CN112998967A - Rescue vehicle with complex terrain passing capability and driving method thereof - Google Patents
Rescue vehicle with complex terrain passing capability and driving method thereof Download PDFInfo
- Publication number
- CN112998967A CN112998967A CN202110198227.1A CN202110198227A CN112998967A CN 112998967 A CN112998967 A CN 112998967A CN 202110198227 A CN202110198227 A CN 202110198227A CN 112998967 A CN112998967 A CN 112998967A
- Authority
- CN
- China
- Prior art keywords
- main shaft
- sleeve
- assembly
- winding
- clutch
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004804 winding Methods 0.000 claims abstract description 57
- 238000005096 rolling process Methods 0.000 claims abstract description 18
- 210000000078 claw Anatomy 0.000 claims description 57
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 12
- 230000009191 jumping Effects 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 8
- 238000005452 bending Methods 0.000 abstract description 5
- 230000004888 barrier function Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 206010044048 Tooth missing Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
Abstract
The invention discloses a rescue vehicle with complex terrain passing capability and an operation method thereof. A plurality of utility wheel modules are all installed on the frame. The multifunctional wheel module comprises a base, a spindle driving assembly, wheels, an obstacle crossing assembly and a clutch assembly. The obstacle crossing assembly is positioned between the wheels and the base. The obstacle crossing assembly comprises a sleeve, an elastic strip, a pull rope and a winding assembly. The sleeve is connected to the main shaft. The inner end of the elastic strip is fixed with the outer side surface of the sleeve. The elastic strip is in a bending shape, and the outer convex surface is provided with a plurality of anti-skid convex blocks. The obstacle climbing device can realize the climbing over of the obstacle by utilizing the characteristic that the bent elastic strip can abut against the upper edge of the obstacle on the rotating shaft; simultaneously, utilize the bending degree that the rolling subassembly can adjust the elasticity strip to use the barrier of co-altitude and roughness, and can reduce the influence when normally traveling to the wheel after the elasticity strip is crooked.
Description
Technical Field
The invention belongs to the technical field of complex terrain passing equipment, and particularly relates to a rescue vehicle with complex terrain passing capability and a driving method thereof.
Background
At present, most of rescue vehicles in the market can only perform wheel movement or crawler belt walking, have single function, are often incapable of being normally used due to the limitation of wheel track size and power in the environment with complicated and variable terrain, are unstable and have large limitation, and are difficult to adapt to various complicated terrains including obstacles, steps and gullies in the rescue work.
Disclosure of Invention
The invention aims to provide a rescue vehicle with complex terrain passing capability and a driving method thereof.
The invention relates to a rescue vehicle with complex terrain passing capability, which comprises a vehicle frame and a multifunctional wheel module. A plurality of multi-functional wheel modules are all installed on the frame. The multifunctional wheel module comprises a base, a spindle driving assembly, wheels, an obstacle crossing assembly and a clutch assembly. The base is fixed with the edge of the frame. The main shaft with the axis horizontally arranged is supported on the base; the spindle is driven by a spindle drive assembly. The wheel is fixed on the main shaft.
The obstacle crossing assembly is positioned between the wheels and the base. The obstacle crossing assembly comprises a sleeve, an elastic strip, a pull rope and a winding assembly. The sleeve is connected to the main shaft. The inner end of the elastic strip is fixed with the outer side surface of the sleeve. The elastic strip is in a bending shape, and the outer convex surface is provided with a plurality of anti-skid lugs. The outer end of the pull rope is fixed with the outer end of the elastic strip. The inner end of the pull rope is connected to the take-up assembly. The rolling component can roll and release the pull rope.
Preferably, the winding assembly comprises a winding motor, a winding roller, a winding driving gear and a winding driven gear. The winding motor is fixed on the side surface of the sleeve. The winding roller is supported on the side surface of the sleeve; the inner end of the pull rope is wound and fixed on the winding roller. The winding driving gear, the winding driven gear, the winding motor and the winding roller are respectively fixed. The rolling driving gear is meshed with the rolling driven gear.
Preferably, the rolling driving gear adopts an incomplete gear.
