CN205396266U - Arc vaulting pole hinders dolly more - Google Patents
Arc vaulting pole hinders dolly more Download PDFInfo
- Publication number
- CN205396266U CN205396266U CN201620154317.5U CN201620154317U CN205396266U CN 205396266 U CN205396266 U CN 205396266U CN 201620154317 U CN201620154317 U CN 201620154317U CN 205396266 U CN205396266 U CN 205396266U
- Authority
- CN
- China
- Prior art keywords
- strut
- arc
- vaulting pole
- rotating shaft
- vehicle body
- 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.)
- Expired - Fee Related
Links
Landscapes
- Handcart (AREA)
Abstract
The utility model relates to an arc vaulting pole hinders dolly more belongs to robcup match and hinders the robot field more, and solved current crawler -type and hindered more that dolly speed is hanged down, the speed of going up on the stage is slow, the big problem of motion noise, the technical scheme of adoption is: including the automobile body, two front wheels and two rear wheels are installed respectively to both sides around the automobile body, the front end fixed mounting of automobile body has and hinders the device more, hinder the device more and include gear motor, install on gear motor's the output shaft along with its pivoted driving gear, the meshing has driven gear on the driving gear, central fixed being provided with along with its pivoted vaulting pole pivot of driven gear, and horizontal setting of vaulting pole pivot extends to the automobile body outside at the front end of automobile body and the both ends of vaulting pole pivot, and the both ends of vaulting pole pivot are all fixed and are provided with the arc vaulting pole.
Description
Technical field
This utility model belongs to robcup match barrier-surpassing robot field, particularly relates to a kind of arc strut obstacle detouring dolly.
Background technology
China's robot contest and RoboCup open championship started to have held 17 from 1999, by organizing robot match and Discussion on Technology, the more masses especially adolescent student is allowed to understand robot, like robot, to their universal current scientific knowledge, the robot cause for China cultivates more outstanding personnel.Being competed by robot and Discussion on Technology, also for promoting and promote development and the innovation of robot and automatic technology, the fast continual development for China is contributed share simultaneously.
In the indifference group challenge match of machine contest, competition area central authorities are ring place, ring place height is 60mm, without entering the court slope, competition dolly needs to climb up ring place voluntarily and then takes in competition, and needs also exist for climbing up ring place in 10 seconds voluntarily after being attacked, by other cars in the race, ring place of dropping in play and take in competition.The crawler type obstacle detouring structure that existing car in the race generally adopts, caterpillar obstacle detouring dolly can make car speed relatively low, and speed of going up on the stage is slow, and motion noise is big and underaction.
Utility model content
This utility model overcomes the deficiency that prior art exists, solve that the existing little vehicle speed of crawler type obstacle detouring is low, speed of going up on the stage is slow, the problem that motion noise is big, aim to provide a kind of arc strut obstacle detouring dolly, this arc strut obstacle detouring vehicle structure is simple, easy disassembly, it is possible to the basis of the quick mobility and flexibility retaining lorry makes dolly have obstacle climbing ability.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is: a kind of arc strut obstacle detouring dolly, including vehicle body, the both sides, front and back of vehicle body are separately installed with two front-wheels and two trailing wheels, the front end of described vehicle body is installed with obstacle crossing device, described obstacle crossing device includes reducing motor, the output shaft of reducing motor is provided with the driving gear rotated with it, described driving gear is engaged with driven gear, driven gear center is fixedly installed the strut rotating shaft rotated with it, the two ends of front end and strut rotating shaft that strut rotating shaft is horizontally installed on vehicle body extend to outside vehicle body, the two ends of strut rotating shaft are all fixedly installed arc strut.
Further, the output shaft of described reducing motor is provided with encoder.
Further, described arc strut includes fixed base and the arc obstacle detouring portion of one-body molded setting, and fixed pedestal is preset with the installing hole for being connected with strut rotating shaft.
Further, the strut rotating shaft between driven gear and both sides arc strut being provided with bearing, bearing is arranged in the bearing block being fixedly installed on vehicle body.
This utility model is compared with prior art and is had the beneficial effect that this utility model simple in construction, handling ease, easy accessibility.By increasing obstacle crossing device on the basis of original lorry, newly-increased obstacle crossing device does not change existing wheeled carriage structure, remaining the quick mobility and flexibility of existing wheeled carriage, utilize arc strut that horizontal displacement becomes projectile motion, obstacle detouring speed is fast.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is described in more detail.
