CN205971577U - Climb building and level land delivery machine - Google Patents
Climb building and level land delivery machine Download PDFInfo
- Publication number
- CN205971577U CN205971577U CN201620505874.7U CN201620505874U CN205971577U CN 205971577 U CN205971577 U CN 205971577U CN 201620505874 U CN201620505874 U CN 201620505874U CN 205971577 U CN205971577 U CN 205971577U
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- China
- Prior art keywords
- wheel
- level land
- gear
- supporting mechanism
- foot rest
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Abstract
The utility model discloses a climb building and level land delivery machine, including running gear, supporting mechanism, drive mechanism and control system (11), drive mechanism is connected with running gear on being fixed in the supporting mechanism, its characterized in that: running gear realizes the translation and the walk up and down stairs of supporting mechanism, the motion control to running gear and supporting mechanism is realized in control system (11). Running gear includes four at least wheel (8) and eight foot rest (9), every bipod (9) symmetric distribution on one wheel (8), with wheel (8) swing joint, terminal surface is parallel with ground all the time down for foot rest (9), the diameter of wheel (8) is greater than the height of foot rest (9). Be equipped with swing joint connecting rod (10) between bipod (9) on every wheel (8). The utility model discloses can realize climbing stair and can be in the function of level land walking, have that simple structure, motion stationary, security are high, the control of being convenient for, characteristics with low costs.
Description
Technical field
The utility model belongs to carrying machine technical field, concretely relates to a kind of autonomous stair activity of energy pacifically
The carrying machine of movement.
Background technology
Climbing machine Qi Pa building mode mainly has wheel group formula, legged and crawler type.Legged machine is by bionics
Building is climbed in realization, and flexibility is good, the free degree is high, therefore complex structure, and the number of sensors of needs is huge, and control program is complicated, becomes
This height, is very restricted in actual applications.Track type climbing-building machine is realized climbing building, due to comparing by the transmission of crawler belt
Heavy, motion is dumb, using much being limited.Wheel group formula climbing machine device goes to realization using groups of wheel and climbs building, moves
Dynamic flexibly, control simple, be easily achieved.In prior art, legged climbing machine device motion amplitude in level walking is big, mobile
Slow, stability is poor, does not possess avoidance ability.
Content of the invention
The purpose of this utility model is to overcome disadvantages mentioned above and provides one kind to enable stair climbing pacifically walking function,
Have that structure is simple, stable movement, safe, be easy to control, low cost climb building and level land carrying machine.
Of the present utility model climb building and level land carrying machine, including walking mechanism, supporting mechanism, transmission mechanism and control system
System, transmission mechanism is fixed on and is connected with walking mechanism on supporting mechanism, wherein：Described walking mechanism realizes the flat of supporting mechanism
Move and stair activity；Control system realizes the motion control to walking mechanism and supporting mechanism.
Above-mentioned climbs building and level land carrying machine, wherein：Described walking mechanism includes at least four wheels and eight foot rests,
Every bipod is symmetrically distributed on a wheel, is flexibly connected with wheel, foot rest lower surface is parallel to the ground all the time；Wheel straight
Footpath is more than the height of foot rest.
Above-mentioned climbs building and level land carrying machine, wherein：It is provided with flexible connection between bipod on each wheel described
Connecting rod.
Above-mentioned climbs building and level land carrying machine, wherein：Described foot rest is triangle.
Above-mentioned climbs building and level land carrying machine, wherein：Described supporting mechanism is made up of the frame of frame structure.
Above-mentioned climbs building and level land carrying machine, wherein：Described transmission mechanism includes motor, double end worm and gear and single head
Worm and gear, motor is fixed in frame, is connected with control system and double end worm and gear one end respectively, double end worm and gear
The other end is connected with power transmission shaft, power transmission shaft be respectively arranged at two ends with single head worm and gear, the single head worm and gear other end and wheel
Axle is connected, and wheel shaft is respectively arranged at two ends with wheel.
Above-mentioned climbs building and level land carrying machine, wherein：Described power transmission shaft is provided with bearing block.
