CN115465385A - Moving device with variable wheelbase and variable height - Google Patents
Moving device with variable wheelbase and variable height Download PDFInfo
- Publication number
- CN115465385A CN115465385A CN202211112616.9A CN202211112616A CN115465385A CN 115465385 A CN115465385 A CN 115465385A CN 202211112616 A CN202211112616 A CN 202211112616A CN 115465385 A CN115465385 A CN 115465385A
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- wheel
- height
- variable
- telescopic rod
- electric telescopic
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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
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a movement device with a variable wheel base and a variable height. The device is suitable for robots, vehicles and the like which cross obstacles and climb stairs. The motion device comprises: the telescopic device comprises a support pair containing a telescopic device, a spring sleeved outside the support pair, and two sliding blocks moving along the axial direction of the telescopic device, wherein the support pair is stressed to compress the spring so as to compress a telescopic rod, so that the distance between two wheel shafts can be changed; the two ends of the bracket pair are hinged with the damping telescopic rods and the electric telescopic rods hinged with the sliding blocks and the damping telescopic rods, and the distance between the two ends of the electric telescopic rods is changed, so that the height of the movement device can be changed; 2 arrange 4 independent drive wheels, the wheel with the damping telescopic link is articulated, and the telecontrol equipment turns to with the speed difference mode, turns to. The exercise device application includes: 1. stair climbing based on variable wheelbase and variable height motion. 2. Obstacle crossing based on variable height motion.
Description
Technical Field
The invention relates to a movement device with a variable wheel base and a variable height. The device is suitable for robots, vehicles and the like which cross obstacles and climb stairs.
Background
At present, most of wheelbases of various sports devices are fixed wheelbases and fixed heights. The moving device has the advantages of simple structure and reliable movement, but the obstacle crossing capability is poor. No moving device with variable wheelbase and variable height has been found.
Disclosure of Invention
The invention aims to provide a moving device with a variable wheelbase and a variable height and partial application thereof. The device is suitable for robots, vehicles and the like which cross obstacles and climb stairs.
A variable wheelbase and variable height exercise device, comprising: the movement device can move by taking the wheel base change, the height change and the push-pull force generated by the independent driving wheel as the driving force; the components of the method comprise: the device comprises a wheel base changing mechanism, a height changing mechanism and an independent driving mechanism;
(1) The wheel base changing mechanism includes: the support pair comprises a telescopic device, a spring sleeved outside the support pair, and two sliding blocks moving along the axial direction of the telescopic device, wherein the moving device moves forwards to enable the support pair to bear axial force, and the spring is compressed to change the axle distance of the moving device;
(2) The height changing mechanism includes: the damping telescopic rods are hinged with the two ends of the support pair, the electric telescopic rods are hinged with the sliding block and the damping telescopic rods, and the length of each damping telescopic rod is changed by the stretching of the electric telescopic rods, so that the height of the movement device is changed;
(3) The independent drive mechanism includes: 2 rows of 4 independent driving wheels are hinged with the damping telescopic rod, and the moving device turns to in a speed difference mode.
A stair climbing mode based on movement with variable wheelbase and variable height adopts a movement mode of combining a wheelbase change mechanism and a height change mechanism, wherein an electric telescopic rod of a front row of wheels extends to improve the height of the front row of wheels, an electric telescopic rod of a rear row of wheels shortens to reduce the height of the rear row of wheels, a movement device moves forwards to extrude the vertical plane of the front row of wheels and steps to improve friction force, and a support pair is subjected to axial force, a spring compresses to shorten the wheelbase so that the front row of wheels move on the vertical plane of the steps to cross the steps; after the front row wheel crossed the step, the support pair was not receiving axial force, the spring extension, the wheel base grow, and the electric telescopic handle of front row wheel shortened, reduced front row wheel height, and the electric telescopic handle extension of back row wheel improved back row wheel height, and telecontrol equipment continues forward motion, extrudees back row wheel and step perpendicular, improves frictional force, makes back row wheel move at the step perpendicular, crosses the step, climbs the building.
