CN205009209U - Remove delivery structure with snatch function - Google Patents
Remove delivery structure with snatch function Download PDFInfo
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- CN205009209U CN205009209U CN201520692769.4U CN201520692769U CN205009209U CN 205009209 U CN205009209 U CN 205009209U CN 201520692769 U CN201520692769 U CN 201520692769U CN 205009209 U CN205009209 U CN 205009209U
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- mobile
- mobile platform
- swing arm
- delivery structure
- function
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Abstract
The utility model relates to a remove carrying platform's technical field, disclose remove delivery structure with snatch function, include moving platform, controlling element and be used for the drive the drive structure that moving platform removed, drive structure electric connection in controlling element, the last arm that is equipped with of moving platform, the end of arm has the holder that three degrees of freedom removed and be used for the centre gripping object. Compared with the prior art, the utility model provides a remove the delivery structure, through the function of controlling element control drive structure to realize moving platform's removal, in -process removing when needs snatch the object, then can directly utilize the arm, and cooperate the holder, and the function of object is snatched in the realization, this removal delivery structure possesses the function of supplementary walking not to the utmost, and possesses the function that picks the object at any time.
Description
Technical field
The utility model relates to the technical field of mobile delivery structure, particularly relates to the mobile delivery structure having and capture function.
Background technology
At present, the elderly has become a colony larger in society, and for this colony service and look after also be all needs.In prior art, for some the elderlys, particularly walk inconvenient the elderly, generally all can configure the mobile delivery structures such as wheelchair and assist old man to go out to walk.
In prior art, mobile delivery structure only possesses the function of auxiliary walking, and its function is comparatively single, when the elderly waits in the process of walking, when needing to fetch object, for the elderly that walking itself is inconvenient, has then been a larger difficult problem.
Utility model content
The purpose of this utility model is to provide the mobile delivery structure having and capture function, and it is comparatively single and do not possess the problem capturing object function to be intended to solve mobile delivery structure function of the prior art.
The utility model is achieved in that the mobile delivery structure having and capture function, and comprise mobile platform, control element and for driving the drives structure of described mobile platform movement, described drives structure is electrically connected at described control element; Described mobile platform is provided with mechanical arm, and the end of described mechanical arm has Three Degree Of Freedom and to move and for the clamper of gripping objects.
Further, described mechanical arm comprises multiple connecting rod, and multiple described connecting rod sequentially connects, and forms the moving structure with Three Degree Of Freedom movement, and described moving structure connects on a mobile platform, and described clamper is connected on described moving structure.
Further, described mobile platform is provided with the camera to image sampling and image registration, and described camera is electrically connected at described control element.
Further, described drives structure comprises two rotating shafts, and two described rotating shaft activities are located in described mobile platform, and the two ends of described rotating shaft extend to outside the both sides of described mobile platform respectively, and form extension section, described extension section is connected with main Athey wheel; Two main Athey wheels of two described rotating shaft homonymies are arranged with main crawler belt; Main Athey wheel described in each is hinged with swing arm, and the inner of described swing arm is hinged on described main Athey wheel, and the outer end of described swing arm is hinged with auxiliary Athey wheel, and in deviating from layout mutually between the swing arm of two homonymies.
Further, described main Athey wheel is provided with the race of two mutually isolated layouts, and described main crawler belt and auxiliary crawler belt are set on two races on described main Athey wheel respectively.
Further, described swing arm is tabular, and the inner of described swing arm is hinged on the outside of described main Athey wheel, and the outer end of described swing arm is hinged on the outside of described auxiliary Athey wheel; The inner of described swing arm and outer end curved shape respectively, the diameter of described swing arm the inner is greater than the diameter of described swing arm outer end.
Further, be provided with cavity in described mobile platform, two described rotating shafts, through described cavity, form the driving section being positioned at described cavity; Be provided with the motor be electrically connected with described control element in the cavity of described mobile platform, between the driving section of described motor and described rotating shaft, be provided with drive mechanism.
