CN204264309U - Rack-and-gear Variable Eccentricity Stump-jump wheel - Google Patents
Rack-and-gear Variable Eccentricity Stump-jump wheel Download PDFInfo
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- CN204264309U CN204264309U CN201420786662.1U CN201420786662U CN204264309U CN 204264309 U CN204264309 U CN 204264309U CN 201420786662 U CN201420786662 U CN 201420786662U CN 204264309 U CN204264309 U CN 204264309U
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- gear
- circle wheel
- wheel
- rack
- dynamical axis
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Abstract
The utility model discloses a kind of rack-and-gear Variable Eccentricity Stump-jump wheel, comprise circle wheel, dynamical axis, gear and and the tooth bar of gears meshing, described gear and dynamical axis are in transmission connection, described tooth bar is fixed on circle wheel, described circle wheel is provided with the support limit frame preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.The utility model adjusts eccentric throw by rack-and-gear, it level land is wheeled advance, running into obstacle switches to centering type to advance, wheeled and centering type is by the cw of dynamical axis and gear/rotate counterclockwise switching, without the need to adding other engine installation, therefore, very strong mobile efficiency and obstacle climbing ability is had.
Description
Technical field
The utility model belongs to barrier-surpassing robot field, is specifically related to a kind of Stump-jump wheel.
Background technology
Along with the events such as disaster, forest fire, nuclear incident, earthquake rescue take place frequently and the mankind to the growth of the exploration of tera incognita, the mankind urgently wish these environment of perception, to reach collection information, alleviate disaster, to rescue the object such as the wounded.Therefore need a kind of barrier getting over mechanism to help people to go to address this problem.At present, the barrier getting over mechanism used mainly contains wheeled, crawler type, leg formula, the structure such as hybrid, certain weak point is all there is: wherein to have ground pressure little for crawler belt in these obstacle detouring structures, at soft ground abhesion capacity and good by performance, stair climbing, obstacle detouring stationarity are high, but heavy crawler belt, power consumption can not be avoided high and to costs such as the destructions of landform; Leg formula barrier getting over mechanism well can be walked under non-regular landform, but it has paid the costs such as sport efficiency is too low, control is more complicated; Hybrid barrier getting over mechanism comprehensively employs the advantage of various mechanism, makes it adapt to various landform as far as possible, but complicated in mechanical structure, and control difficulty comparatively large, efficiency is poor.
The wheeled feature having himself, have that load-bearing is large, mechanism be simple, drive relative with control convenient, the speed of travel is fast, work efficiency high, but described several not as above of his obstacle detouring effect.The obstacle detouring effect of centering type under non-regular landform is better, but the sport efficiency under regular landform is lower, presently used barrier getting over mechanism major part is wheeled or centering type, and the obstacle detouring of these two kinds of modes can not take into account the effect of obstacle detouring and the efficiency of motion, so still have certain disadvantages.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of rack-and-gear Variable Eccentricity Stump-jump wheel, to overcome the above-mentioned defect of prior art, makes robot have very strong mobile efficiency and obstacle climbing ability.
The purpose of this utility model is achieved through the following technical solutions:
A kind of rack-and-gear Variable Eccentricity Stump-jump wheel, comprise circle wheel, dynamical axis, gear and and the tooth bar of gears meshing, described gear and dynamical axis are in transmission connection, described tooth bar is fixed on circle wheel, described circle wheel is provided with the support limit frame preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.
Further, described gear journey stop gear comprises position-limited rack I and the position-limited rack II that limit point is arranged on diverse location.
Further, the limit point of described position-limited rack I is arranged on circle wheel edge, and the limit point of described position-limited rack II is arranged on circle wheel centre.
The beneficial effects of the utility model are: the utility model adjusts eccentric throw by rack-and-gear, it level land is wheeled advance, running into obstacle switches to centering type to advance, wheeled and centering type is by the cw of dynamical axis and gear/rotate counterclockwise switching, without the need to adding other engine installation, therefore, very strong mobile efficiency and obstacle climbing ability is had.
Other advantages of the present utility model, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or can be instructed from practice of the present utility model.Target of the present utility model and other advantages can be realized by specification sheets below and obtain.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail, wherein:
Fig. 1 is the schematic diagram of the utility model structure;
Fig. 2 is the schematic diagram that the utility model Stump-jump wheel forward is advanced;
Fig. 3 is the schematic diagram of the utility model Stump-jump wheel negative line feed;
In figure, 1-circle wheel; 2-gear; 3-tooth bar; 4-position-limited rack I; 5-position-limited rack II; 6-support limit frame; 7-dynamical axis.
Detailed description of the invention
Hereinafter with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail.Should be appreciated that preferred embodiment only in order to the utility model is described, instead of in order to limit protection domain of the present utility model.
As shown in Figure 1, a kind of rack-and-gear Variable Eccentricity Stump-jump wheel, comprise round wheel 1, dynamical axis 7, gear 2 and and the tooth bar 3 of gears meshing, described gear 2 is in transmission connection with dynamical axis 7, described tooth bar 3 is fixed on round wheel 1, described circle wheel is provided with the support limit frame 6 preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.
