CN205554357U - Elastic expansion connecting rod surmounting mechanism - Google Patents
Elastic expansion connecting rod surmounting mechanism Download PDFInfo
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- CN205554357U CN205554357U CN201620354513.7U CN201620354513U CN205554357U CN 205554357 U CN205554357 U CN 205554357U CN 201620354513 U CN201620354513 U CN 201620354513U CN 205554357 U CN205554357 U CN 205554357U
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- obstacle detouring
- elastic telescopic
- obstacle
- road wheel
- bar
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Abstract
The utility model discloses an elastic expansion connecting rod surmounting mechanism, including two at least action wheels that are located the homonymy, arrange around the action wheel and respectively by the power shaft drive, hinder the pole before the side of the action wheel at both ends is provided with respectively around more and hinder the pole more after with, but through the elastic expansion structrual joint between adjacent two action wheels. This mechanism is simple, the sport efficiency is high, avoided the emergence that blocks the phenomenon of dying.
Description
Technical field
This utility model relates to obstacle detouring moving device, and a kind of have can the barrier getting over mechanism of elastic telescopic connecting rod.
Background technology
Along with taking place frequently and mankind's growth to the exploration of tera incognita of the events such as natural disaster, nuclear safety accident, earthquake rescue, the mankind's these environment of highly desirable perception, to reach gather information, to alleviate the purpose such as disaster, the rescue wounded.It is thus desirable to a kind of mobile robot with stronger obstacle climbing ability solves this problem helping people to go.The barrier getting over mechanism used at present mainly has link-type, wheeled, crawler type, lower limb formula, the structure such as hybrid, wherein, crawler type mechanism ground pressure is little, soft ground abhesion capacity and by performance good, stair climbing, obstacle detouring stationarity are high, but cannot be avoided that crawler belt is heavy, power consumption is high and to problems such as the destructions of landform；Lower limb formula barrier getting over mechanism well can be walked under non-regular landform, but has the problems such as degree of freedom is too much, sport efficiency is too low, control is more complicated；Hybrid barrier getting over mechanism combines the advantage of various mechanism, adapts it to various landform as far as possible, but its complicated in mechanical structure, controlling difficulty big, efficiency is poor.Ratcheting mechanism has the feature of himself, have that load-bearing is big, simple in construction, drive with control relative to facilitate, the speed of travel is fast, work efficiency high, but described several not as above of its obstacle detouring effect.And commonly the round link-type obstacle detouring structure combined with connecting rod the most several relative obstacle detouring effect of taking turns is preferable, but owing to single link mechanism self exists " singular point " problem, when link motion to horizontal level, as easy as rolling off a log generation stuck phenomenon, causes mechanism normally to advance.
Summary of the invention
The purpose of this utility model is to provide a kind of elastic telescopic linkage obstacle crossing mechanism, and to solve existing barrier getting over mechanism structure complexity, sport efficiency connecting rod low, single is susceptible to stuck problem.
Elastic telescopic linkage obstacle crossing mechanism described in the utility model, including at least two road wheel being positioned at homonymy, arrange before and after described road wheel and driven by line shaft respectively, obstacle detouring bar and rear obstacle detouring bar before the side of the road wheel of rear and front end is respectively arranged with, before and after described, one end of two obstacle detouring bars is rotatably coupled on corresponding row driving wheel side respectively, front and back the other end of two obstacle detouring bars the most respectively forwardly and backward stretches out, by connecting by elastic telescopic component between adjacent rows driving wheel, when mechanism is two road wheels, one can elastic telescopic component two ends with described before, rear two obstacle detouring bars are connected；When mechanism has three and above road wheel, the most rotating connector that is provided with on the road wheel between former and later two road wheels, described respectively can be connected to front obstacle detouring bar, connector on center row driving wheel and between rear obstacle detouring bar in turn by elastic telescopic component.
Preferably, described can elastic telescopic component be spring.
Preferably, described obstacle detouring bar and the mount point of road wheel are near road wheel edge.
Preferably, the center of circle of described rear and front end road wheel is identical to the distance of its corresponding obstacle detouring bar mount point.
Preferably, the front end of described front obstacle detouring bar is upturned, and the rear end of rear obstacle detouring bar is upturned.