Preferably, the sleeve is sleeved on the main shaft; the sleeve and the main shaft are engaged and disengaged through a clutch assembly.
Preferably, the clutch assembly comprises a first clutch claw, a second clutch claw, a first annular pull disc, a second annular pull disc, a shape memory alloy strip and a return spring. The first clutch claw is fixed with the main shaft. The second clutch claw is fixed with the end part of the sleeve. And locking teeth matched with each other are arranged on the opposite side surfaces of the first clutch claw and the second clutch claw. The first annular pull disc is sleeved on the sleeve; the second annular pull disc is sleeved on the main shaft. The first clutch claw and the second clutch claw are positioned between the first annular pull disc and the second annular pull disc. A plurality of reset springs and a plurality of shape memory alloy strips are arranged between the opposite side surfaces of the first annular pull disc and the second annular pull disc. When the shape memory alloy strip is electrified, the shape memory alloy strip is shortened, and the first clutch claw is in butt joint with the second clutch claw. When the shape memory alloy strip is powered off, the first clutch claw is separated from the second clutch claw.
Preferably, a friction locking assembly is arranged between the sleeve and the main shaft. The friction locking assembly comprises a friction ring and a friction rod. The friction ring is fixed at the end of the sleeve close to the base. One end of the friction rod is fixed with the base, and the other end of the friction rod corresponds to the position of the friction ring.
Preferably, the friction bar is disengaged from the friction ring when the clutch assembly engages the sleeve with the spindle, and the friction bar is in contact with the friction ring when the clutch assembly disengages the sleeve from the spindle.
Preferably, the spindle drive assembly includes a spindle power motor and a spindle drive gear. The main shaft power motor is fixed on the base; the two main shaft driving gears are respectively fixed with an output shaft of the main shaft power motor and the main shaft. The two spindle drive gears mesh.
Preferably, the number of the multifunctional wheel modules is four; and the four multifunctional wheel modules are arranged on two sides of the frame in a group of two multifunctional wheel modules.
The driving method of the rescue vehicle with the complex terrain passing capacity comprises the following specific steps:
when the multifunctional wheel module runs on a road and does not meet an obstacle, the winding components in the multifunctional wheel modules wind the pull ropes. Simultaneously, the clutch assembly separates the main shaft from the sleeve. Each main shaft rotates to drive the wheels to rotate, so that the rescue vehicle runs on the ground.
When the multifunctional wheel module needs to cross an obstacle, the rolling assembly in the multifunctional wheel module releases the pull rope, so that the elastic strip stretches and unfolds under the action of the elastic force of the elastic strip; a clutch assembly engages the spindle with the sleeve; the main shaft drives the elastic strip to rotate together with the wheel; the elastic strip is pressed against the edge of the obstacle, so that the vehicle frame is lifted to pass over the obstacle.
When jumping is required, the clutch assembly enables the main shaft to be engaged with the sleeve; rotating the elastic strips to the oblique lower side of one side of the main shaft away from the gullies or the obstacles through the rotation of the main shaft; when the elastic strip is rolled to the limit position, the rolling driving gear is an incomplete gear, and the rolling driven gear loses obstruction; the elastic strip can be quickly flicked under the action of elastic force to drive the whole vehicle frame to jump.
The invention has the beneficial effects that:
1. the obstacle climbing device can realize the climbing over of the obstacle by utilizing the characteristic that the bent elastic strip can abut against the upper edge of the obstacle on the rotating shaft; simultaneously, utilize the bending degree that the rolling subassembly can adjust the elasticity strip to use the barrier of co-altitude and coarse degree, and can reduce the influence when normally traveling to the wheel after the elasticity strip is crooked, thereby kept the fast advantage of circular wheel speed of traveling.
2. When the clutch assembly is separated, the friction ring and the friction rod are used for locking the elastic strip, so that the elastic strip is kept at a higher position when not used, and the influence of the elastic strip on normal running is further avoided.
3. The invention uses the incomplete gear to roll the elastic strip, realizes the instant release of the elastic strip, and thus provides the bouncing function for the rescue vehicle.
