CN112720407B - Auxiliary wheel lifting mechanism and wheeled robot - Google Patents
Auxiliary wheel lifting mechanism and wheeled robot Download PDFInfo
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- CN112720407B CN112720407B CN202011517045.8A CN202011517045A CN112720407B CN 112720407 B CN112720407 B CN 112720407B CN 202011517045 A CN202011517045 A CN 202011517045A CN 112720407 B CN112720407 B CN 112720407B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- 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
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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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- 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
- B62D63/04—Component parts or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides an auxiliary wheel lifting mechanism and a wheeled robot, and belongs to the technical field of robots. The robot solves the problem that the existing robot cannot get up after falling to the ground under an unexpected condition. This auxiliary wheel elevating system, including the back shaft with be used for driving the back shaft around self axis pivoted power component, the epaxial first connecting rod that has linked firmly of brace, the one end that the back shaft was kept away from to first connecting rod articulates there is the support connecting rod, the support connecting rod is parallel with the axis of back shaft around its rotatory central line of articulated department with first connecting rod, the one end of support connecting rod is equipped with can be around self axis pivoted auxiliary wheel, the axis of auxiliary wheel is parallel with the axis of back shaft, the other end of support connecting rod with be used for carrying out the guide structure who leads to the other end of support connecting rod and be connected. The auxiliary wheel lifting mechanism can well support the robot when falling down, does not influence the appearance effect of the robot when lifting, and can enable the robot to get up after falling down.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to an auxiliary wheel lifting mechanism and a wheel type robot.
Background
The wheel robot has the principle that a motor, a servo control device and an attitude sensor are used for coordinating and controlling the balance of a vehicle body. A gyroscope and an acceleration sensor are designed in the robot, the change of the posture of the robot is detected, and the actions of starting, accelerating, decelerating, stopping and the like of the robot can be realized by changing the gravity center position of the robot. Generally, when a wheeled robot works in a power-on mode, gravity sensing monitors the change of the gravity center of the robot in real time, and the robot is kept balanced through servo control. However, when the robot outage, it can't continue to keep balance because of the focus loses the monitoring, and the robot loses the upright state, is not convenient for park and accomodates, also influences experience. In addition, when the robot is only required to be balanced and static, the robot can frequently accelerate and retreat due to the inexhaustible level of the ground and is always in a state of balancing, and a large amount of electric energy is consumed at the moment.
Therefore, the chinese patent discloses a wheel-type self-balancing device [ No. CN206456475U ], which comprises a frame, a supporting device, wheels and a power device for driving the wheels to rotate, wherein the power device, the wheels and the supporting device are arranged on the frame, and the supporting device comprises a supporting rod and a driving device for driving the supporting rod; when the wheel type self-balancing device is in a non-running state, the supporting rod is in contact with the ground, and the supporting rod and the wheels form at least three-point support together so as to keep the wheel type self-balancing device balanced; in the operating state, the support bar is away from the ground.
Although the wheel type self-balancing device can keep the robot balanced, the following problems still exist: because the swinging direction of the supporting rod is vertical to the moving direction, the robot is not easy to rise stably after being toppled according to the lever principle; the supporting rod only plays a supporting role, and when the supporting rod extends out or swings to a vertical state, the walking of the robot is hindered.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an auxiliary wheel lifting mechanism which can well support a robot when the robot falls down and does not influence the appearance effect of the robot when the robot is lifted.
A wheeled robot equipped with the auxiliary wheel lifting mechanism is also provided.
The purpose of the invention can be realized by the following technical scheme:
auxiliary wheel elevating system, including the back shaft with be used for driving the back shaft around self axis pivoted power component, linked firmly first connecting rod on the back shaft, the one end that the back shaft was kept away from to first connecting rod articulates there is the support connecting rod, the support connecting rod is parallel with the axis of back shaft around its rotatory central line of articulated department with first connecting rod, the one end of support connecting rod is equipped with can be around self axis pivoted auxiliary wheel, the axis of auxiliary wheel is parallel with the axis of back shaft, the other end of support connecting rod is connected with the guide structure who is used for carrying out the direction to the other end of support connecting rod.