A height-variable-based obstacle crossing method based on movement adopts a height change mechanism, two rows of four wheels of a movement device are provided, each wheel is shortened by an electric telescopic rod, and when the movement device passes through a road surface with a large obstacle, the height of the wheels is changed by the expansion and contraction of the electric telescopic rods, so that the obstacle crossing is performed.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given with reference to the preferred embodiments in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a variable wheelbase and variable height exercise apparatus;
FIG. 2 is a schematic diagram of a variable wheelbase and variable height motion device;
FIG. 3 is a front view of a variable wheelbase and variable height exercise apparatus;
FIG. 4 is a top view of a variable wheelbase and variable height motion device;
FIG. 5 is a schematic view of the front row wheels becoming higher and the rear row wheels becoming lower when the wheelbase becomes smaller climbing stairs;
FIG. 6 is a schematic view of the stair climbing with the wheelbase increased, the front wheels decreased, and the rear wheels increased;
FIG. 7 is a schematic view of a wheel height-changing obstacle crossing;
the device comprises a spring, an electric telescopic rod, a wheel frame, a damping telescopic rod, a sliding block, a support pair and a cross beam, wherein the spring is 1, the electric telescopic rod is 2, the wheel is 3, the wheel frame is 4, the damping telescopic rod is 5, the sliding block is 6, and the support pair is 7.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention and which, together with the description, serve to explain the principles of the invention. In the referenced drawings, like or similar elements in different drawings are designated with identical reference numerals.
1. A variable wheelbase and variable height exercise device.
The components of the method comprise: the device comprises a wheel base changing mechanism, a height changing mechanism and an independent driving mechanism;
(1) As shown in fig. 1 to 4, the wheel base changing mechanism includes: the support pair (7) comprises a telescopic device, a spring (1) sleeved outside the support pair, and two sliding blocks (6) moving along the axial direction of the telescopic device, wherein the moving device moves forwards to enable the support pair (7) to bear axial force, and the spring (1) compresses, so that the axle distance of the moving device is changed;
(2) As shown in fig. 1 to 4, the height changing mechanism includes: the two ends of the bracket pair (7) are hinged with the damping telescopic rods (5), the sliding blocks (6) and the electric telescopic rods (2) hinged with the damping telescopic rods (5), and the length of the damping telescopic rods (5) is changed by the stretching of the electric telescopic rods (2) so as to change the height of the movement device;
(3) As shown in fig. 1 to 4, the independent driving mechanism includes: 2 rows of 4 independent driving wheels (3), the wheels (3) are hinged with a wheel frame (4), the wheel frame (4) is hinged with a damping telescopic rod (5), and the movement device turns in a speed difference mode to steer.
2. A stair climbing mode based on movement with variable wheelbase and variable height adopts a movement mode of combining a wheelbase change mechanism and a height change mechanism, as shown in figure 5, an electric telescopic rod of a front row of wheels extends to enable a slide block to move towards a direction close to a spring, a damping telescopic rod extends to improve the height of the front row of wheels, an electric telescopic rod of a rear row of wheels shortens to enable the slide block to move towards the direction close to the wheels, the damping telescopic rod shortens to reduce the height of the rear row of wheels, a movement device moves forwards to extrude the vertical plane of the front row of wheels and a step to improve friction force, and a support pair is subjected to axial force, the spring compresses and shortens the wheelbase to enable the front row of wheels to move on the vertical plane of the step to cross the step; as shown in fig. 6, when the front wheels cross the step, the support pair is not subjected to axial force, the spring is extended, the wheel base is increased, the electric telescopic rod of the front wheels is shortened, the slider is moved in the direction close to the wheels, the damping telescopic rod is shortened, the height of the front wheels is reduced, the electric telescopic rod of the rear wheels is extended, the slider is moved in the direction close to the spring, the damping telescopic rod is extended, the height of the rear wheels is increased, the moving device continues to move forwards, the rear wheels and the step vertical surface are squeezed, the friction force is increased, the rear wheels move on the step vertical surface, and the stairs are climbed.
3. Based on the mode of moving obstacle crossing with variable height, a height changing mechanism is adopted, as shown in fig. 7, two rows of four wheels of the moving device are provided, each wheel is provided with an independent electric telescopic rod, when the moving device passes through a road surface with a large obstacle, the length of the damping telescopic rod is changed by changing the extension and retraction of the electric telescopic rod of any wheel, so that the height of the wheel is changed, and the obstacle crossing function is realized.