Drawings
FIG. 1 is a schematic view of the present invention in a walking mode;
FIG. 2 is a schematic structural diagram of the present invention in an obstacle crossing mode;
fig. 3 is a first structural schematic view of the multifunction wheel module of the present invention;
FIG. 4 is a schematic view of a clutch assembly of the present invention (partially enlarged view of portion A of FIG. 4);
fig. 5 is a second structural view of the multifunction wheel module of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the rescue vehicle with complex terrain passing capability comprises a vehicle frame, a multifunctional wheel module 2, a controller and a wireless module. The controller adopts the micro-control board that the model is arduino 2560. The controller and the wireless module are both arranged in the frame 1. The wireless module is in wireless communication with the upper computer. The frame 1 is provided with a detection sensor and a rescue apparatus. Four multi-functional wheel modules are installed at two sides of the frame in pairs. The multifunction wheel module 2 includes a base 3, a spindle 4, a spindle drive assembly 5, a wheel 6, an obstacle crossing assembly 7, and a clutch assembly 8. The base 3 is fixed to the edge of the frame. A main shaft 4 with a horizontal axis is supported on the base 3; the spindle 4 is driven by a spindle drive assembly 5. The spindle drive assembly 5 includes a spindle power motor 5-1 and a spindle drive gear 5-2. A main shaft power motor 5-1 is fixed on the base 3; the two main shaft driving gears 5-2 are respectively fixed with an output shaft of a main shaft power motor 5-1 and a main shaft 4. The two spindle drive gears 5-2 mesh. The wheel 6 is fixed on the main shaft 4.
As shown in fig. 3 and 5, the obstacle crossing assembly 7 and the clutch assembly 8 are located between the wheel 6 and the base 3. The obstacle crossing assembly 7 comprises a sleeve 7-1, an elastic strip 7-2, a pull rope 7-3 and a winding assembly 7-4. The sleeve 7-1 is sleeved on the main shaft 4 and forms a cylindrical pair with the main shaft 4. The inner end of the elastic strip 7-2 is fixed with the outer side surface of the sleeve 7-1. One side surface of the elastic strip 7-2 is provided with a plurality of anti-skid lugs. The outer end of the pull rope 7-3 is fixed with the outer end of the elastic strip 7-2. The inner end of the pull rope 7-3 is connected to the take-up assembly 7-4. The winding component 7-4 can wind and quickly release the pull rope 7-3. The elastic strip 7-2 is kept bent by the pulling of the pulling rope 7-3. The anti-skid lugs on the elastic strip 7-2 are positioned on the convex side surface of the elastic strip 7-2.
The winding assembly 7-4 comprises a winding motor 7-4-1, a winding roller 7-4-2, a winding driving gear 7-4-3 and a winding driven gear 7-4-4. The winding motor 7-4-1 is fixed on the side surface of the sleeve 7-1. The winding roller 7-4-2 is supported on the side surface of the sleeve 7-1; the inner end of the pull rope 7-3 is wound and fixed on the winding roller 7-4-2. The winding driving gear 7-4-3 and the winding driven gear 7-4-4 are respectively fixed with the winding motor 7-4-1 and the winding roller 7-4-2. And an incomplete gear is adopted as the winding driving gear 7-4-3. The winding driving gear 7-4-3 is meshed with the winding driven gear 7-4-4. Because the rolling driving gear 7-4-3 is an incomplete gear, when the rolling driving gear 7-4-3 rotates to a certain degree, the tooth-missing part of the rolling driving gear 7-4-3 rotates to the rolling driven gear 7-4-4, the rolling driven gear 7-4-4 loses constraint, and the elastic strip 7-2 pops up under the action of self elasticity, so that the function of bouncing is realized.
As shown in FIG. 4, the clutch assembly 8 includes a first clutch pawl 8-1, a second clutch pawl 8-2, a first annular pull plate 8-3, a second annular pull plate 8-4, a shape memory alloy strip 8-5, a return spring 8-6 and a friction lock assembly 9. The first clutch claw 8-1 is fixed with the main shaft 4. The second clutch pawl 8-2 is fixed with the end of the sleeve 7-1. The opposite side surfaces of the first clutch claw 8-1 and the second clutch claw 8-2 are provided with mutually matched locking teeth. When the second clutch claw 8-2 is driven by the sleeve 7-1 to slide to a state of being butted with the first clutch claw 8-1; the first clutch claw 8-1 and the second clutch claw 8-2 are locked with each other and kept fixed. At this time, the sleeve 7-1 is fixed with the main shaft 4; when the first clutch claw 8-1 is separated from the second clutch claw 8-2, the sleeve 7-1 and the main shaft 4 can rotate relatively.