When the power assembly drives the supporting shaft to rotate around the central axis of the power assembly, the first connecting rod is driven to swing around the central axis of the supporting shaft, and the inclination angle of the supporting connecting rod is changed by matching with the guide structure, so that the auxiliary wheel is lifted. The guide structure can guide the other end of the support connecting rod, and meanwhile, a yielding space is provided for the movement of the support connecting rod, so that the lifting mechanism for lifting the auxiliary wheel has a smaller volume, and the appearance effect of the robot is not influenced when the lifting mechanism is installed on the robot. The guide structure can also limit the other end of the support connecting rod, so that the support connecting rod is ensured not to shake, and the stability of the lifting mechanism is improved.
In the above-mentioned auxiliary wheel elevating system, guide structure includes the fixing base, offers the sharp spout on the fixing base and rotationally installs gyro wheel/slider at the support connecting rod other end, gyro wheel/slider roll/sliding fit with sharp spout, just gyro wheel/slider is parallel with the axis of back shaft around its rotatory central line in junction with the support connecting rod, the extending direction of sharp spout is perpendicular with the axis of back shaft.
Through the arrangement of the structure, when the supporting shaft rotates around the central axis of the supporting shaft, the first connecting rod drives the supporting connecting rod to rotate around the roller/sliding block, so that the change of the inclination angle of the supporting connecting rod is realized. Meanwhile, the roller/sliding block rolls/slides in the linear sliding groove, so that the relative position of the other end of the supporting connecting rod and the fixed seat is changed, the relative position of the supporting connecting rod and the fixed seat is changed, and the size of the whole lifting mechanism is reduced.
In above-mentioned auxiliary wheel elevating system, guide structure includes the fixing base, locates the guide rail on the fixing base and rotationally installs the slider at the support connecting rod other end, slider and guide rail sliding fit, just the slider is parallel with the axis of back shaft around its rotatory central line of junction with the support connecting rod, the extending direction of guide rail is perpendicular with the axis of back shaft.
In above-mentioned auxiliary wheel elevating system, guide structure includes the fixing base, rotationally installs on the fixing base and can wind self axis pivoted lead screw and rotationally installs the nut at the support connecting rod other end, nut and lead screw thread fit, the nut is parallel with the axis of back shaft around its rotatory central line of junction with the support connecting rod, the extending direction of lead screw is perpendicular with the axis of back shaft.
Through the arrangement of the structure, when the supporting shaft rotates around the central axis of the supporting shaft, the first connecting rod drives the supporting connecting rod to rotate around the nut, so that the change of the inclination angle of the supporting connecting rod is realized. Because the lead screw can rotate around self axis, and nut and lead screw thread fit, the lead screw rotates around self axis when the nut is along lead screw linear motion to the relative position of messenger's support connecting rod and fixing base changes, thereby reduces whole elevating system's volume.
In the above-mentioned auxiliary wheel lifting mechanism, the two support links are parallel to each other, the auxiliary wheel is rotatably mounted between one ends of the two support links, and the roller/slider is rotatably mounted between the other ends of the two support links.
Through the arrangement of the structure, the auxiliary wheel and the roller/slider are favorably mounted, the stability of the auxiliary wheel and the roller/slider is improved, and the structural strength of the support connecting rod is enhanced.
In the above auxiliary wheel lifting mechanism, the two first connecting rods are arranged in parallel, one end of one of the first connecting rods, which is far away from the supporting shaft, is hinged to one of the supporting connecting rods, and the other end of the other first connecting rod, which is far away from the supporting shaft, is hinged to the other supporting connecting rod. Through the arrangement of the two first connecting rods, the two supporting connecting rods can be stressed evenly, the structural strength is enhanced, and the service life is prolonged.
