traveling wheel 200
Rolling surface 201 and step S rolling friction under the action of, traveling wheel 200 finally being capable of climb steps S.
Fig. 6 is the structural schematic diagram that part 400 is lifted shown in Fig. 1, and the lower part of contact portion 420 has contact surface, in this reality
It applies in example, the lifting part 400 between movable end 410 and eccentric position 430 bends downward to form contact portion 420.Contact surface can be
Planar structure 421 shown in Fig. 6 are also possible to globoidal structure 421 ' shown in fig. 7；The shape of contact surface can be according to reality
Border application needs to carry out a variety of transformation, does not limit this.Contact surface is at least partly made of flexible material, for example, rubber
Material.
Referring again to Fig. 1, in the present embodiment, traveling wheel 200 includes wheel hub 210 and the tire supported by wheel hub 210
220, tire 220 has rolling surface 201.Position 430 is eccentric is swingingly connected on wheel hub 210 by eccentric for lifting part 400.?
In other embodiments, traveling wheel 200 can also be made of integrally formed wear-resistant material.
In an alternative embodiment, eccentric position 430 includes location hole, the position of its center of rotation 21A is deviateed on wheel hub 210
Locating convex block is protruded out, locating convex block penetrates location hole, and locating convex block is rotatably connected relative to location hole.
In another alternative embodiment, eccentric position 430 includes locating convex block, deviates its center of rotation 21A's on wheel hub 210
Position offers location hole, and locating convex block penetrates location hole, and locating convex block is rotatably connected relative to location hole.
In order to it is vivider, intuitively understand " contact portion 420 along moving direction R beyond traveling wheel 200 rolling surface 201 and
Protrude outward " the meaning, from refering to fig. 1 into Fig. 5 it can be seen that contact portion 420 close to the part of movable end 410 beyond traveling
It takes turns 200 rolling surface 201 and protrudes outward in rolling surface 201, that is to say, that contact portion 420 is along moving direction R beyond traveling wheel
200 rolling surface 201 and protrude outward in rolling surface 201, to be conducive to across obstacle.
When Fig. 8 to Figure 11 is that lifting part 400 is in four kinds of exemplary positions, the side sectional view of mobile device 10.From Fig. 8 to
During also driving ontology 100 to move on the ground when it can easily be seen that travelling 200 rotation of wheel simultaneously in Figure 11, contact portion 420
Always ground will not be touched, to will not influence the normally travel on the ground of mobile device 10.
As shown in figure 12, in embodiments of the present invention, mobile device 10 can also include pivoting the arm of force 600 and spring 700,
The one end for pivoting the arm of force 600 is articulated in ontology 100, specifically, the one end for pivoting the arm of force 600 is articulated in this by pivotal axis 610
Body 100.Traveling wheel 200 is rotationally connected with the other end for pivoting the arm of force 600, and spring is separately connected ontology 100 and pivots the arm of force
600, under the elastic force effect of spring, pivot the trend that the other end of the arm of force 600 rotates outside oriented ontology 100 always.At this
In embodiment, motor 300, which is fixedly installed in, to be pivoted on the arm of force 600.Concrete structure design can be with application reference number
201420621549.8 the introduction in patent of invention specification and attached drawing about driving wheel module, details are not described herein.
A kind of mobile device 10 provided in an embodiment of the present invention, including be provided with limiting section ontology 100, traveling wheel 200,
Motor 300 and with movable end 410, eccentric position 430 and the contact portion 420 between movable end 410 and eccentric position 430
It is lifted part 400, lifting part 400 passes through eccentric be swingingly connected in eccentric position 430 and travels on wheel 200, movable end 410 and limit
Portion is slidably connected, and contact portion 420 is protruded outward along moving direction R beyond the rolling surface 201 for travelling wheel 200, so that being lifted
Under the action of part 400, traveling wheel 200 can be suitable for suitable on uneven ground after being lifted across higher barrier
It is freely mobile.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " alternative embodiment " etc. mean specific features described in conjunction with this embodiment or example, structure, material or
Feature is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms
It may not refer to the same embodiment or example.Moreover, the particular features, structures, materials, or characteristics of description can be any
One or more embodiment or examples in can be combined in any suitable manner.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (11)
1. a kind of mobile device characterized by comprising
Ontology is provided with limiting section；
Traveling is taken turns and motor, traveling wheel rotation described in the motor driven, to drive the ontology to move on the ground；And
It is lifted part, with movable end, eccentric position and the contact portion between the movable end and the eccentric position, the lifting
Part is swingingly connected on the traveling wheel by the way that the eccentric position is eccentric, and the movable end and limiting section sliding connect
It connects, the contact portion is protruded outward along moving direction beyond the rolling surface that the traveling is taken turns.
2. mobile device according to claim 1, which is characterized in that the limiting section includes position limiting slide block, the activity
End offers limit sliding chutes, and the position limiting slide block penetrates the limit sliding chutes.
3. mobile device according to claim 1, which is characterized in that the limiting section includes limit sliding chutes, the activity
End has position limiting slide block, and the position limiting slide block penetrates the limit sliding chutes.
4. mobile device according to claim 2 or 3, which is characterized in that described in the motor driven when rotation of traveling wheel,
The traveling wheel drives the lifting part eccentric swing, so that opposite sliding between the position limiting slide block and the limit sliding chutes.
5. mobile device according to claim 1, which is characterized in that described between the movable end and the eccentric position
Lifting part bends downward to form the contact portion.
6. mobile device according to claim 1 or 5, which is characterized in that the lower part of the contact portion has contact surface.
7. mobile device according to claim 6, which is characterized in that the contact surface is at least partly by flexible material structure
At.
8. mobile device according to claim 1, which is characterized in that the traveling wheel is including wheel hub and by the wheel hub branch
The tire of support, the tire have the rolling surface；Eccentric position is eccentric is swingingly connected to institute by described for the lifting part
It states on wheel hub.
9. mobile device according to claim 8, which is characterized in that the bias position includes location hole, on the wheel hub
The position for deviateing its center of rotation has protruded out locating convex block, and the locating convex block penetrates the location hole.
10. mobile device according to claim 8, which is characterized in that the bias position includes locating convex block, the wheel hub
The upper position for deviateing its center of rotation offers location hole, and the locating convex block penetrates the location hole.
11. mobile device according to claim 1, which is characterized in that the mobile device further includes pivoting the arm of force and bullet
Spring, described one end for pivoting the arm of force are articulated in the ontology, and the traveling wheel is rotationally connected with the other end for pivoting the arm of force,
The spring is separately connected the ontology and the pivot arm of force, under the elastic force effect of the spring, the pivot arm of force
The trend of the other end body exterior rotation oriented always.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811009276.0A CN109131620B (en) | 2018-08-31 | 2018-08-31 | Mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811009276.0A CN109131620B (en) | 2018-08-31 | 2018-08-31 | Mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109131620A true CN109131620A (en) | 2019-01-04 |
| CN109131620B CN109131620B (en) | 2024-06-18 |
Family
ID=64825824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811009276.0A Active CN109131620B (en) | 2018-08-31 | 2018-08-31 | Mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109131620B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232738A (en) * | 2021-06-25 | 2021-08-10 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109131620B (en) | 2024-06-18 |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Applicant after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
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