The first annular pull disc 8-3 is sleeved on the sleeve 7-1 and is fixed with the sleeve 7-1 or forms a revolute pair; the second annular pull disc 8-4 is sleeved on the main shaft 4 and forms a rotating pair with the main shaft 4. The first clutch claw 8-1 and the second clutch claw 8-2 are positioned between the first annular pull disc 8-3 and the second annular pull disc. A plurality of return springs 8-6 and a plurality of shape memory alloy strips 8-5 are arranged between the opposite side surfaces of the first annular pull disc 8-3 and the second annular pull disc. When the shape memory alloy strip 8-5 is electrified, the distance between the first annular pull disc 8-3 and the second annular pull disc is shortened, so that the sleeve 7-1 is driven to move, and the first clutch claw 8-1 is in butt joint with the second clutch claw 8-2. When the shape memory alloy strip 8-5 is powered off, the first clutch claw 8-1 and the second clutch claw 8-2 are automatically separated under the action of the spring.
The friction locking assembly 9 includes a friction ring 9-1 and a friction lever 9-2. The friction ring 9-1 is fixed to the end of the sleeve 7-1 near the base 3. One end of the friction rod 9-2 is fixed with the base 3, and the other end corresponds to the position of the friction ring 9-1. When the first clutch claw 8-1 is engaged with the second clutch claw 8-2, the friction lever 9-2 is separated from the friction ring 9-1 so as not to block the sleeve 7-1 from rotating. When the first clutch claw 8-1 is separated from the second clutch claw 8-2, the friction rod 9-2 is in contact with the friction ring 9-1, so that the sleeve 7-1 cannot rotate under the action of friction force, and the elastic strip 7-2 can be always kept suspended in the rotating process of the wheel 6. The first clutch claw 8-1 and the second clutch claw 8-2 are jointed when climbing stairs, so that the elastic strip 7-2 rotates when climbing stairs. Under other working conditions, the first clutch claw 8-1 and the second clutch claw 8-2 are separated, so that the elastic strip 7-2 is kept static.
The multifunction wheel module 2 has three operating states:
in the first working state, the winding motor 7-4-1 drives the winding driving gear 7-4-3 to rotate, the elastic strip 7-2 is bent due to winding of the pull rope 7-3 to reduce resistance, the spindle driving assembly 5 drives the wheel 6 to rotate, and the state is used for normal driving.
In the second working state, the clutch component 8 is electrified, the second clutch claw 8-1 is connected with the first clutch claw 8-2, the bending length of the elastic strip 7-2 is larger than the radius of the wheel 6, the elastic strip 7-2 rotates around the main shaft along with the wheel 6, and the elastic strip 7-2 utilizes the anti-skid lugs to clamp the edge of the step or the barrier so as to realize the assistance of climbing upwards. This state is used to climb stairs or pass over obstacles.
In the third working state, the winding driving gear 7-4-3 rotates 360 degrees, and due to tooth missing, the elastic strip 7-2 contracts first and then springs open quickly, so that jumping is realized.
The rescue vehicle with the complex terrain passing capability has two working modes, namely a walking mode and a stair climbing mode. The six multifunctional wheel modules are sequentially defined as a left front wheel, a left rear wheel, a right front wheel and a right rear wheel along the circumferential direction of the frame.