Further, the driving gear that described drive mechanism comprises driven gear and is connected with a joggle with described driven gear, described driven gear is connected to the driving section of described rotating shaft, and described driving gear is connected to the driving shaft of described motor.
Further, described mobile platform is provided with stabilized platform, have in described stabilized platform for detecting described mobile platform mobile message and the mobile message of detection being passed to the gyroscope of described control element, described gyroscope is electrically connected at described control element.
Further, described stabilized platform is positioned at the middle part of described mobile platform.
Compared with prior art, the mobile delivery structure that the utility model provides, drives structure running is controlled by control element, thus realize the movement of mobile platform, in the process of movement, when needs capture object, then directly can utilize mechanical arm, and cooperation clamper, realize the function capturing object; This moves the function that delivery structure possesses auxiliary walking not to the utmost, and possesses the function capturing object at any time.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view with the mobile delivery structure capturing function that the utility model embodiment provides;
Fig. 2 is the mobile delivery structure obstacle detouring process schematic with crawl function that the utility model embodiment provides.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Below in conjunction with specific embodiment, realization of the present utility model is described in detail.
As shown in Fig. 1 ~ 2, it is the preferred embodiment that the utility model provides.
What the present embodiment provided has the mobile delivery structure capturing function, and can be used in the apparatus of auxiliary the elderly walking, certainly, it also can be used in the walking apparatus of other function.
Have the mobile delivery structure capturing function and comprise mobile platform 11, control element and drives structure, mobile platform 11 is in tetragonal body shape, and certainly, mobile platform 11 also can be other various shapes, not only for tetragonal body shape; Control element is formed in mobile platform 11, and itself and drives structure are electrically connected, for controlling the running of whole mobile delivery structure; Drives structure is connected on mobile platform 11, for driving the movement of mobile platform 11.
Delivering structure in the process of walking to realize that there is the mobile of crawl function, possessing the performance capturing object, mobile platform 11 being provided with mechanical arm, utilizing this mechanical arm, then can capture object.The end of mechanical arm has the clamper of Three Degree Of Freedom movement, utilizes this clamper, then can capture object.
Particularly, mechanical arm comprises multiple connecting rod 18, and multiple connecting rod 18 sequentially connects, form the moving structure of Three Degree Of Freedom, like this, this moving structure is connected on mobile platform 11, and clamper is connected on moving structure, thus realize clamper can the performance of Three Degree Of Freedom movement.
Particularly, the process of mechanical arm to grasping body can be analyzed to: the clamper of (1) arm end arrives target place; (2) target is captured.
The above-mentioned mobile delivery structure provided, controls drives structure running by control element, thus realizes the movement of mobile platform 11, in the process of movement, when needs capture object, then directly can utilize mechanical arm, and cooperation clamper, realize the function capturing object; This moves the function that delivery structure possesses auxiliary walking not to the utmost, and possesses the function capturing object at any time.
Clamper will complete the crawl task of target object, just needs the desired locations of the clamper determining mechanical arm tail end.Like this, mobile platform 11 is provided with camera 17, this camera 17 is electrically connected with control element, this camera 17 pairs of images are utilized to carry out high-speed sampling and image registration, the colourity of target object sample can describe the true colors of target object more exactly by information, so mobile delivery structure just can set algorithm searching target region by color at a distance, when the color of searching appears in camera 17 region, a white cross can indicate the position of this color object, Feature Points Matching is carried out again after delivery structure to be moved is close, determine whether target object.
Mobile platform 11 is also provided with stabilized platform 10, this stabilized platform 10 can be isolated the disadvantageous disturbance of mobile platform 11 stability and friction, to realize the whole mobile delivery structure movement stably with crawl function, like this, by the setting of stabilized platform 10, make whole have capture function mobile delivery structure in shooting or shoot, civilian etc. in all tool be of great significance.
Particularly, the inside of stabilized platform 10 has gyroscope, this gyroscope and control element are electrically connected, for detecting the mobile message of mobile platform 11, and then the mobile message of detection is fed back to control element, control element is according to the mobile message received, the corresponding drives structure that controls drives mobile platform 11 to move, like this, then can realize isolation to the disadvantageous disturbance of mobile platform 11 stability, make mobile platform 11 maintenance level or at an angle.