In the present embodiment, described gear journey stop gear comprises position-limited rack I 4 and the position-limited rack II 5 that limit point is arranged on diverse location.The limit point of described position-limited rack I 4 is arranged on circle wheel edge, and the limit point of described position-limited rack II 5 is arranged on circle wheel centre.
The present embodiment dynamical axis 7 accepts the rotary power from propulsion source, because it is fixed on gear 2, therefore together rotate and static.Support limit frame 6 can be guide rail or groove, its effect be make gear 2 and be arranged on dynamical axis 7 on gear 2 can and can only along the radial direction rectilinear movement of circle wheel 1.The scope of rectilinear movement is limited by position-limited rack I 4 and position-limited rack II 5 respectively.Tooth bar 3 is parallel with support limit frame 6, is arranged on the side of support limit frame 6, and engages each other with gear 2.Due to the engagement of gear, cannot slide between the external tooth of gear 2 and tooth bar 3.When the rotation of dynamical axis 7 driven gear 2, due to the engagement of gear 2 tooth bar 3 and the restriction of support limit frame 6, gear 2 can be moved linearly on the direction of supporting and limiting device 6, thus change eccentric throw, make the dynamical axis 7 when gear 2 moves to position-limited rack II 5 be in eccentric throw minimum position, be preferably zero, be namely positioned at circle centre position, when gear moves to position-limited rack I 4, dynamical axis 7 is in maximum eccentricity position.
In order to the working process of this Stump-jump wheel is described, definable two kinds of direct of travels, forward is advanced (dynamical axis rotates counterclockwise) and negative line feed (dynamical axis rotates clockwise).
When forward is advanced and when dynamical axis 7 rotates counterclockwise, as shown in Fig. 2 (a), because rotating counterclockwise of dynamical axis 7 can rotate by driven gear 2, due to gear 2 and the engagement of tooth bar 3 and the restriction of support limit frame 6, gear 2 can be moved linearly downwards along the bearing of trend of support limit frame 6, when turning to inhibiting device 5 position, because the effect gear 2 of inhibiting device 5 cannot along the radial direction rectilinear movement of circle wheel 1, round wheel 1 now can be driven to rotate counterclockwise, now advance for wheeled, as shown in Figure 2.
During negative line feed and when dynamical axis 7 rotates clockwise, as shown in Fig. 3 (a), because rotating clockwise of dynamical axis 7 can upwards be rotated by driven gear 2, due to gear 2 and the engagement of tooth bar 3 and the restriction of support limit frame 6, gear 2 upwards can be moved linearly along the bearing of trend of support limit frame 6, when turning to position-limited rack I 4 position, because the effect gear 2 of position-limited rack I 4 cannot along the radial direction rectilinear movement of circle wheel 1, round wheel 1 now can be driven to rotate clockwise, now for centering type is advanced, as shown in Figure 3.
The present embodiment adjusts eccentric throw by rack-and-gear, it level land is wheeled advance, running into obstacle switches to centering type to advance, wheeled and centering type is by the cw of dynamical axis and gear/rotate counterclockwise switching, without the need to adding other engine installation, therefore, very strong mobile efficiency and obstacle climbing ability is had.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of right of the present utility model.
Claims (3)
1. a rack-and-gear Variable Eccentricity Stump-jump wheel, it is characterized in that: comprise circle wheel, dynamical axis, gear and and the tooth bar of gears meshing, described gear and dynamical axis are in transmission connection, described tooth bar is fixed on circle wheel, described circle wheel is provided with the support limit frame preventing gear from radially beating, described circle wheel is also provided with gear journey stop gear.
2. fork Variable Eccentricity Stump-jump wheel according to claim 1, is characterized in that: described gear journey stop gear comprises position-limited rack I and the position-limited rack II that limit point is arranged on diverse location.
3. fork Variable Eccentricity Stump-jump wheel according to claim 2, is characterized in that: the limit point of described position-limited rack I is arranged on circle wheel edge, and the limit point of described position-limited rack II is arranged on circle wheel centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420786662.1U CN204264309U (en) | 2014-12-12 | 2014-12-12 | Rack-and-gear Variable Eccentricity Stump-jump wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420786662.1U CN204264309U (en) | 2014-12-12 | 2014-12-12 | Rack-and-gear Variable Eccentricity Stump-jump wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204264309U true CN204264309U (en) | 2015-04-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420786662.1U Expired - Fee Related CN204264309U (en) | 2014-12-12 | 2014-12-12 | Rack-and-gear Variable Eccentricity Stump-jump wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204264309U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385845A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Gear and rack variable eccentricity obstacle crossing wheel |
-
2014
- 2014-12-12 CN CN201420786662.1U patent/CN204264309U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385845A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Gear and rack variable eccentricity obstacle crossing wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20171212 |
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| CF01 | Termination of patent right due to non-payment of annual fee |