The driving method of the rescue vehicle with the complex terrain passing capacity comprises the following specific steps:
when the vehicle runs on a road and does not meet an obstacle, the winding motors in the multifunctional wheel modules 2 rotate positively to wind the pull ropes, so that the elastic strips are bent to the maximum degree under the action of the pull ropes. Meanwhile, 8-5 parts of the shape memory alloy strip are powered off, the first clutch claw and the second clutch claw are automatically separated under the action of the spring, the first clutch claw and the second clutch claw are separated, and the friction rod is in contact with the friction ring, so that the sleeve cannot rotate under the action of friction force, the elastic strip can be always kept suspended in the air in the rotating process of the wheel, and the interference of the elastic body to driving is avoided. And finally, each main shaft power motor rotates, the two main shaft power gears are meshed, and the wheels rotate, so that the rescue vehicle runs on the ground.
When an obstacle or a step with the height smaller than the threshold value is encountered, the winding motor in the multifunctional wheel module 2 rotates reversely, the pull rope is released, the elastic strip stretches and expands under the action of the self elastic force, the shape memory alloy strip is electrified and shortens, the distance between the first annular pull disc and the second annular pull disc is shortened, the sleeve is driven to move, and when the second clutch claw slides to be in butt joint with the first clutch claw under the driving of the sleeve; the first clutch claw and the second clutch claw are locked and kept fixed with each other, and the friction rod is separated from the friction ring, so that the elastic strip can rotate along with the wheel. The four wheels continue to rotate, and the convex blocks on the elastic strips in the two multifunctional wheel modules 2 positioned on the front side of the frame are firstly propped against the edge of the obstacle or the step. Then, the two elastic strips rotate to enable the front part of the frame to go over an obstacle or a step; then, the four elastic strips continue to rotate, and the rear part of the vehicle is provided with an obstacle or a step; in addition, the rescue vehicle can continue to drive upwards on steps with a single-level height not exceeding a limit value according to the principle.
When meeting barriers or steps with gullies or heights larger than or equal to the threshold value, the frame is adjusted to a state that the tail part faces forwards; the shape memory alloy strip is electrified and shortened, so that the elastic strip is fixed with the main shaft; the elastic strips are rotated to the oblique lower side of one side of the main shaft away from gullies, obstacles or steps through the rotation of the main shaft; when the elastic strip is wound to the limit position, the winding driving gear 7-4-3 is an incomplete gear, and the winding driven gear loses obstruction; the elastic strips 7-2 are quickly bounced off under the action of the elasticity of the elastic strips to drive the whole vehicle frame to jump, so that the vehicle frame can cross a gully, an obstacle or a step.
Claims (10)
1. A rescue vehicle with complex terrain passing capability comprises a vehicle frame and a multifunctional wheel module (2); the multifunctional wheel modules are all arranged on the frame; the method is characterized in that: the multifunctional wheel module (2) comprises a base (3), a main shaft (4), a main shaft driving assembly (5), wheels (6), an obstacle crossing assembly (7) and a clutch assembly (8); the base (3) is fixed with the edge of the frame; a main shaft (4) with a horizontal axis is supported on the base (3); the main shaft (4) is driven by a main shaft driving component (5); the wheels (6) are fixed on the main shaft (4);
the obstacle crossing assembly (7) is positioned between the wheels (6) and the base (3); the obstacle crossing assembly (7) comprises a sleeve (7-1), an elastic strip (7-2), a pull rope (7-3) and a winding assembly (7-4); the sleeve (7-1) is connected to the main shaft (4); the inner end of the elastic strip (7-2) is fixed with the outer side surface of the sleeve (7-1); the elastic strip (7-2) is in a bent shape, and the outer convex surface is provided with a plurality of anti-skid lugs; the outer end of the pull rope (7-3) is fixed with the outer end of the elastic strip (7-2); the inner end of the pull rope (7-3) is connected to the coiling component (7-4); the winding component (7-4) can wind and release the pull rope (7-3).
2. The rescue vehicle with complex terrain passing capability of claim 1, characterized in that: the winding assembly (7-4) comprises a winding motor (7-4-1), a winding roller (7-4-2), a winding driving gear (7-4-3) and a winding driven gear (7-4-4); the winding motor (7-4-1) is fixed on the side surface of the sleeve (7-1); the winding roller (7-4-2) is supported on the side surface of the sleeve (7-1); the inner end of the pull rope (7-3) is wound and fixed on the winding roller (7-4-2); the winding driving gear (7-4-3), the winding driven gear (7-4-4) and the winding motor (7-4-1) and the winding roller (7-4-2) are respectively fixed; the rolling driving gear (7-4-3) is meshed with the rolling driven gear (7-4-4).