Claims (5)
1. A variable wheelbase and variable height exercise device, comprising: the movement device can move by taking the wheel base change, the height change and the push-pull force generated by the independent driving wheel as the driving force; the composition comprises: the device comprises a wheel base change mechanism, a height change mechanism and an independent driving mechanism;
the wheel base changing mechanism includes: the device comprises a bracket pair containing a telescopic device, a spring sleeved outside the bracket pair, and two sliding blocks moving along the axial direction of the telescopic device;
the height changing mechanism includes: the damping telescopic rods are hinged with the two ends of the support pair, and the electric telescopic rods are hinged with the sliding block and the damping telescopic rods;
the independent drive mechanism includes: 2 rows of 4 independent driving wheels are hinged with a wheel frame, the wheel frame is hinged with the damping telescopic rod, and the movement device turns in a speed difference mode.
2. A variable wheelbase and variable height exercise apparatus according to claim 1, wherein: the wheel base changing mechanism moves forwards through the moving device, the support pair is stressed by axial force, the spring is compressed, the telescopic rod is compressed, and therefore the wheel base of the two wheels can be changed.
3. A variable wheelbase and variable height exercise apparatus according to claim 1, wherein: the damping telescopic rod, the sliding block and the electric telescopic rod of the height changing mechanism are arranged in a right triangle, the damping telescopic rod is in a pressed state, and the distance between the two ends of the electric telescopic rod is changed, so that the height of the movement device can be changed.
4. The utility model provides a building mode is climbed in motion based on variable wheel base and variable height which characterized in that: by adopting the device as claimed in claim 1, the electric telescopic rod of the front row wheel is extended to increase the height of the front row wheel, the electric telescopic rod of the rear row wheel is shortened to reduce the height of the rear row wheel, the moving device moves forwards to press the vertical plane of the front row wheel and the step, so as to increase the friction force, and the bracket pair is subjected to the axial force, the spring is compressed, and the axle distance is shortened, so that the front row wheel moves on the vertical plane of the step and goes over the step; after the step is crossed to the front-seat wheel, the support pair is not receiving axial force, the spring extension, and the wheel base grow, the electric telescopic handle of front-seat wheel shortens, reduces the front-seat wheel height, and the electric telescopic handle extension of back-seat wheel improves back-seat wheel height, extrudes back-seat wheel and step perpendicular, improves frictional force, makes the back-seat wheel move at the step perpendicular, crosses the step, climbs the building.
5. A movement obstacle crossing mode based on variable height is characterized in that: by adopting the device as claimed in claim 1, each wheel is provided with an independent electric telescopic rod, and the height of the wheel can be changed by the expansion and contraction of the electric telescopic rods, so that the obstacle crossing function is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211112616.9A CN115465385A (en) | 2022-09-14 | 2022-09-14 | Moving device with variable wheelbase and variable height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211112616.9A CN115465385A (en) | 2022-09-14 | 2022-09-14 | Moving device with variable wheelbase and variable height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115465385A true CN115465385A (en) | 2022-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211112616.9A Pending CN115465385A (en) | 2022-09-14 | 2022-09-14 | Moving device with variable wheelbase and variable height |
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| Country | Link |
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| CN (1) | CN115465385A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116336344A (en) * | 2023-04-11 | 2023-06-27 | 东莞市川晟模具有限公司 | Intelligent security patrol robot |
| CN117429277A (en) * | 2023-12-21 | 2024-01-23 | 上海易咖智车科技有限公司 | Unmanned vehicle step-crossing control method and device, unmanned vehicle and storage medium |
-
2022
- 2022-09-14 CN CN202211112616.9A patent/CN115465385A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116336344A (en) * | 2023-04-11 | 2023-06-27 | 东莞市川晟模具有限公司 | Intelligent security patrol robot |
| CN117429277A (en) * | 2023-12-21 | 2024-01-23 | 上海易咖智车科技有限公司 | Unmanned vehicle step-crossing control method and device, unmanned vehicle and storage medium |
| CN117429277B (en) * | 2023-12-21 | 2024-02-23 | 上海易咖智车科技有限公司 | Unmanned vehicle step-crossing control method and device, unmanned vehicle and storage medium |
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