Preferably, the bottom surface of described obstacle detouring bar is provided with anti-slip rubber.
This utility model utilizes resilientiy stretchable connecting rod, solves " singular point " problem that single connecting rod generally exists, it is to avoid the generation of stuck phenomenon.Mechanism, without the Detection & Controling of control system, has the highest reliability and terseness, obstacle detouring process more high efficient and reliable, has taken into account wheeled and that eccentric type structure is under regular and non-regular landform obstacle climbing ability and sport efficiency.And frame for movement is fairly simple, movement velocity is fast, controls fairly simple, is easier to realize, and under regular landform, sport efficiency is higher, and under non-regular landform, obstacle detouring effect is preferable.Mechanism efficiency is high, energy consumption is low, applied range, both ensure that terseness and the obstacle climbing ability of single connecting rod, again without the complicated in mechanical structure of multi link, it is widely used in the equipment being operated in special environment, as obstacle detouring moves robot, Disaster Relief Robot, deliverance apparatus etc..
Accompanying drawing explanation
Fig. 1 is the structural representation of mechanism described in first embodiment；
Fig. 2 is the view when level terrain is advanced of the mechanism described in first embodiment；
Fig. 3 is the view when surmounting obstacles of the mechanism described in first embodiment；
Fig. 4 is the structural representation of mechanism described in the second embodiment.
Detailed description of the invention
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings, and following example are only used for explaining this utility model, are not intended that the restriction to this utility model protection domain.
First embodiment:
Elastic telescopic linkage obstacle crossing mechanism as shown in Figure 1, including being positioned at two road wheels of homonymy, arranges before and after described road wheel and is driven by line shaft 5 respectively.
Obstacle detouring bar 3 and rear obstacle detouring bar 4 before the side of rear and front end road wheel is respectively arranged with, obstacle detouring bar can be made up of the material such as metal or organic high molecular polymer, and when running into barrier, obstacle detouring bar can ride on barrier, mechanism is propped up, thus surmounts obstacles.
Wherein, on the rotating side being arranged on front end road wheel 1, rear end of front obstacle detouring bar 3, the front end of front obstacle detouring bar 3 extends forward stretches out.The front end of rear obstacle detouring bar 4 may be rotatably mounted on the side of rear end road wheel 2, and the rear end of rear obstacle detouring bar 4 extends back and stretches out.
The mount point of described two obstacle detouring bars and road wheel is as far as possible near road wheel edge, and front obstacle detouring bar mount point 8 is identical to the distance at rear end road wheel 2 center with rear obstacle detouring bar mount point 9 to the distance at front end road wheel 1 center.
Preferably taking on barrier for the ease of obstacle detouring bar, the front end of front obstacle detouring bar 3 is upturned, and the rear end of rear obstacle detouring bar 4 is upturned.And it is provided with anti-slip rubber 6 in the bottom surface of two obstacle detouring bars, to increase the frictional force of obstacle detouring bar and barrier.
Front and back by connecting by elastic telescopic component between two road wheels, the present embodiment can elastic telescopic component be spring 7, can certainly select other can the flexible parts of axial elasticity, the two ends of this spring 7 are connected on the rear end of front obstacle detouring bar 3 and the front end of rear obstacle detouring bar 4.Described spring 7 should have good elastic telescopic performance, to meet obstacle detouring bar wheel rotation of can accompanying to any phase place, but also should ensure that whole obstacle crossing device not have significantly and bends phenomenon.
Seeing Fig. 2, when level terrain is advanced, mechanism is identical with the method for operation of conventional ratcheting mechanism, and obstacle detouring bar will not contact ground, simply rotates around line shaft.When two obstacle detouring bars move on the axle center same level line with front and back road wheel, the most easily produce " singular point " phenomenon, but the elastic reaction due to spring, even if generation inconsistent phenomenon, road wheel also can normally be advanced, the most under any circumstance (as front and back wheel rotating speed differs, or front and back wheel rotates backward), all without being stuck between obstacle detouring bar and road wheel, barrier getting over mechanism can keep properly functioning.