3. The rescue vehicle with complex terrain passing capability of claim 2, characterized in that: the rolling driving gear (7-4-3) adopts an incomplete gear.
4. The rescue vehicle with complex terrain passing capability of claim 3, characterized in that: the sleeve (7-1) is sleeved on the main shaft (4); the sleeve (7-1) and the main shaft (4) are connected and separated through a clutch component (8).
5. The rescue vehicle with complex terrain passing capability of claim 4, characterized in that: the clutch component (8) comprises a first clutch claw (8-1), a second clutch claw (8-2), a first annular pull disc (8-3), a second annular pull disc (8-4), a shape memory alloy strip (8-5) and a return spring (8-6); the first clutch claw (8-1) is fixed with the main shaft (4); the second clutch claw (8-2) is fixed with the end part of the sleeve (7-1); locking teeth matched with each other are arranged on the opposite side surfaces of the first clutch claw (8-1) and the second clutch claw (8-2); the first annular pull disc (8-3) is sleeved on the sleeve (7-1); the second annular pull disc (8-4) is sleeved on the main shaft (4); the first clutch claw (8-1) and the second clutch claw (8-2) are positioned between the first annular pull disc (8-3) and the second annular pull disc; a plurality of reset springs (8-6) and a plurality of shape memory alloy strips (8-5) are arranged between the opposite side surfaces of the first annular pull disc (8-3) and the second annular pull disc; when the shape memory alloy strip (8-5) is electrified, the shape memory alloy strip is shortened, and the first clutch claw (8-1) is butted with the second clutch claw (8-2); when the shape memory alloy strip (8-5) is powered off, the first clutch claw (8-1) is separated from the second clutch claw (8-2).
6. The rescue vehicle with complex terrain passing capability of claim 4, characterized in that: a friction locking assembly (9) is arranged between the sleeve (7-1) and the main shaft (4); the friction locking assembly (9) comprises a friction ring (9-1) and a friction rod (9-2); the friction ring (9-1) is fixed at the end part of the sleeve (7-1) close to the base (3); one end of the friction rod (9-2) is fixed with the base (3), and the other end of the friction rod corresponds to the friction ring (9-1).
7. The rescue vehicle with complex terrain passing capability of claim 6, characterized in that: when the clutch assembly connects the sleeve (7-1) and the main shaft (4), the friction rod (9-2) is separated from the friction ring (9-1), and when the clutch assembly separates the sleeve (7-1) and the main shaft (4), the friction rod (9-2) is contacted with the friction ring (9-1).
8. The rescue vehicle with complex terrain passing capability of claim 1, characterized in that: the spindle driving assembly (5) comprises a spindle power motor (5-1) and a spindle driving gear (5-2); a main shaft power motor (5-1) is fixed on the base (3); the two main shaft driving gears (5-2) are respectively fixed with an output shaft of a main shaft power motor (5-1) and a main shaft (4); two main shaft driving gears (5-2) are meshed.
9. The rescue vehicle with complex terrain passing capability of claim 1, characterized in that: the number of the multifunctional wheel modules is four; four multi-functional wheel modules are installed at two sides of the frame in pairs.