In above-mentioned auxiliary wheel elevating system, power component is including linking firmly the second connecting rod on supporting the axle and acting on the power pack of the one end of keeping away from the back shaft at the second connecting rod, the power pack acts on the direction of force and the axis of back shaft is perpendicular on the second connecting rod.
In the above auxiliary wheel lifting mechanism, the power unit is an electric push rod/cylinder/hydraulic cylinder, one end of the electric push rod/cylinder/hydraulic cylinder, which is close to the second connecting rod, is hinged to the second connecting rod, and a rotation center line of the electric push rod/cylinder/hydraulic cylinder, which rotates around the hinged position of the electric push rod/cylinder/hydraulic cylinder and the second connecting rod, is parallel to the axis of the support shaft.
In the above auxiliary wheel lifting mechanism, the two second connecting rods are arranged in parallel, and one end of the electric push rod/cylinder/hydraulic cylinder close to the second connecting rods is located between the two second connecting rods.
Wheeled robot, including the base, locate the left wheel of base and locate the right wheel on base right side, left wheel and the coaxial and relative setting of right wheel, the front portion and/or the rear portion of base are equipped with above-mentioned auxiliary wheel elevating system, the extending direction of back shaft is parallel with the axis of left wheel, works as power component makes under guide structure's during operation the other end of support connecting rod moves along the fore-and-aft direction of base.
In the wheeled robot, the power assembly is arranged on the ground, the power assembly is arranged on the power assembly, and the power assembly is arranged on the power assembly. When the sensor detects that the auxiliary wheel is in contact with the ground, the signal is transmitted to the controller, and the controller controls the power assembly to stop working, so that the auxiliary wheel is kept at the current position. Due to the arrangement of the sensor, the auxiliary wheel can be fully contacted with the ground, so that the robot keeps balance and is prevented from toppling.
Compared with the prior art, the invention has the following advantages:
the guide structure is arranged, so that the other end of the support connecting rod can be guided, and meanwhile, a yielding space is provided for the movement of the support connecting rod, so that the lifting mechanism for lifting the auxiliary wheel has smaller volume, and the appearance effect of the robot is not influenced when the lifting mechanism is installed on the robot; the guide structure can limit the other end of the support connecting rod, so that the support connecting rod is prevented from shaking, and the stability of the lifting mechanism is improved; the reasonable structure of the auxiliary wheel makes the impact effect brought by the collision of the auxiliary wheel and the ground obstacle act on the auxiliary wheel and each hinged part, and effectively avoids the power unit from being impacted.
Drawings
Fig. 1 is a schematic structural view of the auxiliary wheel lift mechanism in a lowered state.
Fig. 2 is a schematic structural view of the auxiliary wheel lift mechanism in a raised state.
Fig. 3 is a schematic view of an installation structure of the auxiliary wheel lifting mechanism provided by the invention.
Fig. 4 is a schematic view of another installation structure of the auxiliary wheel lifting mechanism provided by the invention.
Fig. 5 is a partial structural schematic diagram of the wheeled robot provided by the invention.
Fig. 6 is a schematic structural diagram of a wheeled robot according to the present invention.
In the figure, 1, supporting the shaft; 2. a first link; 3. a support link; 4. an auxiliary wheel; 5. a fixed seat; 6. a linear chute; 7. a roller; 8. a second link; 9. an electric push rod; 10. a base; 11. a left wheel; 12. and a right wheel.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 and 2, auxiliary wheel lifting mechanism includes support shaft 1 that the level extends and is used for driving support shaft 1 around self axis pivoted power component, and support shaft 1 is the sleeve pipe form, rotationally overlaps and establishes at the first round pin axle that a level extends, and the rigidity of first round pin axle, support shaft 1 can rotate around first round pin axle.