Fig. 1 is main TV structure schematic diagram of the present utility model.
Fig. 2 is the plan structure schematic diagram of arc strut obstacle detouring dolly.
The structural representation of Fig. 3 arc strut.
In figure: 1 is vehicle body, 2 is front-wheel, and 3 is trailing wheel, and 4 is drive motor, and 5 is reducing motor, and 6 is driving gear, and 7 is driven gear, and 8 is strut rotating shaft, and 9 is arc strut, and 91 is fixed base, and 92 is arc obstacle detouring portion, and 10 is encoder, and 11 is bearing block.
Detailed description of the invention
Understandable for enabling the purpose of this utility model, feature and advantage to become apparent from, below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in detail.
Refer to Fig. 1, Fig. 2, Fig. 1 is the schematic diagram of a kind of detailed description of the invention of arc strut obstacle detouring dolly provided by the utility model.
In this kind of detailed description of the invention, a kind of arc strut obstacle detouring dolly described in the utility model, including vehicle body 1, the both sides, front and back of vehicle body 1 are separately installed with two front-wheels 2 and two trailing wheels 3, front-wheel 2 and trailing wheel 3 drive work by independent drive motor 4, the front end of vehicle body 1 is installed with obstacle crossing device, obstacle crossing device includes reducing motor 5, the output shaft of reducing motor 5 is provided with the driving gear 6 rotated with it, described driving gear 6 is engaged with driven gear 7, driven gear 7 center is fixedly installed the strut rotating shaft 8 rotated with it, the two ends of front end and strut rotating shaft 8 that strut rotating shaft 8 is horizontally installed on vehicle body 1 extend to outside vehicle body 1, the two ends of strut rotating shaft 8 are all fixedly installed arc strut 9.
Specifically described arc strut 9 includes fixed base 91 and the arc obstacle detouring portion 92 of one-body molded setting, and fixed pedestal is preset with the installing hole for being connected with strut rotating shaft 8.
This utility model is mainly made up of two parts, the ratcheting mechanism of normal walking and the barrier getting over mechanism climbing up ring, ratcheting mechanism climbs up the normal walking after ring for dolly, barrier getting over mechanism climbs up ring place for dolly, the operation principle of obstacle crossing device is: reducing motor 5 drives driving gear 6 to rotate, driving gear 6 drives the driven gear 7 engaged to rotate, driven gear 7 drives the arc strut 9 of both sides to rotate by strut rotating shaft 8, arc strut 9 rotates and is supported by dolly with earth surface, promote and under the effect of arc strut 9 at little back wheels of vehicle 3, dolly is become projectile motion from moving horizontally, thus jumping onto ring place, after jumping onto ring place, or adopt front and back wheel 3 to drive walking.
Whole obstacle crossing device simple in construction, easy accessibility, the wheel type traveling mechanism of original vehicle will not be destroyed, remain motility and the rapidity of original wheeled construction, there is the ability of fast obstacle simultaneously, obstacle detouring speed is fast.
On the basis of above-described embodiment, in a kind of detailed description of the invention of the present utility model, the output shaft of described reducing motor 5 is provided with encoder 10.The output shaft of reducing motor 5 increases encoder 10, the anglec of rotation of output shaft can accurately be measured by encoder 10, a calibrating position can be provided by encoder 10, the initial position of oneself can be returned to after making each obstacle detouring of arc strut 9, it is ensured that the stability of obstacle detouring and accuracy.
On the basis of above-described embodiment, in a kind of detailed description of the invention of the present utility model, the strut rotating shaft 8 between driven gear 7 and both sides arc strut 9 being provided with bearing, bearing is arranged in the bearing block 11 being fixedly installed on vehicle body 1.By increasing bearing, it is ensured that the stability of whole strut rotating shaft 8 rotary course, thus the accuracy promoted in whole dolly obstacle detouring process and stability.
This utility model simple in construction, handling ease, easy accessibility.By increasing obstacle crossing device on the basis of original lorry, newly-increased obstacle crossing device does not change existing wheeled carriage structure, remaining the quick mobility and flexibility of existing wheeled carriage, utilize arc strut 9 that horizontal displacement becomes projectile motion, obstacle detouring speed is fast.
Above in conjunction with accompanying drawing, embodiment of the present utility model is explained in detail, but this utility model is not limited to above-described embodiment, in the ken that those of ordinary skill in the art possess, it is also possible to make various change under the premise without departing from this utility model objective.
