CN109677506B - Chassis walking type overturning auxiliary mechanism - Google Patents
Chassis walking type overturning auxiliary mechanism Download PDFInfo
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- CN109677506B CN109677506B CN201811635395.7A CN201811635395A CN109677506B CN 109677506 B CN109677506 B CN 109677506B CN 201811635395 A CN201811635395 A CN 201811635395A CN 109677506 B CN109677506 B CN 109677506B
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- longitudinal
- walking
- chassis
- transverse rotating
- transverse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a chassis walking type turnover auxiliary mechanism which is characterized by comprising a walking chassis, wherein a transverse rotating motor is fixedly arranged above the walking chassis, a transverse rotating base which is connected in a rotating way is arranged above the transverse rotating motor in a matched way, a longitudinal rotating driving motor and a longitudinal rotating frame are arranged above the transverse rotating base, the output end of the longitudinal rotating driving motor is connected with the longitudinal rotating frame in a matched way through the longitudinal turnover auxiliary, an external carrier frame is fixedly arranged on the longitudinal rotating frame, a walking driving motor shaft system and a plurality of symmetrically distributed walking wheels are arranged inside the walking chassis, and the output end of the walking driving motor shaft system is connected with the input end of the walking wheels in a matched way.
Description
Technical Field
The invention relates to a chassis walking type overturning pair mechanism, and belongs to the technical field of manufacturing of special equipment.
Background
The existing special emergency rescue operation environment is complex, the operation risk is high by simply wearing protective equipment by rescue workers, so that the development of the universal special rescue operation equipment with a chassis for walking is necessary according to the existing intelligent manufacturing technology, the development of the space overturning auxiliary operation equipment for smart walking under the space condition of complex dangerous special rescue operation environment is effectively solved, and the life risk of manual emergency rescue operation is reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, solve the technical problems and provide a chassis walking type overturning pair mechanism.
The invention adopts the following technical scheme: the chassis walking type overturning pair mechanism is characterized by comprising a walking chassis, wherein a transverse rotating motor is fixedly arranged above the walking chassis, a transverse rotating base which is connected in a rotating mode is arranged above the transverse rotating motor in a matched mode, a longitudinal rotating driving motor and a longitudinal rotating frame are arranged above the transverse rotating base, the output end of the longitudinal rotating driving motor is connected with the longitudinal rotating frame in a matched mode through the longitudinal overturning pair, an external carrier frame is fixedly arranged on the longitudinal rotating frame, a walking driving motor shaft system and a plurality of symmetrically distributed walking wheels are arranged inside the walking chassis, and the output end of the walking driving motor shaft system is connected with the input end of the walking wheels in a matched mode.
As a preferred embodiment, a transverse rotating motor seat is fixedly arranged above the walking chassis, a transverse rotating motor is fixedly arranged on the transverse rotating motor seat in a matched mode, an output end of the transverse rotating motor is provided with a transverse rotating motor output shaft, the upper end of the transverse rotating motor output shaft is fixedly connected with a transverse rotating base, and the lower end of the transverse rotating motor output shaft is connected with the output end of the transverse rotating motor in a matched mode.
As a preferred embodiment, the walking chassis is fixedly provided with symmetrically distributed bearing beams, and the bottom end of the transverse rotating motor base is fixed on the bearing beams.
As a preferred embodiment, a longitudinal rotary motor seat is fixedly arranged below the longitudinal rotary driving motor, and the bottom end of the longitudinal rotary motor seat is fixed on the transverse rotary base.
As a preferred embodiment, a transmission gear train is fixedly arranged above the longitudinal rotary driving motor, and the output end of the longitudinal rotary driving motor is matched and connected with the longitudinal overturning pair through the transmission gear train.
As a preferred embodiment, a turnover driving shaft is arranged between the longitudinal turnover pair and the transmission gear train, and the output end of the transmission gear train is connected with the longitudinal turnover pair in a matched manner through the turnover driving shaft.
As a preferred embodiment, the inside of the longitudinal rotary frame is fixedly provided with a hinged sleeve piece, and the hinged sleeve piece is matched and fastened with the longitudinal overturning pair.
As a preferred embodiment, the centre of the hinged flap is provided with a hinged longitudinal rotation axis.
As a preferred embodiment, a longitudinal rotary supporting rod is fixedly arranged on the transverse rotary base, and one end of the longitudinal rotary shaft is hinged with the longitudinal rotary supporting rod.