As shown in fig. 1, a first connecting rod 2 is fixedly connected to a supporting shaft 1, and a supporting connecting rod 3 is hinged to one end of the first connecting rod 2, which is far away from the supporting shaft 1. One end of the first connecting rod 2, which is far away from the supporting shaft 1, is hinged to the middle part or a position close to the middle part of the supporting connecting rod 3 through a second pin shaft, the central axis of the second pin shaft is a rotating central line of the supporting connecting rod 3 rotating around the first connecting rod 2, and the rotating central line is parallel to but not collinear with the axis of the supporting shaft 1. As shown in fig. 1 and 2, one end of the support link 3 is provided with an auxiliary wheel 4 capable of rotating around its central axis, the central axis of the auxiliary wheel 4 is parallel to the axis of the support shaft 1, and when the end of the support link 3 provided with the auxiliary wheel 4 descends, the auxiliary wheel 4 can be in full contact with the ground.
In this embodiment, as shown in fig. 1 and fig. 2, the power assembly includes a second connecting rod 8 fixedly connected to the supporting shaft 1 and a power unit acting on one end of the second connecting rod 8 far from the supporting shaft 1, and a direction of a force acting on the second connecting rod 8 by the power unit is perpendicular to an axis of the supporting shaft 1. In this embodiment, the power unit is an electric push rod 9. One end of the electric push rod 9 is hinged with one end, far away from the supporting shaft 1, of the second connecting rod 8 through a third pin shaft, and the axis of the third pin shaft is parallel to the axis of the supporting shaft 1. The other end of the electric push rod 9 is hinged on a device for installing the auxiliary wheel lifting mechanism through a fourth pin shaft, and the axis of the fourth pin shaft is parallel to the axis of the supporting shaft 1.
In some other embodiments, the power unit may also be other linear driving members such as a pneumatic cylinder or a hydraulic cylinder.
As shown in fig. 1 and 2, the other end of the support link 3 is connected with a guide structure for guiding the other end of the support link 3. Specifically, as shown in fig. 1, the guide structure includes a fixing base 5, a linear sliding groove 6 arranged on the fixing base 5 and a roller 7 rotatably mounted at the other end of the support connecting rod 3, the linear sliding groove 6 extends horizontally, the extending direction of the linear sliding groove 6 is perpendicular to the extending direction of the support shaft 1, the roller 7 is in rolling fit with the linear sliding groove 6, the roller 7 can rotate around the central axis of the roller 7, and the rotation center of the roller is parallel to the axis of the support shaft 1.
When the supporting shaft 1 rotates around the central axis of the supporting shaft, the supporting connecting rod 3 is driven to rotate around the roller 7 through the first connecting rod 2, and therefore the inclination angle of the supporting connecting rod 3 is changed. Simultaneously, gyro wheel 7 rolls in sharp spout 6, makes the other end of support connecting rod 3 and fixing base 5's relative position change to make the relative position of support connecting rod 3 and fixing base 5 change, thereby reduce whole elevating system's volume.
In another embodiment, the roller 7 may be replaced by a sliding block, the sliding block is slidably engaged with the linear sliding groove 6, the sliding block is hinged to the support link 3 by a fifth pin, and an axis of the fifth pin is parallel to an axis of the support shaft 1.
In another embodiment, the guiding structure comprises a fixed seat 5, a guide rail arranged on the fixed seat 5 and a sliding block rotatably arranged at the other end of the support connecting rod 3, the guide rail extends horizontally, the extending direction of the guide rail is perpendicular to the axis of the support shaft 1, the sliding block is in sliding fit with the guide rail, and the rotation center line of the sliding block rotating around the joint of the sliding block and the support connecting rod 3 is parallel to the axis of the support shaft 1.
In another embodiment, the guiding structure comprises a fixed seat 5, a screw rod rotatably mounted on the fixed seat 5 and capable of rotating around its central axis, and a nut rotatably mounted at the other end of the support link 3, wherein the screw rod extends horizontally, the extending direction of the screw rod is perpendicular to the axis of the support shaft 1, the nut is in threaded fit with the screw rod, and the rotation center line of the nut rotating around the joint of the nut and the support link 3 is parallel to the axis of the support shaft 1. When the supporting shaft 1 rotates around the central axis of the supporting shaft, the first connecting rod 2 drives the supporting connecting rod 3 to rotate around the nut, so that the inclination angle of the supporting connecting rod 3 is changed. Because the lead screw can rotate around self axis, and nut and lead screw thread fit, the lead screw rotates around self axis when the nut is along lead screw linear motion to the relative position that makes support connecting rod 3 and fixing base 5 changes, thereby reduces whole elevating system's volume.