By arranging stabilized platform 10 on mobile platform 11, when mobile platform 11 is in moving process, as obstacle detouring, or when uneven road walking, utilize the gyroscope in stabilized platform 10, can detect the mobile message of mobile platform 11, and by control element according to mobile message, control the running of drives structure, with isolation to the disadvantageous disturbance of mobile platform 11 stability, thus mobile platform 11 can realize stable walking, there will not be the phenomenon of upheaval.
In practice, can configure seat etc. on mobile platform 11, thus utilize this to move delivery structure helps old man walking etc., its use is safer, can not there is potential safety hazard.
In the present embodiment, gyroscope is the gyroscope based on MPU-6050 version, by stabilized platform 10, mobile delivery structure is in climbing process, make mobile platform 11 maintenance level or certain angle, meanwhile, under the effect of this stabilized platform 10, the stability of making a video recording can also be ensured, can not produce because of the shake of the change of the walking of machine, landform or fuselage and rock.
In addition, can detect the mobile message of whole mobile platform 11 comparatively accurately to realize stabilized platform 10, stabilized platform 10 is positioned at the medium position of mobile platform 11.Certainly, also can multiple stabilized platform 10 be set on mobile platform 11, like this, comprehensively the mobile message of mobile platform 11 be detected by multiple stabilized platform 10.
In the present embodiment, drives structure comprises two rotating shafts, and two rotating shafts respectively activity are located in mobile platform 11, and the two ends of rotating shaft extend to the both sides of mobile platform 11 respectively, forms extension section.The extension section of rotating shaft is provided with main Athey wheel 13, and sheathed main crawler belt 12 on two of two rotating shaft homonymies main Athey wheels 13, like this, along with the rotation of rotating shaft, the main Athey wheel 13 of drive shaft both sides rotates, when main Athey wheel 13 rotates, 12, the main crawler belt on the main Athey wheel 13 of two rotating shaft homonymies is rotated by driving, thus realizes having the walking of the mobile delivery structure capturing function.
Each main Athey wheel 13 is hinged with swing arm 16, and the inner of this swing arm 16 is hinged on main Athey wheel 13, and like this, swing arm 16 can swing relative to main Athey wheel 13, the layout and the outer end of swing arm 16 extends outwardly, and is hinged with auxiliary Athey wheel 15.The swing arm 16 of two homonymies deviates from layout respectively mutually, and that is, the swing arm 16, be connected on the main Athey wheel 13 of two homonymies extends forward, and one extends backwards, is formed and deviates from layout mutually.
Particularly, the main Athey wheel 13 be connected with swing arm and auxiliary Athey wheel 15 are arranged with auxiliary crawler belt 14, like this, along with the rotation of main Athey wheel 13, drive the rotation of auxiliary crawler belt 14, thus auxiliary Athey wheel 15 also rotate thereupon.
Have the tethered sliding that the mobile delivery structure capturing function utilizes crawler belt, smooth wheel is walked stably, and hauling ability is good, there will not be the phenomenon of skidding; In addition, at some rough roads, and when turning over the obstacles such as ditch, more clivia, there is climbing performance, can surmount obstacles stably, realize walking stably.
In climbing process, for the step of differing heights, this climbing motion moving delivery structure also has difference, specific as follows:
The first: shoulder height is very little, when being less than the radius of the auxiliary Athey wheel 15 of mobile delivery structure, now, then not needing to do any operation to swing arm 16, just directly can climb over barrier.
The second: step has certain height, but when being less than the radius of the main Athey wheel 13 of mobile delivery structure, then when crossing over blockage, the swing arm 16 being positioned at mobile platform 11 front end can be lifted, then directly pass through.