10. The method for driving the rescue vehicle with the complex terrain passing capability according to claim 4, characterized in that: when the multifunctional wheel module runs on a road and does not meet an obstacle, the winding components (7-4) in the multifunctional wheel modules (2) wind the pull ropes; meanwhile, the main shaft is separated from the sleeve (7-1) by the clutch component; each main shaft rotates to drive the wheels to rotate, so that the rescue vehicle runs on the ground;
when the multifunctional wheel module (2) needs to cross an obstacle, the rolling assembly (7-4) in the multifunctional wheel module (2) releases the pull rope, so that the elastic strip stretches and unfolds under the action of the elastic force of the elastic strip; the clutch assembly enables the main shaft to be engaged with the sleeve (7-1); the main shaft drives the elastic strip (7-2) to rotate together with the wheel; the elastic strip (7-2) is pressed against the edge of the obstacle, so that the vehicle frame is lifted to pass over the obstacle;
when jumping is required, the clutch assembly enables the main shaft to be engaged with the sleeve (7-1); rotating the elastic strips to the oblique lower side of one side of the main shaft away from gullies or obstacles through the rotation of the main shaft; when the elastic strip is wound to the limit position, the winding driving gear (7-4-3) is an incomplete gear, and the winding driven gear loses obstruction; the elastic strip (7-2) can be quickly bounced off under the action of the elasticity of the elastic strip to drive the whole vehicle frame to realize jumping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110198227.1A CN112998967B (en) | 2021-02-22 | 2021-02-22 | Rescue vehicle with complex terrain passing capability and driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110198227.1A CN112998967B (en) | 2021-02-22 | 2021-02-22 | Rescue vehicle with complex terrain passing capability and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112998967A true CN112998967A (en) | 2021-06-22 |
| CN112998967B CN112998967B (en) | 2022-08-16 |
Family
ID=76406234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110198227.1A Active CN112998967B (en) | 2021-02-22 | 2021-02-22 | Rescue vehicle with complex terrain passing capability and driving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112998967B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1188943A (en) * | 1966-09-08 | 1970-04-22 | Queen Mary College | Climbing Wheels. |
| JP2003136901A (en) * | 2001-11-07 | 2003-05-14 | Shimazu Mectem Inc | Traveling device |
| JP2004049346A (en) * | 2002-07-17 | 2004-02-19 | Kaneso Co Ltd | Step overcoming device for carrying vehicle such as wheelchair |
| TW200920337A (en) * | 2007-11-07 | 2009-05-16 | Univ Kao Yuan | Wheels for climbing the stairs |
| CN202605146U (en) * | 2012-07-03 | 2012-12-19 | 王正发 | Electrical stair climbing vehicle |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN203681688U (en) * | 2013-11-28 | 2014-07-02 | 上海理工大学 | Stairway climbing mechanism |
| CN104477265A (en) * | 2014-11-21 | 2015-04-01 | 江苏天绘智能科技有限公司 | Wheel-type stair climbing vehicle |
| CN206080885U (en) * | 2016-06-28 | 2017-04-12 | 陈明 | Novel level land, dual -purpose wheelchair of stair |
| CN206317866U (en) * | 2016-10-10 | 2017-07-11 | 广西大学 | A kind of express delivery heavy object carrying device |
| CN206900505U (en) * | 2017-06-28 | 2018-01-19 | 杭州师范大学钱江学院 | A kind of bionic kangaroo-hopping robot |
| CN207241835U (en) * | 2017-09-12 | 2018-04-17 | 山东协和学院 | A kind of barrier-surpassing robot |
| CN110279528A (en) * | 2019-07-29 | 2019-09-27 | 上海尊颐智能科技有限公司 | A kind of opening wheeled electrical stairs-mover and its operation method |
| US20200023674A1 (en) * | 2017-02-08 | 2020-01-23 | Kerostin Medical | Wheel system and associated transport device |
| CN110901784A (en) * | 2019-11-26 | 2020-03-24 | 北京工业大学 | Wheel-foot integrated special hexapod robot based on OS wheel |
| CN111920604A (en) * | 2020-07-29 | 2020-11-13 | 佛山市妇幼保健院 | Stair climbing wheelchair chassis and wheelchair |
| CN112172956A (en) * | 2020-10-13 | 2021-01-05 | 中原动力智能机器人有限公司 | Four-wheel quadruped robot chassis |
-
2021