As shown in fig. 1 and 2, the first links 2 are C-shaped, and the number of the first links 2 is two and the first links are arranged in parallel to each other. The number of the support connecting rods 3 is two and parallel to each other, one end of one first connecting rod 2 far away from the support shaft 1 is hinged with one support connecting rod 3, and one end of the other first connecting rod 2 far away from the support shaft 1 is hinged with the other support connecting rod 3. The auxiliary wheel 4 is rotatably installed between one ends of the two support links 3, and the roller 7 is rotatably installed between the other ends of the two support links 3.
As shown in fig. 1, two second connecting rods 8 are arranged in parallel, and one end of the electric push rod 9 close to the second connecting rods 8 is located between the two second connecting rods 8.
As shown in fig. 2, when the auxiliary wheel lifting mechanism is in a lifted state, the electric push rod 9 is in an extended state, the support shaft 1 is rotated clockwise to a maximum position through the second link 8, at this time, the first link 2 is rotated clockwise to the maximum position around the support shaft 1, the distance from the roller 7 located in the linear chute 6 to the support shaft 1 reaches a maximum, and the support link 3 is in a substantially horizontal state, that is, the auxiliary wheel 4 is in a lifted state. As shown in fig. 1, when the auxiliary wheel lifting mechanism needs to fall, the electric push rod 9 contracts to drive the second connecting rod 8 to swing counterclockwise, so that the first connecting rod 2 also swings counterclockwise, and in the swinging process, one end of the first connecting rod 2, which is far away from the supporting shaft 1, pulls the supporting connecting rod 3 to move from a substantially horizontal position to an inclined state, that is, the auxiliary wheel 4 is in a falling state.
In order to detect whether the auxiliary wheel 4 is in sufficient contact with the ground, a sensor for detecting whether the auxiliary wheel 4 is in contact with the ground is arranged on the auxiliary wheel 4, and a signal output end of the sensor is connected with a contact signal input end of a controller for controlling the action of the electric push rod 9.
In this embodiment, the sensor is a pressure sensor. When the auxiliary wheel 4 falls down, the auxiliary wheel contacts with the ground to generate pressure, the pressure sensor feeds back the pressure, and when the pressure is higher than a certain value, the controller controls the electric push rod 9 to stop acting. The auxiliary wheel 4 can be ensured to be fully contacted with the ground on uneven road surfaces. Since the roller 7 can rotate around its central axis, the pressure sensor is disposed between the roller 7 and the rotating shaft of the support roller 7.
In some other embodiments, the sensor may also be a distance sensor, a contact sensor, or the like. When the sensor is a distance sensor, the sensor is arranged on a rotating shaft of the supporting roller 7; in the case of a contact sensor, it is disposed on the outer periphery of the roller 7.
The embodiment also relates to a wheeled robot, including base 10, locate the left wheel 11 of base 10 left and locate the right wheel 12 on base 10 right side, left wheel 11 and the coaxial and relative setting of right wheel 12, base 10 is platelike, all sets up an auxiliary wheel elevating system, two auxiliary wheel elevating system symmetric distributions in the front and back position of base 10.
Hereinafter, the installation manner of the auxiliary wheel lifting mechanism at the front portion will be described in detail, and the installation manner of the auxiliary wheel lifting mechanism at the rear portion is the same as that of the auxiliary wheel lifting mechanism at the front portion. Specifically, as shown in fig. 3 to 6, two front brackets are fixed to the base 10, the first pin is horizontally inserted between the two front brackets, two rear brackets are fixed to the base 10, and the fourth pin is inserted between the two rear brackets.
