CN205801293U - A kind of mobile device walking structure - Google Patents
A kind of mobile device walking structure Download PDFInfo
- Publication number
- CN205801293U CN205801293U CN201620557805.0U CN201620557805U CN205801293U CN 205801293 U CN205801293 U CN 205801293U CN 201620557805 U CN201620557805 U CN 201620557805U CN 205801293 U CN205801293 U CN 205801293U
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- Prior art keywords
- walking
- connecting rod
- running gear
- mobile device
- bearing
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Abstract
The utility model discloses a kind of mobile device walking structure, including left row walking apparatus, right side running gear, connecting rod and motive objects, left row walking apparatus and right side running gear connect by two connecting rods are fixing, and motive objects is fixedly mounted in two connecting rods；Left row walking apparatus and described right side running gear include some walking leg devices respectively, guide rail, chain, motor, decelerator, driving gear, fixing beam, driven gear and main shaft, walking leg device includes some universal wheels, pole, bearing and bearing connecting rod.Walking structure simple in construction of the present utility model, stability is high, highly versatile, can be applicable to farmland vehicle, farmland robot or other hope minimizings and rolls in the mobile device of area it can also be used to wish in the robot with higher stability walking.
Description
Technical field
This utility model relates to a kind of mechanical field, particularly relates to a kind of mobile device walking structure.
Background technology
At present, widely used mobile device walking manner many employings roller or crawler-type traveling in society, as being used in agriculture
In industry, the crops planted can be rolled, and the legged mobile robots used in some researchs, or exist in the stability of device and set
Meter leak, or structure is complicated, does not have versatility.A kind of walking robot as disclosed in ZL201010202008.8, its walking
Mode uses wheels mode, is not suitable for farmland vehicle or robot uses；The patents such as ZL201410649856.1, carry out except using
Belt walking manner, is not suitable for outside the fields of employment such as farmland equally, in addition it is also necessary to center of gravity driving means, changes the weight of mobile device
The heart, structure is complicated；And the patents such as ZL201410736993.9, use the multi-foot walking mechanism of Designing Linkages, although be easy to
Farmlands etc. wish that minimizing rolls area place and uses, but when running into pit or projection, its stability is not enough.
Utility model content
Utility model purpose: the purpose of this utility model is to roll area when solving and reduce mobile device walking, with
Time there is again simple in construction, stability is strong, both can be applicable to vehicle, and can be applicable to again the General Mobile of the mobile devices such as robot
Device walking manner.
Technical scheme: a kind of mobile device walking structure described in the utility model, including left row walking apparatus, right side row
Walking apparatus, connecting rod and motive objects, described left row walking apparatus and right side running gear connect by two connecting rods are fixing, institute
State motive objects to be fixedly mounted in two connecting rods；
Described left row walking apparatus and described right side running gear include some walking leg devices respectively, guide rail, chain,
Motor, decelerator, driving gear, fixing beam, driven gear and main shaft, described walking leg device includes some universal wheels, props up
Bar, bearing and bearing connecting rod；Described universal wheel is fixedly mounted in described bearing connecting rod by pole, and described bearing connects
The mid portion of bar is fixedly connected with chain, and described bearing connecting rod two ends are installed with bearing, described bearing, chain respectively
Bar, bearing connecting rod are installed around the both sides up and down of fixing beam by guide rail, and described driving gear is arranged on the side of fixing beam,
And engage with chain, and be connected with decelerator by main shaft, described decelerator is connected with motor, and described driven gear is arranged on solid
Determine the opposite side of beam, and engage with chain.
Further, the step pitch size needed when moving according to mobile device, on the running gear of the left and right sides uniformly
The walking leg device of reasonable quantity is installed.Such as the farmland more solid in soil property, reduce the installation quantity of walking leg device,
When the softer rice field of soil property uses, prevent mobile device to be absorbed in mud, installation quantity can be increased.Make as stair climbing robot
Used time, according to width and the height of stair, select suitable installing space.