The third: as shown in Figure 2, step is higher, needs mobile delivery structure to coordinate obstacle to cross by swing arm 16 motion coordinating to be positioned at mobile platform 11 FEP rear end, can be divided into following step:
1) before, mobile delivery structure steadily proceeds to step;
2), the swing arm 16 that is positioned at mobile platform 11 front end lifts, and is placed on step by auxiliary Athey wheel 15;
3), along with mobile delivery structure continue move ahead, the main Athey wheel 13 being positioned at mobile platform 11 front end is also lifted, until the main Athey wheel 13 being positioned at mobile platform 11 front end is placed on step, now, the auxiliary crawler belt 14 of mobile platform 11 front end is placed on step, under the auxiliary crawler belt 14 of mobile platform 11 rear end is placed in step, whole mobile platform 11 is in heeling condition;
4) constantly moving ahead, along with mobile delivery structure, whole mobile platform 11 is placed on step, and the auxiliary crawler belt 14 being placed in mobile platform 11 rear end also as on step, then completes whole obstacle detouring process.
Owing to main Athey wheel 13 needing respectively put main crawler belt 12 and auxiliary crawler belt 14, like this, in order to avoid mutually interfering between main crawler belt 12 and auxiliary crawler belt 14, main Athey wheel 13 is formed two mutually isolated races, like this, when main crawler belt 12 and auxiliary crawler belt 14 to be enclosed within main Athey wheel 13 on two races respectively, then can be spaced from each other.
In the present embodiment, swing arm 16 is in tabular, and its inner is hinged on the outside of main Athey wheel 13, and outer end is hinged on the outside of auxiliary Athey wheel 15, and namely whole swing arm 16 is formed in outer fix, like this, is then convenient to connection and the layout of swing arm 16.
Diameter due to main Athey wheel 13 is greater than the diameter of auxiliary Athey wheel 15, like this, the inner of swing arm 16 forms the stub end of arc shape, outer end forms the little head end of arc shape, wherein, the diameter of stub end is greater than the diameter of little head end, like this, is conducive to the connection of swing arm 16 and main Athey wheel 13 and auxiliary Athey wheel 15.
In the present embodiment, be provided with cavity in mobile platform 11, two above-mentioned rotating shafts, through in cavity, form the driving section being positioned at cavity; Motor is provided with in the cavity of mobile platform 11, drive mechanism is provided with between the driving section of motor and two rotating shafts, like this, utilize this drive mechanism then can the rotation of drive shaft, thus winner's Athey wheel 13 is rotated, main crawler belt 12 rotates, and then auxiliary crawler belt 14 is rotated, and drives auxiliary Athey wheel 15 to rotate.
Particularly, drive mechanism comprises the driving gear being arranged on and driving the driven gear in section and be connected on motor driving shaft, and driving gear and driven gear are connected with a joggle, and like this, then can utilize the rotation of motor driving shaft, the rotation of drive shaft.
In the present embodiment, in order to realize the smooth rotation of rotating shaft, two above-mentioned motors are provided with in the cavity of mobile platform 11, and, rotating shaft is provided with the driven gear described in two, and like this, the driving gear of two electrode drive axles is connected with a joggle with two driven gears respectively, thus by driving while two motors, realize the smooth rotation of rotating shaft.
In the present embodiment, control element is positioned at the cavity of mobile platform 11, and control element has voltage-stabilized power supply element, like this, can ensure to burn out components and parts.
Control element also has low pressure alarming element, and channel wireless radio multi controls to launch and receiving element.Wherein, when power supply is too low, this low pressure alarming element can be reported to the police; Channel wireless radio multi controls transmitting and receiving element can carry out separating treatment to signal, and then controls with transmitter signal one_to_one corresponding.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. have the mobile delivery structure capturing function, it is characterized in that, comprise mobile platform, control element and for driving the drives structure of described mobile platform movement, described drives structure is electrically connected at described control element; Described mobile platform is provided with mechanical arm, and the end of described mechanical arm has Three Degree Of Freedom and to move and for the clamper of gripping objects.
2. there is mobile delivery structure as claimed in claim 1 that capture function, it is characterized in that, described mechanical arm comprises multiple connecting rod, multiple described connecting rod sequentially connects, form the moving structure with Three Degree Of Freedom movement, described moving structure connects on a mobile platform, and described clamper is connected on described moving structure.