The electric push rod 9 is located above the base 10, the fixing seat 5 is fixed at the lower part of the base 10, the first connecting rod 2 bypasses the front edge of the base 10 and then extends to the lower part of the base 10, and the supporting connecting rod 3 is located below the base 10. Wherein, the first connecting rod 2 and the second connecting rod 8 are arranged in a staggered way, namely the first connecting rod 2 and the second connecting rod 8 are connected at different positions on the supporting shaft 1. The support shaft 1 horizontally extends along the left and right directions of the base 10, and the linear sliding groove 6 in the fixed seat 5 horizontally extends along the front and back directions of the base 10.
In this embodiment, the wheeled robot further includes a controller for controlling the motion of the power assembly and a sensor for detecting whether the auxiliary wheel 4 contacts the ground, and a signal output end of the sensor is connected with a contact signal input end of the controller. When the sensor detects that the auxiliary wheel 4 is in contact with the ground, a signal is transmitted to the controller, and the controller controls the power assembly to stop working, so that the auxiliary wheel 4 is kept at the current position. Because of the sensor, the auxiliary wheel 4 can be fully contacted with the ground, and further the robot keeps balance and is prevented from toppling.
In this embodiment, the sensor is a pressure sensor.
For damping, a damper is provided between the left wheel 11 and the base 10, and a damper is also provided between the right wheel 12 and the base 10.
In some other embodiments, only one auxiliary wheel lifting mechanism may be provided on the base 10, and the auxiliary wheel lifting mechanism may be located at the front of the base 10 or at the rear of the base 10.
After the wheeled robot is toppled, the electric push rod 9 contracts, so that the auxiliary wheel 4 falls down to be in full contact with the ground, the robot body is lifted up, and after the robot can normally walk, the auxiliary wheel 4 is folded. When the wheel type robot loses balance, the electric push rod 9 contracts to enable the front auxiliary wheel 4 and the rear auxiliary wheel 4 to fall down simultaneously, the wheel type robot is prevented from toppling, the standby body is restored to balance, and after the wheel type robot can normally walk, the auxiliary wheels 4 are folded. In the walking process of the wheeled robot, the action of the electric push rod 9 is controlled by the pressure sensor on the auxiliary wheel 4, the auxiliary wheel 4 is ensured to be fully contacted with any road surface, seamless conversion is carried out between two-wheel walking and four-wheel walking, and the stable parking and automatic charging of the robot are ensured.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an auxiliary wheel elevating system, locates on base (10) of wheeled robot, its characterized in that, include back shaft (1) and be used for driving back shaft (1) around self axis pivoted power component, base (10) top is located to back shaft (1) and power component, first connecting rod (2) that are the C type have been linked firmly on back shaft (1), the one end that back shaft (1) was kept away from in first connecting rod (2) articulates there is support connecting rod (3) that are located base (10) below, support connecting rod (3) are parallel with the axis of back shaft (1) around its rotatory central line of articulated department with first connecting rod (2), the one end of support connecting rod (3) is equipped with can be around self axis pivoted auxiliary wheel (4), the axis of auxiliary wheel (4) is parallel with the axis of back shaft (1), the other end of support connecting rod (3) and the direction knot that is used for leading the other end of support connecting rod (3) are connected The structure is connected, and the guide structure is fixed on the lower part of the base (10).
2. The auxiliary wheel lifting mechanism according to claim 1, wherein the guide structure comprises a fixed seat (5), a linear sliding groove (6) formed in the fixed seat (5), and a roller (7)/slider rotatably mounted at the other end of the support connecting rod (3), the roller (7)/slider is in rolling/sliding fit with the linear sliding groove (6), a rotation center line of the roller (7)/slider rotating around a joint of the roller/slider and the support connecting rod (3) is parallel to an axis of the support shaft (1), and an extension direction of the linear sliding groove (6) is perpendicular to the axis of the support shaft (1).