As a preferred embodiment, the transverse rotating base is fixedly provided with an articulated coupling, and the transverse rotating base is fixedly connected with the longitudinal rotating motor seat through the articulated coupling.
The invention has the beneficial effects that: the invention aims at the technical requirements of the prior special emergency rescue operation environment that the environment is complex, the operation danger is high by simply wearing protective equipment by rescue workers, therefore, the development of self-carrying chassis walking type universal special rescue operation equipment is necessary according to the prior intelligent manufacturing technology, the development of space overturning auxiliary operation equipment for smart walking under the complex space condition of the dangerous special rescue operation environment is effectively solved, the technical requirements of life danger of the manual emergency rescue operation are reduced, a bearing cross beam is fixedly arranged below the walking chassis, a transverse rotating motor seat, a transverse rotating base, a longitudinal rotating driving motor and a longitudinal rotating frame are arranged in the transverse rotating motor seat, the transverse rotating motor drives the transverse rotating base to rotate in the transverse space range by driving an output shaft of the transverse rotating motor, the longitudinal rotating driving motor sequentially drives a transmission gear train, an overturning driving shaft and a longitudinal overturning auxiliary driving longitudinal rotating frame to rotate around the longitudinal rotating shaft in the longitudinal space range, and corresponding operation tools for grabbing or picking up can be arranged on the longitudinal rotating frame according to the requirement, the prior intelligent emergency rescue operation environment is realized by arranging a bearing cross beam below the walking chassis, the bottom of the walking motor and the traveling chassis and the traveling auxiliary operation equipment is symmetrically distributed under the complex space of the prior special emergency rescue operation environment, the necessary development of the self-carrying special emergency rescue operation environment is solved by the prior special emergency rescue operation equipment is carried out by the prior intelligent special emergency rescue operation equipment, to reduce the life-threatening technical problems of manual emergency rescue operation.
Drawings
Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
The meaning of the labels in the figures: the device comprises a walking chassis 201, a transverse rotating motor seat 202, a transverse rotating base 203, a longitudinal rotating frame 204, an external carrier frame 205, a walking wheel 206, a walking driving motor shafting 208, a bearing beam 209, a transverse rotating motor 210, a transverse rotating motor output shaft 211, a hinged coupler 212, a longitudinal rotating motor seat 213, a longitudinal rotating driving motor 214, a transmission gear train 215, a turnover driving shaft 216, a longitudinal turnover pair 217, a longitudinal rotating shaft 218, a hinged sleeve piece 219 and a longitudinal rotating supporting rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a preferred embodiment of the present invention is shown, the present invention provides a chassis walking type turnover pair mechanism, which includes a walking chassis 201, a transverse rotating motor 209 is fixedly disposed above the walking chassis 201, a transverse rotating base 203 in rotation connection is cooperatively disposed above the transverse rotating motor 209, a longitudinal rotating driving motor 213 and a longitudinal rotating frame 204 are disposed above the transverse rotating base 203, an output end of the longitudinal rotating driving motor 213 is cooperatively connected with the longitudinal rotating frame 204 through a longitudinal turnover pair 216, an external carrier frame 205 is fixedly disposed on the longitudinal rotating frame 204, a walking driving motor shafting 207 and a plurality of symmetrically distributed walking wheels 206 are disposed inside the walking chassis 201, and an output end of the walking driving motor shafting 207 is cooperatively connected with an input end of the walking wheels 206.
As a preferred embodiment, a lateral rotation motor base 202 is fixedly arranged above the walking chassis 201, a lateral rotation motor 209 is fixedly arranged on the lateral rotation motor base 202 in a matching manner, an output end of the lateral rotation motor 209 is provided with a lateral rotation motor output shaft 210, an upper end of the lateral rotation motor output shaft 210 is fixedly connected with a lateral rotation base 203, and a lower end of the lateral rotation motor output shaft 210 is connected with an output end of the lateral rotation motor 209 in a matching manner.
As a preferred embodiment, the walking chassis 201 is fixedly provided with symmetrically distributed bearing beams 208, and the bottom end of the transverse rotating motor base 202 is fixed on the bearing beams 208.
As a preferred embodiment, a longitudinal rotation motor base 212 is fixedly arranged below the longitudinal rotation driving motor 213, and the bottom end of the longitudinal rotation motor base 212 is fixed on the transverse rotation base 203.