Further, the adjustable in length of described pole.As when using as stair climbing robot, walking leg can be filled
The height design put is more slightly higher than stair, it is simple to climbs building, does not the most affect the stability of structure.In application places such as farmlands, according to agriculture
The height of crop, by more slightly higher than crops for walking leg device design.
Further, described guide rail, pole, bearing connecting rod all use the carbon steel or aluminum material system that density is less
Become, reduce running gear own wt, ensure again himself intensity.
Beneficial effect: walking structure simple in construction of the present utility model, stability is high, and highly versatile can be applicable to farmland
Vehicle, farmland robot or other hope minimizings roll in the mobile device of area it can also be used to wish with higher stability row
In the robot walked.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is running gear plan structure schematic diagram of the present utility model；
Fig. 3 is running gear of the present utility model main TV structure schematic diagram.
Detailed description of the invention
A kind of mobile device as shown in Figure 1, including left row walking apparatus 21, right side running gear 22, connecting rod 23 and
Motive objects 24.The fixing beam 9 of described left row walking apparatus 21 and the fixing beam 9 of right side running gear 22 are by two connecting rods 23
It is fixedly connected on.Described motive objects 24 is fixedly mounted in two connecting rods 23.
The structural representation of both sides running gear as shown in Figures 2 and 3.This running gear include universal wheel 1, pole 2,
Bearing 3 and bearing connecting rod 11.Described universal wheel 1 is fixedly mounted in described bearing connecting rod 11 by pole 2, and bearing connects
The fixing chain 5 that connects of bar 11 mid portion, two ends fixed installation bearing 3, bearing 3, chain 5, bearing connecting rod 11 are by guide rail 4
Install around fixing beam about 9 both sides.Described driving gear 8 is arranged on the right side of fixing beam 9, engages with chain 5, and passes through main shaft
12 are connected with decelerator 7, and decelerator 7 is connected with motor 6.Described driven gear 10 is arranged on the left side of fixing beam 9, with chain 5
Engagement.When being moved to the left, motor 6 rotates, and after decelerator 7 slows down, drives driving gear 8 to rotate, actively by main shaft 12
Gear 8 drives chain 5 to rotate, and is connected owing to chain 5 is fixing with bearing connecting rod 11, and therefore bearing connecting rod 11 drives fixing company
Connect pole 2 above it and universal wheel 1 is slided by bearing 3 on guide rail 4.
This mobile device is specifically when a lateral movement, when moving the most to the left, and electric machine rotation, after decelerator slows down,
Being rotated by main shaft drives driving gear, driving gear drives chain to rotate, and is connected owing to chain and bearing connecting rod are fixing, because of
This bearing connecting rod drives and is fixedly connected on the pole above it and universal wheel by bearing at slide on rails；Due to gravity pressure
On leg running gear below fixing beam, therefore fix beam and do the relative motion to the left of the leg running gear with lower section,
The leg running gear of top is to left movement, and the leg running gear of high order end rolls the most relatively along gear, the rightest in lower section
Hold leg running gear upwards to do rolling relatively along the gear on rear side of fixing beam, thus realize whole mobile device relative to
The movement on ground.
Before necessary when row or retrogressing, the running gear motor of the left and right sides operates with same rotational speed simultaneously, drives both sides
Running gear travel forward or rearward movement；
When needs are turned to the left, owing to the bottom at leg running gear is equipped with universal wheel, therefore according to angle of turn
Size needs, and by the selection of Motor stopping of left row walking apparatus, slow-speed, rotates backward Three models, and right side running gear
Selection of Motor rotates forward or stops both of which；If the motor slow-speed of left row walking apparatus, right side running gear motor turns soon, then to
Left front wide-angle is turned；The motor of left row walking apparatus stops, and right side running gear motor turns soon, then to left front low-angle
Turn；The motor reversal of left row walking apparatus, right side running gear motor rotates forward, then can realize the pivot stud of mobile device；
If the motor reversal of left row walking apparatus, right side running gear motor stops, then rotate to right back, it is achieved the left-hand rotation of device
Curved；
When needs bend to right, its control method is contrary with left-hand bend control method: by the motor of right side running gear
Select stopping, slow-speed, rotate backward Three models, and the selection of Motor of left row walking apparatus rotates forward or stops both of which；If
The motor slow-speed of right side running gear, left row walking apparatus motor turns soon, then turn to right front wide-angle；Right side running gear
Motor stop, left row walking apparatus motor turns soon, then to right front low-angle turn；The motor reversal of right side running gear,
Left row walking apparatus motor rotates forward, then can realize the pivot stud of mobile device；If the motor reversal of right side running gear, left side
Running gear motor stops, then rotate to left back, it is achieved the right-hand bend of device.