3. have the mobile delivery structure capturing function as claimed in claim 1, it is characterized in that, described mobile platform is provided with the camera to image sampling and image registration, and described camera is electrically connected at described control element.
4. having as described in any one of claims 1 to 3 captures the mobile delivery structure of function, it is characterized in that, described drives structure comprises two rotating shafts, two described rotating shaft activities are located in described mobile platform, and the two ends of described rotating shaft extend to outside the both sides of described mobile platform respectively, form extension section, described extension section is connected with main Athey wheel; Two main Athey wheels of two described rotating shaft homonymies are arranged with main crawler belt; Main Athey wheel described in each is hinged with swing arm, and the inner of described swing arm is hinged on described main Athey wheel, and the outer end of described swing arm is hinged with auxiliary Athey wheel, and in deviating from layout mutually between the swing arm of two homonymies.
5. have the mobile delivery structure capturing function as claimed in claim 4, it is characterized in that, described main Athey wheel is provided with the race of two mutually isolated layouts, and described main crawler belt and auxiliary crawler belt are set on two races on described main Athey wheel respectively.
6. have the mobile delivery structure capturing function as claimed in claim 4, it is characterized in that, described swing arm is tabular, and the inner of described swing arm is hinged on the outside of described main Athey wheel, and the outer end of described swing arm is hinged on the outside of described auxiliary Athey wheel; The inner of described swing arm and outer end curved shape respectively, the diameter of described swing arm the inner is greater than the diameter of described swing arm outer end.
7. have the mobile delivery structure capturing function as claimed in claim 4, it is characterized in that, be provided with cavity in described mobile platform, two described rotating shafts, through described cavity, form the driving section being positioned at described cavity; Be provided with the motor be electrically connected with described control element in the cavity of described mobile platform, between the driving section of described motor and described rotating shaft, be provided with drive mechanism.
8. there is mobile delivery structure as claimed in claim 7 that capture function, it is characterized in that, the driving gear that described drive mechanism comprises driven gear and is connected with a joggle with described driven gear, described driven gear is connected to the driving section of described rotating shaft, and described driving gear is connected to the driving shaft of described motor.
9. having as described in any one of claims 1 to 3 captures the mobile delivery structure of function, it is characterized in that, described mobile platform is provided with stabilized platform, have in described stabilized platform for detecting described mobile platform mobile message and the mobile message of detection being passed to the gyroscope of described control element, described gyroscope is electrically connected at described control element.
10. have the mobile delivery structure capturing function as claimed in claim 9, it is characterized in that, described stabilized platform is positioned at the middle part of described mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520692769.4U CN205009209U (en) | 2015-09-08 | 2015-09-08 | Remove delivery structure with snatch function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520692769.4U CN205009209U (en) | 2015-09-08 | 2015-09-08 | Remove delivery structure with snatch function |
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| Publication Number | Publication Date |
|---|---|
| CN205009209U true CN205009209U (en) | 2016-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520692769.4U Expired - Fee Related CN205009209U (en) | 2015-09-08 | 2015-09-08 | Remove delivery structure with snatch function |
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| CN (1) | CN205009209U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161914A (en) * | 2018-01-24 | 2018-06-15 | 深圳果力智能科技有限公司 | A kind of crawl robot |
| CN108394483A (en) * | 2018-03-20 | 2018-08-14 | 南通大学 | A kind of multi-functional cargo handling and transport device |
-
2015
- 2015-09-08 CN CN201520692769.4U patent/CN205009209U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161914A (en) * | 2018-01-24 | 2018-06-15 | 深圳果力智能科技有限公司 | A kind of crawl robot |
| CN108394483A (en) * | 2018-03-20 | 2018-08-14 | 南通大学 | A kind of multi-functional cargo handling and transport device |
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| Date | Code | Title | Description |
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| 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: 20160203 Termination date: 20160908 |
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| CF01 | Termination of patent right due to non-payment of annual fee |