As a preferred embodiment, a transmission gear train 214 is fixedly arranged above the longitudinal rotation driving motor 213, and an output end of the longitudinal rotation driving motor 213 is cooperatively connected with a longitudinal overturning pair 216 through the transmission gear train 214.
As a preferred embodiment, a turnover driving shaft 215 is arranged between the longitudinal turnover pair 216 and the transmission gear train 214, and the output end of the transmission gear train 214 is cooperatively connected with the longitudinal turnover pair 216 through the turnover driving shaft 215.
As a preferred embodiment, the inside of the longitudinal rotary frame 204 is fixedly provided with a hinge sleeve piece 218, and the hinge sleeve piece 218 is fixedly connected with the longitudinal overturning pair 216 in a matching manner.
As a preferred embodiment, the hinged flap 218 is centrally provided with a hinged longitudinal rotation axis 217.
As a preferred embodiment, the transverse rotating base 203 is fixedly provided with a longitudinal rotating support rod 219, and one end of the longitudinal rotating shaft 217 is hinged to the longitudinal rotating support rod 219.
As a preferred embodiment, the transverse rotating base 203 is fixedly provided with an articulated coupling 211, and the transverse rotating base 203 is fixedly connected with the longitudinal rotating motor base 212 through the articulated coupling 211.
The specific working process of the invention comprises the following steps: aiming at the problems that the prior special emergency rescue operation environment is complex, the operation risk is high by simply wearing protective equipment by rescue workers, the invention needs to research and develop the general special rescue operation equipment with a chassis walking type according to the prior intelligent manufacturing technology, effectively solves the research and development of space overturning auxiliary operation equipment which walks flexibly under the complex space condition of the dangerous special rescue operation environment, reduces the life risk of the manual emergency rescue operation, and has the technical requirements that a transverse rotating motor seat 202, a transverse rotating base 203, a longitudinal rotating driving motor 213 and a longitudinal rotating frame 204 are arranged above a walking chassis 201, a transverse rotating motor 209 is embedded in the transverse rotating motor seat 202, the transverse rotating motor 209 drives the transverse rotating base 203 to rotate in a transverse space range by driving a transverse rotating motor output shaft 210, the longitudinal rotation driving motor 213 sequentially drives the transmission gear train 214, the turnover driving shaft 215 and the longitudinal turnover pair 216 to drive the longitudinal rotation frame 204 to rotate around the longitudinal rotation shaft 217 in a longitudinal space range, and the external carrier frame 205 can be configured on the longitudinal rotation frame 204 according to requirements to additionally mount corresponding grabbing or picking operation tools, in order to ensure the mounting space of the internal devices of the walking chassis 201, the bearing cross beam 208 is fixedly arranged below the transverse rotation motor seat 202, symmetrically distributed walking wheels and the driving motor shafting 207 are arranged at the bottom of the walking chassis 201, thereby integrally solving the problems of complex environment of the existing special emergency rescue operation and high operation risk caused by simply wearing protective equipment by rescue workers, the technical problem of developing space overturning auxiliary operation equipment capable of flexibly walking under the complex space condition of dangerous special rescue operation environment so as to reduce the life danger of manual emergency rescue operation is effectively solved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (7)
1. The chassis walking type overturning pair mechanism is characterized by comprising a walking chassis (201), wherein a transverse rotating motor (209) is fixedly arranged above the walking chassis (201), a transverse rotating base (203) which is connected in a rotating mode is arranged above the transverse rotating motor (209) in a matched mode, a longitudinal rotating driving motor (213) and a longitudinal rotating frame (204) are arranged above the transverse rotating base (203), the output end of the longitudinal rotating driving motor (213) is connected with the longitudinal rotating frame (204) in a matched mode through a longitudinal overturning pair (216), an external carrier frame (205) is fixedly arranged on the longitudinal rotating frame (204), a walking driving motor shafting (207) and a plurality of symmetrically distributed walking wheels (206) are arranged inside the walking chassis (201), and the output end of the walking driving motor shafting (207) is connected with the input end of the walking wheels (206) in a matched mode.