Walking structure simple in construction of the present utility model, stability is high, and highly versatile can be applicable to farmland vehicle, farmland
Robot or other hope minimizings roll in the mobile device of area it can also be used to wish with the robot of higher stability walking
On.
The above, be only preferred embodiment of the present utility model, not this utility model is made any in form
Restriction, although this utility model is disclosed above with preferred embodiment, but is not limited to this utility model, any ripe
Know professional and technical personnel, in the range of without departing from technical solutions of the utility model, when in the technology of available the disclosure above
Hold and make a little change or be modified to the Equivalent embodiments of equivalent variations, as long as without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model, the most still
Belong in the range of technical solutions of the utility model.
Claims (3)
1. a mobile device walking structure, it is characterised in that: include left row walking apparatus (21), right side running gear (22),
Connecting rod (23) and motive objects (24), described left row walking apparatus (21) and right side running gear (22) pass through two connecting rods
(23) fixing connection, described motive objects (24) is fixedly mounted on two connecting rods (23)；
Described left row walking apparatus (21) and described right side running gear (22) include some walking leg devices, guide rail respectively
(4), chain (5), motor (6), decelerator (7), driving gear (8), fixing beam (9), driven gear (10) and main shaft (12), institute
State walking leg device and include some universal wheels (1), pole (2), bearing (3) and bearing connecting rod (11)；Described universal wheel (1)
Being fixedly mounted on described bearing connecting rod (11) by pole (2), the mid portion of described bearing connecting rod (11) is fixing even
Being connected to chain (5), described bearing connecting rod (11) two ends are installed with bearing (3) respectively, described bearing (3), chain (5),
Bearing connecting rod (11) is installed around the both sides up and down of fixing beam (9) by guide rail (4), and described driving gear (8) is arranged on solid
Determine the side of beam (9), and engage with chain (5), and be connected with decelerator (7) by main shaft (12), described decelerator (7) and electricity
Machine (6) is connected, and described driven gear (10) is arranged on the opposite side of fixing beam (9), and engages with chain (5).
A kind of mobile device walking structure the most according to claim 1, it is characterised in that: need when moving according to mobile device
The step pitch size wanted, uniformly installs the walking leg device of reasonable quantity on the running gear of the left and right sides.
A kind of mobile device walking structure the most according to claim 1, it is characterised in that: the length of described pole (2) can
Regulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620557805.0U CN205801293U (en) | 2016-06-12 | 2016-06-12 | A kind of mobile device walking structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620557805.0U CN205801293U (en) | 2016-06-12 | 2016-06-12 | A kind of mobile device walking structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205801293U true CN205801293U (en) | 2016-12-14 |
Family
ID=58142643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620557805.0U Expired - Fee Related CN205801293U (en) | 2016-06-12 | 2016-06-12 | A kind of mobile device walking structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205801293U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905186A (en) * | 2016-06-12 | 2016-08-31 | 江苏工程职业技术学院 | Mobile device travelling structure and method |
-
2016
- 2016-06-12 CN CN201620557805.0U patent/CN205801293U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905186A (en) * | 2016-06-12 | 2016-08-31 | 江苏工程职业技术学院 | Mobile device travelling structure and method |
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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: 20161214 Termination date: 20170612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |