CN205010364U - Automatic stable removal delivery structure - Google Patents

Automatic stable removal delivery structure Download PDF

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Publication number
CN205010364U
CN205010364U CN201520692974.0U CN201520692974U CN205010364U CN 205010364 U CN205010364 U CN 205010364U CN 201520692974 U CN201520692974 U CN 201520692974U CN 205010364 U CN205010364 U CN 205010364U
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China
Prior art keywords
mobile
platform
swing arm
autostable
mobile platform
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Expired - Fee Related
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CN201520692974.0U
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Chinese (zh)
Inventor
侯文峰
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Guangzhou Panyu Polytechnic
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Guangzhou Panyu Polytechnic
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Priority to CN201520692974.0U priority Critical patent/CN205010364U/en
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Publication of CN205010364U publication Critical patent/CN205010364U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a remove carrying platform's technical field, disclose automatic stable removal delivery structure, include moving platform, controlling element, be used for to drive drive structure and the stabilized platform that moving platform removed, stabilized platform is located moving platform, has in the stabilized platform to be used for detecting moving platform mobile information and to transmit the gyroscope for controlling element with the mobile information who detects, gyroscope and drive structure electric connection in controlling element. Through set up stabilized platform on moving platform, work as moving platform and removing the in -process, if hinder more, perhaps when the road walking of unevenness, utilize the gyroscope in the stabilized platform, can detect moving platform's mobile information to through controlling element according to mobile information, the function of control drive structure, in order keeping apart the unfavorable disturbance of moving platform stability, thereby moving platform can realize steady walking, the phenomenon of upheaval can not appear, its use is comparatively safe, can not have the potential safety hazard.