A transverse rotating motor seat (202) is fixedly arranged above the walking chassis (201), the transverse rotating motor (209) is fixedly arranged on the transverse rotating motor seat (202) in a matched mode, an output end of the transverse rotating motor (209) is provided with a transverse rotating motor output shaft (210), the upper end of the transverse rotating motor output shaft (210) is fixedly connected with the transverse rotating base (203), and the lower end of the transverse rotating motor output shaft (210) is connected with the output end of the transverse rotating motor (209) in a matched mode;
the walking chassis (201) is fixedly provided with symmetrically distributed bearing beams (208), and the bottom end of the transverse rotating motor base (202) is fixed on the bearing beams (208);
the lower part of the longitudinal rotation driving motor (213) is fixedly provided with a longitudinal rotation motor base (212), and the bottom end of the longitudinal rotation motor base (212) is fixed on the transverse rotation base (203).
2. The chassis walking type overturning pair mechanism according to claim 1, wherein a transmission gear train (214) is fixedly arranged above the longitudinal rotation driving motor (213), and the output end of the longitudinal rotation driving motor (213) is connected with the longitudinal overturning pair (216) in a matched mode through the transmission gear train (214).
3. The chassis walking type overturning pair mechanism according to claim 2, wherein an overturning driving shaft (215) is arranged between the longitudinal overturning pair (216) and the transmission gear train (214), and an output end of the transmission gear train (214) is connected with the longitudinal overturning pair (216) in a matching manner through the overturning driving shaft (215).
4. The chassis walking type turnover pair mechanism according to claim 1, wherein a hinge sleeve piece (218) is fixedly arranged in the longitudinal rotary frame (204), and the hinge sleeve piece (218) is fixedly connected with the longitudinal turnover pair (216) in a matched and fastened mode.
5. Chassis walking type roll-over mechanism according to claim 4, characterized in that the centre of the hinged tab (218) is provided with a hinged longitudinal rotation axis (217).
6. The chassis walking type turnover pair mechanism of claim 5, wherein a longitudinal rotation support rod (219) is fixedly arranged on said transverse rotation base (203), and one end of said longitudinal rotation shaft (217) is hinged with said longitudinal rotation support rod (219).
7. The chassis walking type turnover pair mechanism according to claim 1, wherein an articulated coupling (211) is fixedly arranged on the transverse rotating base (203), and the transverse rotating base (203) is fixedly connected with the longitudinal rotating motor base (212) through the articulated coupling (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811635395.7A CN109677506B (en) | 2018-12-29 | 2018-12-29 | Chassis walking type overturning auxiliary mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811635395.7A CN109677506B (en) | 2018-12-29 | 2018-12-29 | Chassis walking type overturning auxiliary mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109677506A CN109677506A (en) | 2019-04-26 |
| CN109677506B true CN109677506B (en) | 2023-09-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811635395.7A Active CN109677506B (en) | 2018-12-29 | 2018-12-29 | Chassis walking type overturning auxiliary mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109677506B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000157751A (en) * | 1998-11-30 | 2000-06-13 | Bandai Co Ltd | Walking device |
| CN204956695U (en) * | 2015-08-18 | 2016-01-13 | 公安部上海消防研究所 | Fire control machine people moves carrier with waterproof characteristic |
| CN105599818A (en) * | 2015-09-30 | 2016-05-25 | 重庆交通大学 | Obstacle-surmounting robot |
| CN106515892A (en) * | 2015-09-11 | 2017-03-22 | 广西大学 | Device capable of realizing 90-degree climbing |
| CN106828660A (en) * | 2017-02-15 | 2017-06-13 | 东莞市圣荣自动化科技有限公司 | A kind of robot chassis with anti-skid structure |
-
2018
- 2018-12-29 CN CN201811635395.7A patent/CN109677506B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000157751A (en) * | 1998-11-30 | 2000-06-13 | Bandai Co Ltd | Walking device |
| CN204956695U (en) * | 2015-08-18 | 2016-01-13 | 公安部上海消防研究所 | Fire control machine people moves carrier with waterproof characteristic |
| CN106515892A (en) * | 2015-09-11 | 2017-03-22 | 广西大学 | Device capable of realizing 90-degree climbing |
| CN105599818A (en) * | 2015-09-30 | 2016-05-25 | 重庆交通大学 | Obstacle-surmounting robot |
| CN106828660A (en) * | 2017-02-15 | 2017-06-13 | 东莞市圣荣自动化科技有限公司 | A kind of robot chassis with anti-skid structure |
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| Publication number | Publication date |
|---|---|
| CN109677506A (en) | 2019-04-26 |
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