Claims (4)
1. an arc strut obstacle detouring dolly, including vehicle body (1), the both sides, front and back of vehicle body (1) are separately installed with two front-wheels (2) and two trailing wheels (3), it is characterized in that: the front end of described vehicle body (1) is installed with obstacle crossing device, described obstacle crossing device includes reducing motor (5), the output shaft of reducing motor (5) is provided with the driving gear (6) rotated with it, described driving gear (6) is engaged with driven gear (7), driven gear (7) center is fixedly installed the strut rotating shaft (8) rotated with it, the two ends of front end and strut rotating shaft (8) that strut rotating shaft (8) is horizontally installed on vehicle body (1) extend to vehicle body (1) outside, the two ends of strut rotating shaft (8) are all fixedly installed arc strut (9).
2. a kind of arc strut obstacle detouring dolly according to claim 1, it is characterised in that: the output shaft of described reducing motor (5) is provided with encoder (10).
3. a kind of arc strut obstacle detouring dolly according to claim 1 and 2, it is characterized in that: described arc strut (9) includes fixed base (91) and the arc obstacle detouring portion (92) of one-body molded setting, and fixed pedestal is preset with the installing hole for being connected with strut rotating shaft (8).
4. a kind of arc strut obstacle detouring dolly according to claim 3, it is characterized in that: be provided with bearing in the strut rotating shaft (8) between driven gear (7) and both sides arc strut (9), bearing is arranged in the bearing block (11) being fixedly installed on vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620154317.5U CN205396266U (en) | 2016-03-01 | 2016-03-01 | Arc vaulting pole hinders dolly more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620154317.5U CN205396266U (en) | 2016-03-01 | 2016-03-01 | Arc vaulting pole hinders dolly more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205396266U true CN205396266U (en) | 2016-07-27 |
Family
ID=56948839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620154317.5U Expired - Fee Related CN205396266U (en) | 2016-03-01 | 2016-03-01 | Arc vaulting pole hinders dolly more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205396266U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933730A (en) * | 2017-11-22 | 2018-04-20 | 航天科工智能机器人有限责任公司 | A kind of mobile robot of the auxiliary arm of band |
-
2016
- 2016-03-01 CN CN201620154317.5U patent/CN205396266U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933730A (en) * | 2017-11-22 | 2018-04-20 | 航天科工智能机器人有限责任公司 | A kind of mobile robot of the auxiliary arm of band |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105667616A (en) | Obstacle crossing trolley with arc-shaped support rods | |
| CN103638683B (en) | The dolly of the walked zigzag driven with gravitional force | |
| CN202541538U (en) | Rail tourist car | |
| CN205396266U (en) | Arc vaulting pole hinders dolly more | |
| CN206968812U (en) | A kind of robot chassis | |
| CN106476888A (en) | Universal car | |
| CN203321024U (en) | Novel parking platform swing mechanism | |
| CN105126360B (en) | Multi-dimension flying movement-sense simulation riding device capable of travelling | |
| CN206138742U (en) | Displacement of " S " shape walking hinders carbon -free trolley more | |
| CN205915339U (en) | Multi freedom biped robot that competes for speed | |
| CN101767616A (en) | Vehicle with high maneuverability | |
| CN102180064A (en) | Differential type omnibearing wheel | |
| CN206737512U (en) | A kind of stereo bicycle deposits storehouse | |
| CN206737509U (en) | A kind of upper strata framework reach rotating device | |
| CN206282469U (en) | A kind of simulation transfer of automobile driving simulator | |
| CN206826747U (en) | Universal car | |
| CN205468354U (en) | Novel empty dual -purpose car in land | |
| CN107640234A (en) | It is a kind of that compound ground robot is carried out based on wheel | |
| CN204219763U (en) | A kind of toy car | |
| CN210631665U (en) | Rear axle structure of amusement facility trolley | |
| CN209273427U (en) | For imparting knowledge to students and the combined multifunctional unit Robot-Sumo of contest | |
| CN103802911A (en) | Transmission mechanism of vehicle chassis | |
| CN103057633B (en) | A kind of children's drift car | |
| CN206214766U (en) | A kind of two-wheel car mould | |
| CN206926735U (en) | Suitable for the robot running gear of full landform |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160727 Termination date: 20180301 |