The utility model, compared with prior art, has obvious beneficial effect, from above scheme,
Described walking mechanism includes at least four wheels and eight foot rests, and every bipod is symmetrically distributed on a wheel,
It is flexibly connected with wheel.Walking mechanism realizes translation and the stair activity of supporting mechanism.Foot rest is triangle, with wheel activity even
Connect, during vehicle wheel rotation, by gravity make foot rest lower surface all the time with stair table top parallel contact it is ensured that having larger
Contact area is it is ensured that the stability of car body.It is provided with the connecting rod being fixedly connected it is ensured that foot rest exists between bipod on each wheel
Steady running in motion process, additionally due to foot rest Action of Gravity Field keeps level, bipod with connecting rod connect it is ensured that
Pin does not rock and can guarantee that the level of foot rest lower surface.Additionally, the height with diameter greater than foot rest of wheel, when body movement is to flat
During face, within all foot rests being taken in wheel it is ensured that in plane motion car body stability, thus it is possible to vary legged climb
Building machine level walking center of gravity amplitude is big, slow-moving shortcoming.Supporting mechanism is made up of the frame of frame structure, frame structure
It is easily installed and weight can be mitigated.Transmission mechanism includes motor, double end worm and gear and single head worm and gear, can achieve two grades and subtracts
Speed, and worm and gear has the function of self-locking, can stop under free position during climbing building or start machine operating,
Machine, because auto-lock function is without occurring backwards rotation, ensure that the security being carried object.
In a word, the utility model enables stair climbing and can have that structure is simple, motion is flat in the function of level walking
Surely, safe, be easy to control, the feature of low cost.
Below by way of the drawings and specific embodiments, further illustrate the beneficial effects of the utility model.
Brief description：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the I-I cut-away view of Fig. 1；
Fig. 3 is the front view of Fig. 1.
In figure marks：
1st, frame；2nd, motor；3rd, power transmission shaft；4th, double end worm and gear；5th, bearing block；6th, single head worm and gear；7th, wheel shaft；
8th, wheel；9th, foot rest；10th, connecting rod；11st, control system.
Specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, to according to the utility model proposes climb building and level land carrying machine structure
Specific embodiment, structure, feature and its effect, after describing in detail such as.
Referring to Fig. 1 to Fig. 3, of the present utility model climb building and level land carrying machine, including walking mechanism, supporting mechanism, biography
Motivation structure and control system 11, transmission mechanism is fixed on and is connected with walking mechanism on supporting mechanism, wherein：Described walking mechanism
Realize translation and the stair activity of supporting mechanism；Control system 11 realizes the motion control to walking mechanism and supporting mechanism.Institute
State walking mechanism and include at least four wheels 8 and eight foot rests 9, every bipod 9 is symmetrically distributed on a wheel 8, with wheel 8
It is flexibly connected, foot rest 9 lower surface is parallel to the ground all the time；The height with diameter greater than foot rest 9 of wheel 8.On each wheel 8 described
Bipod 9 between be provided with the connecting rod 10 of flexible connection.Described foot rest 9 is triangle.Described supporting mechanism is by frame structure
Frame 1 forms.Described transmission mechanism includes motor 2, double end worm and gear 4 and single head worm and gear 6, and motor 2 is fixed on frame 1
Above, it is connected with control system 11 and double end worm and gear 4 one end respectively, double end worm and gear 4 other end is connected with power transmission shaft 3
Connect, power transmission shaft 3 is respectively arranged at two ends with single head worm and gear 6, single head worm and gear 6 other end is connected with wheel shaft 7, wheel shaft 7 two ends
It is respectively equipped with wheel 8.Described power transmission shaft 3 is provided with bearing block 5.
During use, foot rest 9 run-on point is higher than stair height, and bipod 9 is driven by wheel 8, alternately rises, and realizes climbing Lou Gong
Energy.In wheel 8 rotation process, the lower surface of foot rest 9 all the time with stair table top parallel contact.The holding power that ground provides is all the time
Straight up, force direction and vehicle body frame 1 relation at an acute angle are supported in the range of stair inclination angle, so building process is being climbed by robot
In, be not in the phenomenon toppled.In order to mitigate weight, can slot at the middle part of foot rest 9.Wheel 8 with diameter greater than foot rest 9
Highly, when wherein one foot rest（Lifting foot rest）With vehicle wheel rotation to peak, with another corner bracket（Support foot rest）With wheel movement
To minimum point, now bipod 9 is conllinear in vertical direction, lifting foot rest will not with support foot rest have any contact, and bipod 9
At a certain distance, interlock and be symmetrically mounted on wheel 8, between bipod 9, there is certain stagger distance.When body movement is to plane
When, within all foot rests 9 being taken in wheel 8 it is ensured that in plane motion car body stability.Now foot rest 9 can be by spiral shell
Bolt is fixed on wheel 8, and bolt is solely subjected to the weight of foot rest 9.After i.e. machine reaches level land, bear load simultaneously by four wheels 8
Complete to move, at this moment also can suitably increase the velocity of rotation of power transmission shaft 3, improve the delivery efficiency of machine.Additionally, foot rest 9 lower end
One layer of rubber can be set up in face, increases the frictional force with ground.