- 2021-02-22 CN CN202110198227.1A patent/CN112998967B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1188943A (en) * | 1966-09-08 | 1970-04-22 | Queen Mary College | Climbing Wheels. |
| JP2003136901A (en) * | 2001-11-07 | 2003-05-14 | Shimazu Mectem Inc | Traveling device |
| JP2004049346A (en) * | 2002-07-17 | 2004-02-19 | Kaneso Co Ltd | Step overcoming device for carrying vehicle such as wheelchair |
| TW200920337A (en) * | 2007-11-07 | 2009-05-16 | Univ Kao Yuan | Wheels for climbing the stairs |
| CN202605146U (en) * | 2012-07-03 | 2012-12-19 | 王正发 | Electrical stair climbing vehicle |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN203681688U (en) * | 2013-11-28 | 2014-07-02 | 上海理工大学 | Stairway climbing mechanism |
| CN104477265A (en) * | 2014-11-21 | 2015-04-01 | 江苏天绘智能科技有限公司 | Wheel-type stair climbing vehicle |
| CN206080885U (en) * | 2016-06-28 | 2017-04-12 | 陈明 | Novel level land, dual -purpose wheelchair of stair |
| CN206317866U (en) * | 2016-10-10 | 2017-07-11 | 广西大学 | A kind of express delivery heavy object carrying device |
| US20200023674A1 (en) * | 2017-02-08 | 2020-01-23 | Kerostin Medical | Wheel system and associated transport device |
| CN206900505U (en) * | 2017-06-28 | 2018-01-19 | 杭州师范大学钱江学院 | A kind of bionic kangaroo-hopping robot |
| CN207241835U (en) * | 2017-09-12 | 2018-04-17 | 山东协和学院 | A kind of barrier-surpassing robot |
| CN110279528A (en) * | 2019-07-29 | 2019-09-27 | 上海尊颐智能科技有限公司 | A kind of opening wheeled electrical stairs-mover and its operation method |
| CN110901784A (en) * | 2019-11-26 | 2020-03-24 | 北京工业大学 | Wheel-foot integrated special hexapod robot based on OS wheel |
| CN111920604A (en) * | 2020-07-29 | 2020-11-13 | 佛山市妇幼保健院 | Stair climbing wheelchair chassis and wheelchair |
| CN112172956A (en) * | 2020-10-13 | 2021-01-05 | 中原动力智能机器人有限公司 | Four-wheel quadruped robot chassis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112998967B (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4635259B2 (en) | Crawler robot | |
| CN107985443B (en) | Wheeled multi-ground adaptive vehicle and obstacle crossing method thereof | |
| CN112998967B (en) | Rescue vehicle with complex terrain passing capability and driving method thereof | |
| JP2008285157A (en) | Stair climbing vehicle | |
| CN102514640B (en) | Deformable rescue robot | |
| KR101409203B1 (en) | Driving apparatus for triangle wheel | |
| CN112172902B (en) | Stair climbing logistics trolley with adjustable triangular wheel train and stair climbing method thereof | |
| CN111636320A (en) | Intelligent deceleration strip | |
| JP5856724B2 (en) | Vehicle with crank wheels | |
| KR101094740B1 (en) | movable robot using caterpillar | |
| CN206705579U (en) | A kind of capstan winch | |
| CN103342138B (en) | Wheel crawler belt mobile device and wheel crawler belt thereof | |
| CN211308772U (en) | Self-adaptive under-actuated tracked robot | |
| CN210592195U (en) | Multifunctional universal robot chassis | |
| CN112078678A (en) | Deformable composite chassis of nuclear emergency robot and application method thereof | |
| CN111409727A (en) | Method for realizing stair climbing of robot | |
| CN112937235B (en) | Road-air dual-purpose unmanned aerial vehicle with stair climbing and jumping functions and operation method thereof | |
| CN204021033U (en) | Wheel is carried out the variable crawler type robot running gear of combination | |
| CN201099275Y (en) | Trolley for climbing steps | |
| CN104760629A (en) | Ladder climbing mechanism | |
| CN112407089B (en) | Stair climbing logistics trolley with tail end lifting capability and stair climbing method thereof | |
| CN112895816A (en) | Automobile tire climbs mud pit auxiliary device | |
| CN206734436U (en) | A kind of running gear of robot | |
| CN111874113A (en) | Crawler-type walking obstacle avoidance mechanism | |
| CN212473409U (en) | Auxiliary parking device of automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240229 Address after: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Hangzhou City, Zhejiang province 310036 Xiasha Higher Education Park forest Street No. 16 Patentee before: HANGZHOU NORMAL UNIVERSITY QIANJIANG College Country or region before: China |
|
| TR01 | Transfer of patent right |