Seeing Fig. 3, when advancing on non-flat forms ground, the spring with suitable elasticity coefficient can ensure that obstacle crossing device will not occur significantly to bend phenomenon, obstacle detouring bar can be played a supporting role, due to can the existence of elastic telescopic component so that obstacle detouring distance between tie rods is variable, it is ensured that surmount obstacles smoothly smoothly.
Second embodiment:
Elastic telescopic linkage obstacle crossing mechanism as shown in Figure 4, including being positioned at three road wheels of homonymy, arranges before and after described road wheel and is driven by line shaft respectively.
Front and back, the side of two road wheels is respectively arranged with front obstacle detouring bar 3 and rear obstacle detouring bar 4, and on the rotating side being arranged on front end road wheel 1, rear end of front obstacle detouring bar, the front end of front obstacle detouring bar extends forward stretches out.The front end of rear obstacle detouring bar 4 may be rotatably mounted on the side of rear end road wheel 2, and the rear end of rear obstacle detouring bar extends back and stretches out.
It is provided with anti-slip rubber, to increase the frictional force of obstacle detouring bar and barrier in the bottom surface of two obstacle detouring bars.
The mount point of described two obstacle detouring bars and road wheel is as far as possible near road wheel edge, and front obstacle detouring bar is identical to the distance at road wheel center, rear end with the mount point of rear end road wheel with rear obstacle detouring bar with the distance of the mount point of front end road wheel to road wheel center, front end.
Rotating on center row driving wheel 11 it is provided with connector 10, by all right one way or the other elastic telescopic component, three road wheels are sequentially connected with, the present embodiment can elastic telescopic component be spring 7, wherein the two ends of a spring are connected to front obstacle detouring rod rear end and described connector front end, and another spring is connected to described connector rear end and rear obstacle detouring bar front end.
The operation principle of mechanism described in the present embodiment is identical with embodiment one, does not repeats them here.When requiring more high load capability, greater number of road wheel can be used.
Claims (6)
1. an elastic telescopic linkage obstacle crossing mechanism, including at least two road wheel being positioned at homonymy, arrange before and after described road wheel and driven by line shaft respectively, it is characterized in that: obstacle detouring bar and rear obstacle detouring bar before the side of the road wheel of rear and front end is respectively arranged with, before and after described, one end of two obstacle detouring bars is rotatably coupled on corresponding row driving wheel side respectively, front and back the other end of two obstacle detouring bars the most respectively forwardly and backward stretches out
By connecting by elastic telescopic component between adjacent rows driving wheel, when mechanism is two road wheels, one can the two ends of elastic telescopic component be connected with described forward and backward two obstacle detouring bars；When mechanism has three and above road wheel, the most rotating connector that is provided with on the road wheel between former and later two road wheels, described respectively can be connected to front obstacle detouring bar, connector on center row driving wheel and between rear obstacle detouring bar in turn by elastic telescopic component.
Elastic telescopic linkage obstacle crossing mechanism the most according to claim 1, it is characterised in that: described can elastic telescopic component be spring.
Elastic telescopic linkage obstacle crossing mechanism the most according to claim 1 and 2, it is characterised in that: the mount point of described obstacle detouring bar and road wheel is near road wheel edge.
Elastic telescopic linkage obstacle crossing mechanism the most according to claim 3, it is characterised in that: the center of circle of described rear and front end road wheel is identical to the distance of its corresponding obstacle detouring bar mount point.
Elastic telescopic linkage obstacle crossing mechanism the most according to claim 1 and 2, it is characterised in that: the front end of described front obstacle detouring bar is upturned, and the rear end of rear obstacle detouring bar is upturned.
Elastic telescopic linkage obstacle crossing mechanism the most according to claim 1 and 2, it is characterised in that: the bottom surface of described obstacle detouring bar is provided with anti-slip rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620354513.7U CN205554357U (en) | 2016-04-26 | 2016-04-26 | Elastic expansion connecting rod surmounting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620354513.7U CN205554357U (en) | 2016-04-26 | 2016-04-26 | Elastic expansion connecting rod surmounting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205554357U true CN205554357U (en) | 2016-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620354513.7U Active CN205554357U (en) | 2016-04-26 | 2016-04-26 | Elastic expansion connecting rod surmounting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205554357U (en) |
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2016
- 2016-04-26 CN CN201620354513.7U patent/CN205554357U/en active Active
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