In motion process, frame 1 all the time with plane or inclined plane keeping parallelism.It is high that the material of frame 1 may be selected lightweight
Strength materials.The activity of can making of the frame 1 of frame structure, it is easy to assemble and disassemble.
Transmission mechanism adopts double reduction.Worm and gear has the function of self-locking, can be in any shape during climbing building
The operating of stopping or start machine under state, robot, because auto-lock function is without occurring backwards rotation, ensure that and is carried
The security of object.Power transmission shaft 3 is provided with bearing block 5 and is two.
When vehicle body loads, need carried thing is fixed as one with frame 1, it is to avoid carried thing shakes because inertia produces
Move and affect the stable operation of car body.Carried thing should be symmetrically installed with respect to the center of gravity of frame 1, the pin of robot when making upstairs
Frame 9 uniform stressed is it is ensured that barycentre steadiness downstairs in robot.
Control system 11 includes vehicle control syetem and wireless control system, and vehicle control syetem is realized to transmission mechanism
Drive, wireless control system realizes the control to vehicle control syetem.Control system is Control, Control electric current
Break-make, motor 1 rotating is realized by the Digiplex controlled motor sense of current.
The above, be only preferred embodiment of the present utility model, not the utility model is made any formal
Restriction, any without departing from technical solutions of the utility model content, according to technical spirit of the present utility model to above example
Any simple modification, equivalent variations and the modification made, all still falls within the range of technical solutions of the utility model.
Claims (7)
1. one kind climbs building and level land carrying machine, including walking mechanism, supporting mechanism, transmission mechanism and control system（11）, pass
Motivation structure be fixed on supporting mechanism be connected with walking mechanism it is characterised in that：Described walking mechanism realizes supporting mechanism
Translation and stair activity；Control system（11）Realize the motion control to walking mechanism and supporting mechanism.
2. climb building and level land carrying machine as claimed in claim 1 it is characterised in that：Described walking mechanism includes at least four
Wheel（8）With eight foot rests（9）, every bipod（9）It is symmetrically distributed in a wheel（8）Go up and wheel（8）It is flexibly connected, pin
Frame（9）Lower surface is parallel to the ground all the time；Wheel（8）With diameter greater than foot rest（9）Height.
3. climb building and level land carrying machine as claimed in claim 2 it is characterised in that：Each wheel described（8）On bipod
Frame（9）Between be provided with the connecting rod of flexible connection（10）.
4. climb building and level land carrying machine as claimed in claim 2 or claim 3 it is characterised in that：Described foot rest（9）For triangle.
5. climb building and level land carrying machine as claimed in claim 1 it is characterised in that：Described supporting mechanism is by frame structure
Frame（1）Composition.
6. as described in claim 1,3 or 5 climb building and level land carrying machine it is characterised in that：Described transmission mechanism includes electricity
Machine（2）, double end worm and gear（4）With single head worm and gear（6）, motor（2）It is fixed on frame（1）Upper, respectively with control system
（11）With double end worm and gear（4）One end is connected, double end worm and gear（4）The other end and power transmission shaft（3）It is connected, power transmission shaft
（3）It is respectively arranged at two ends with single head worm and gear（6）, single head worm and gear（6）The other end and wheel shaft（7）It is connected, wheel shaft（7）Two ends
It is respectively equipped with wheel（8）.
7. climb building and level land carrying machine as claimed in claim 6 it is characterised in that：Described power transmission shaft（3）It is provided with bearing
Seat（5）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620505874.7U CN205971577U (en) | 2016-05-30 | 2016-05-30 | Climb building and level land delivery machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620505874.7U CN205971577U (en) | 2016-05-30 | 2016-05-30 | Climb building and level land delivery machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205971577U true CN205971577U (en) | 2017-02-22 |
Family
ID=58019190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620505874.7U Expired - Fee Related CN205971577U (en) | 2016-05-30 | 2016-05-30 | Climb building and level land delivery machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205971577U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835980A (en) * | 2016-05-30 | 2016-08-10 | 贵州工程应用技术学院 | Stair climbing and flat ground carrying machine |
-
2016
- 2016-05-30 CN CN201620505874.7U patent/CN205971577U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835980A (en) * | 2016-05-30 | 2016-08-10 | 贵州工程应用技术学院 | Stair climbing and flat ground carrying machine |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 Termination date: 20190530 |