3. The auxiliary wheel lifting mechanism as claimed in claim 1, wherein the guiding structure comprises a fixed seat, a guide rail arranged on the fixed seat, and a slider rotatably mounted at the other end of the support connecting rod (3), the slider is in sliding fit with the guide rail, a rotation center line of the slider around a joint of the slider and the support connecting rod (3) is parallel to an axis of the support shaft (1), and an extending direction of the guide rail is perpendicular to the axis of the support shaft (1).
4. The auxiliary wheel lifting mechanism as claimed in claim 1, wherein the guiding structure comprises a fixed seat, a screw rod rotatably mounted on the fixed seat and capable of rotating around its central axis, and a nut rotatably mounted at the other end of the support connecting rod (3), the nut is in threaded fit with the screw rod, a rotation center line of the nut rotating around its connection with the support connecting rod (3) is parallel to the axis of the support shaft (1), and the extension direction of the screw rod is perpendicular to the axis of the support shaft (1).
5. Auxiliary wheel lift mechanism according to claim 2, wherein the support links (3) are two and parallel to each other, the auxiliary wheel (4) is rotatably mounted between one end of the two support links (3), and the roller (7)/slider is rotatably mounted between the other end of the two support links (3).
6. The auxiliary wheel lifting mechanism according to claim 5, wherein the first connecting rods (2) are two and arranged in parallel, one end of one first connecting rod (2) far away from the supporting shaft (1) is hinged with one of the supporting connecting rods (3), and the other end of the other first connecting rod (2) far away from the supporting shaft (1) is hinged with the other supporting connecting rod (3).
7. An auxiliary wheel lifting mechanism according to claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that the power assembly comprises a second connecting rod (8) fixedly connected to the supporting shaft (1) and a power unit acting on one end of the second connecting rod (8) far away from the supporting shaft (1), and the direction of the force of the power unit acting on the second connecting rod (8) is perpendicular to the axis of the supporting shaft (1).
8. The auxiliary wheel lifting mechanism according to claim 7, wherein the power unit is an electric push rod (9)/air cylinder/hydraulic cylinder, one end of the electric push rod (9)/air cylinder/hydraulic cylinder close to the second connecting rod (8) is hinged with the second connecting rod (8), and a rotation center line of the electric push rod (9)/air cylinder/hydraulic cylinder around the hinged position of the electric push rod/air cylinder/hydraulic cylinder and the second connecting rod (8) is parallel to the axis of the supporting shaft (1).
9. The utility model provides a wheeled robot, includes base (10), locates left wheel (11) on base (10) left side and locates right wheel (12) on base (10) right side, left wheel (11) and right wheel (12) are coaxial and relative setting, anterior portion and/or rear portion of base (10) are equipped with any one of claims 1-8 auxiliary wheel elevating system, the extending direction of back shaft (1) is parallel with the axis of left wheel (11), works as power component makes under guide structure's the effect when working the other end of support link (3) moves along the fore-and-aft direction of base (10).
10. A wheeled robot according to claim 9, characterised by further comprising a controller for controlling the action of the power assembly and a sensor for detecting whether the auxiliary wheel (4) is in contact with the ground, the signal output of said sensor being connected to the contact signal input of the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517045.8A CN112720407B (en) | 2020-12-21 | 2020-12-21 | Auxiliary wheel lifting mechanism and wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011517045.8A CN112720407B (en) | 2020-12-21 | 2020-12-21 | Auxiliary wheel lifting mechanism and wheeled robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112720407A CN112720407A (en) | 2021-04-30 |
| CN112720407B true CN112720407B (en) | 2022-08-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011517045.8A Active CN112720407B (en) | 2020-12-21 | 2020-12-21 | Auxiliary wheel lifting mechanism and wheeled robot |
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| Country | Link |
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| CN (1) | CN112720407B (en) |
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| CN117297894A (en) * | 2022-06-23 | 2023-12-29 | 毕威泰克(浙江)医疗器械有限公司 | Electric auxiliary driving device and sickbed with same |
| CN115027582B (en) * | 2022-06-29 | 2023-04-14 | 哈尔滨学院 | 5G robot |
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