Description

Autostable mobile delivery structure
Technical field
The utility model relates to the technical field of mobile delivery structure, particularly relates to autostable mobile delivery structure.
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, the general mobile delivery structures such as wheelchair that all can configure assist old man to go out to walk, but, in the landform of daily life walking, except smooth main road, also have some rough roads, and turn over ditch, get over the existence of the little obstacles such as clivia, and, certain areas city system imperfection, after heavy rain, road surface usually there will be the phenomenons such as some ponding, like this, for existing mobile delivery structure, then be difficult to stable obstacle detouring, mobile delivery structure is easily by disturbance, there is the phenomenons such as upheaval, to use and dangerous, there is larger potential safety hazard.
Utility model content
The purpose of this utility model is to provide autostable mobile delivery structure, is intended to solve mobile delivery structure of the prior art easily by disturbance, occurs upheaval, so that uses unsafe problem.
The utility model is achieved in that autostable mobile delivery structure, comprise mobile platform, control element, for driving drive configuration and the stable platform of described mobile platform movement; Described stable platform is positioned on described mobile platform, has for detecting described mobile platform mobile message and the mobile message of detection being passed to the gyroscope of described control element in described stable platform; Described gyroscope and drive configuration are electrically connected at described control element.
Further, described stable platform is positioned at the middle part of described mobile platform.
Further, described mobile platform is provided with multiple described stable platform.
Further, described drive configuration 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.
Further, 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 axle drive shaft of described motor.
Further, described mobile platform is provided with the mechanical arm for capturing object.
Compared with prior art, the autostable mobile delivery structure that the utility model provides, by arranging stable platform on a mobile platform, when mobile platform is in moving process, as obstacle detouring, or when uneven road walking, utilize the gyroscope in stable platform, can detect the mobile message of mobile platform, and by control element according to mobile message, control the running of drive configuration, with isolation to the disadvantageous disturbance of mobile platform stability, thus mobile platform can realize pulsation-free walking, there will not be the phenomenon of upheaval; In practice, can configure seat etc. on a mobile platform, thus utilize this to move delivery structure helps old man walking etc., its use is safer, can not there is potential safety hazard.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the autostable mobile delivery structure that the utility model embodiment provides;
Fig. 2 is the autostable mobile delivery structure obstacle detouring process schematic 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.
The autostable mobile delivery structure that the present embodiment provides, can be used in the apparatus of auxiliary the elderly walking, certainly, it also can be used in the walking apparatus of other function.
Autostable mobile delivery structure comprises mobile platform 11, stable platform 10, control element and drive configuration, and 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 it is electrically connected with drive configuration and stable platform 10 respectively, for controlling the running of whole mobile delivery structure; Drive configuration is connected on mobile platform 11, for driving the movement of mobile platform 11.
Stable platform 10 is arranged on mobile platform 11, this stable platform 10 can be isolated the disadvantageous disturbance of mobile platform 11 stability and friction, move to realize whole autostable mobile delivery structure pulsation-free, like this, by the setting of stable platform 10, make whole autostable mobile delivery structure in shooting or shoot, civilian etc. in all tool be of great significance.
Particularly, the inside of stable 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 drive configuration 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.
Like this, by arranging stable 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 stable platform 10, can detect the mobile message of mobile platform 11, and by control element according to mobile message, control the running of drive configuration, to isolate the disadvantageous disturbance of mobile platform 11 stability, thus, mobile platform 11 can realize pulsation-free 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 stable platform 10, mobile delivery structure is in climbing process, make mobile platform 11 maintenance level or certain angle, meanwhile, under the effect of this stable 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 stable platform 10, stable platform 10 is positioned at the medium position of mobile platform 11.Certainly, also can multiple stable platform 10 be set on mobile platform 11, like this, comprehensively the mobile message of mobile platform 11 be detected by multiple stable platform 10.
In the present embodiment, drive configuration 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 the walking of autostable mobile delivery structure.
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.
Autostable mobile delivery structure utilizes the tethered sliding of crawler belt, pulsation-free walking on smooth wheel, and tractive property 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 pulsation-free clear an obstacle, realize pulsation-free walking.
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 obstacle.
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 front-end processor 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, in order to realize autostable mobile delivery structure in the process of walking, possessing the performance capturing object, mobile platform 11 being provided with mechanical arm 17, utilizing this mechanical arm 17, then can capture object.
Be provided with clamper at the end of mechanical arm 17, utilize this clamper, then can capture object.Particularly, mechanical arm 17 comprises multiple pipe link, and multiple pipe link 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 17 pairs of grasping bodies can be analyzed to: the clamper of (1) arm end arrives target place; (2) target is captured.
Clamper will complete the crawl task of object, just needs the desired locations of the clamper determining mechanical arm 17 end.Like this, mobile platform 11 is provided with camera, this camera is utilized to carry out high-speed sampling and image registration to image, the colourity of object sample can describe the true colors of 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 region, a white cross can indicate the position of this color object, carry out Feature Points Matching again after delivery structure to be moved is close, determine whether object.
In the present embodiment, control element is positioned at the cavity of mobile platform 11, and control element has constant voltage power suspply 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. autostable mobile delivery structure, is characterized in that, comprise mobile platform, control element, for driving drive configuration and the stable platform of described mobile platform movement; Described stable platform is positioned on described mobile platform, has for detecting described mobile platform mobile message and the mobile message of detection being passed to the gyroscope of described control element in described stable platform; Described gyroscope and drive configuration are electrically connected at described control element.
2. autostable mobile delivery structure as claimed in claim 1, it is characterized in that, described stable platform is positioned at the middle part of described mobile platform.
3. autostable mobile delivery structure as claimed in claim 1, it is characterized in that, described mobile platform is provided with multiple described stable platform.
4. the autostable mobile delivery structure as described in any one of claims 1 to 3, it is characterized in that, described drive configuration 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. autostable mobile delivery structure 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. autostable mobile delivery structure 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.
7. autostable mobile delivery structure as claimed in claim 6, it is characterized in that, 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.
8. autostable mobile delivery structure 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.
9. autostable mobile delivery structure as claimed in claim 8, 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 axle drive shaft of described motor.
10. the autostable mobile delivery structure as described in any one of claims 1 to 3, it is characterized in that, described mobile platform is provided with the mechanical arm for capturing object.
CN201520692974.0U 2015-09-08 2015-09-08 Automatic stable removal delivery structure Expired - Fee Related CN205010364U (en)

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Application Number Priority Date Filing Date Title
CN201520692974.0U CN205010364U (en) 2015-09-08 2015-09-08 Automatic stable removal delivery structure

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107284541A (en) * 2017-07-17 2017-10-24 安徽工业大学 A kind of right angle legs rotate barrier-crossing traveling mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107284541A (en) * 2017-07-17 2017-10-24 安徽工业大学 A kind of right angle legs rotate barrier-crossing traveling mechanism
CN107284541B (en) * 2017-07-17 2019-01-29 安徽工业大学 A kind of right angle legs rotation barrier-crossing traveling mechanism

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20160203

Termination date: 20160908