CN205971579U - Walking portion that adoption rackwork warp and fire control moving platform who has it - Google Patents
Walking portion that adoption rackwork warp and fire control moving platform who has it Download PDFInfo
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- CN205971579U CN205971579U CN201620885281.8U CN201620885281U CN205971579U CN 205971579 U CN205971579 U CN 205971579U CN 201620885281 U CN201620885281 U CN 201620885281U CN 205971579 U CN205971579 U CN 205971579U
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- 230000009184 walking Effects 0.000 title claims abstract description 56
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- 230000000712 assembly Effects 0.000 claims description 26
- 238000000429 assembly Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 16
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- 230000005484 gravity Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
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Abstract
The utility model discloses a walking portion of rackwork deformation adopts, include: bed frame, monodentate strip double gear mechanism, deformation drive assembly and walking assembly, monodentate strip double gear mechanism includes double rack and gear, and double rack and bed frame constitute and remove vicely, and the gear be two to be established respectively and all mesh with it in double rack both sides, but two gears and bed frame pivot is continuous, it links to each other with double rack and drives it along the reciprocal linear motion of bed frame to warp drive assembly, and it includes screw rod, nut and driving piece to warp drive assembly, the nut links to each other with double rack and passes through screw sub phase even with the screw rod, thereby the rotation of driving piece drive screw drives double rack moves, and then drive gear rotates the deformation that drives two walking assembly change contained angle, realization walking portion. The utility model discloses it includes still to have provided one kind the fire control moving platform of walking portion, this fire control moving platform's chassis height and length of wagon are adjustable, have improved its topography trafficability characteristic and stability.
Description
Technical field
This utility model is related to robotics, running part and tool that more particularly, to a kind of employing rackwork deforms
There is its firefighting movable platform, can be used for designing the design of fire-fighting robot.
Background technology
It is applied to the mobile robot in the fields such as fire-fighting, rescue, detection, investigation, often be faced with the terrain environment of complexity, this
Require that robot has good landform adaptability, passes through property and kinetic stability., some disappear taking fire-fighting robot as a example
Anti- robot will complete fire, the environment detection of dangerization explosion scene and sampling work, and such fire-fighting robot needs to enter ground
The complicated blast of shape and scene of fire, so require that fire-fighting robot has good terrain trafficability.Some landform require
Robot is wanted to have higher head room, to prevent obstacle jam robot chassis；During some landform, such as climbing slope,
Robot is asked to have relatively low position of centre of gravity, the ground contact length increasing robot is to provide good stability.And current machine
Device people's running part can not adjust attitude according to the change of landform, and the obstacle climbing ability of such mobile robot and terrain trafficability are subject to
To impact.As the patent (patent No.：200810023553.3) a kind of rocker type four-wheel robot of proposing, it has passive adaptation
The performance of landform, but its running part be fixing running part it is impossible to according to landform need adjust its angle.When described machine
When people climbs the slope of heavy grade, because position of centre of gravity is higher, it is susceptible to roll；When described robot therefrom between across higher barrier
When hindering thing, if head room is less than barrier, occur jam even cannot pass through.If robot (as fire-fighting robot) is mobile
The running part of platform can change its angle, shape on one's own initiative according to the feature of terrain obstruction, to change robot moving platform
Whole height, height of C.G., ground connection size, head room, then the landform that can improve the mobile platform using this running part is led to
The property crossed, adaptability and kinetic stability.Fire tower currently used for fire, the environment detection of dangerization explosion scene and sampling work
Device people, does not carry out the design of deformable running part, thus, he designs a kind of deformable robot ambulation portion and adopt this running part
The firefighting movable platform of design is highly significant.
Utility model content
In order to solve technical problem present in prior art, the utility model proposes a kind of deformed using rackwork
Running part and the firefighting movable platform with it, this running part can according to landform occur active deformation, so disappearing using it
Anti-moving moving platform can adjust whole height, position of centre of gravity, adjust it and be grounded size, to adapt to different terrain.
Concrete technical scheme of the present utility model is：
A kind of running part of employing rackwork deformation, including：Pedestal, monodentate bar Double-gear mechanism, deformation drive component
With walking assembly；Described monodentate bar Double-gear mechanism includes：The two-sided rack, described the two-sided rack both sides are all with teeth and described two-sided
Tooth bar constitutes moving sets with described pedestal；Gear, described gear be two, be respectively provided at described the two-sided rack both sides and all with
The engagement of described the two-sided rack, two described gears are pivotable with described pedestal to be connected；Described deformation drive component is double with described
Face tooth bar is connected and drives described the two-sided rack along pedestal linear reciprocating motion；Described walking assembly is two, described in two
Walking assembly is connected with two described gears respectively.
Preferably, running part of the present utility model, angle detection module can also be included, described angle detection module with
Described deformation drive component is connected in order to detect described gear corner.
Optionally, described angle detection module is encoder.
Optionally, running part of the present utility model, described walking assembly can be running on wheels assembly, described running on wheels
Parts include：Running on wheels portion frame, described running on wheels portion frame is connected with described gear；Vehicle wheel component, described vehicle wheel component
It is connected with described running part frame, wheel actuator, described wheel actuator is connected with described vehicle wheel component, and drives described wheel
Assembly rotates.
Optionally, running part of the present utility model, described walking assembly is crawler-type traveling assembly, described crawler-type traveling
Assembly includes：Track frame, described track frame is connected with described gear；Athey wheel, described Athey wheel is connected with described track frame, institute
State Athey wheel to include driving Athey wheel and driven Athey wheel；Crawler belt, described crawler belt envelope outside described Athey wheel, and with described drive
Dynamic Athey wheel is meshed；Athey wheel actuator, described Athey wheel actuator is connected with described driving Athey wheel, and drives described drive
Dynamic Athey wheel rotates.
Further, running part of the present utility model, is provided with guide rail slide block device between described the two-sided rack and described pedestal,
It is provided with bearing between the two ends of described gear axial direction and described pedestal, and described guide rail slide block device includes：Guide rail, described guide rail with
Described pedestal is connected；Slide block, described slide block is connected with described the two-sided rack and can move along a straight line along described guide rail.
Further, running part of the present utility model, described deformation drive component also includes：Screw rod, described screw rod with
Described pedestal is pivotable to be connected；Nut, described nut is connected with described the two-sided rack, and described nut is passed through with described screw rod
Screw thread pair is connected；Actuator, described actuator is fixedly connected with described pedestal and drives described screw rod to rotate.Optionally, described
Actuator be motor or hydraulic motor or the motor through slowing down and hydraulic motor.
Further, running part of the present utility model, described gear is provided with the gear shaft coaxial with described gear, and
The two ends of described gear shaft are pivotly connected with described pedestal and stretch out described pedestal, and described gear shaft is outer in described pedestal
Side is connected with described walking assembly.
Running part of the present utility model, described gear is imperfect gear.
By technique scheme, during the two-sided rack straight reciprocating motion of described monodentate bar Double-gear mechanism, can drive
Two described gears being meshed therewith reversely rotate at the same speed；Because two described walking assembly respectively with two described gears
It is connected, so when described deformation drive component drives described the two-sided rack straight reciprocating motion, two described walking assemblies
Can oppositely swing, thus changing the angle of two described walking assemblies it is achieved that the deformation of running part simultaneously.If two institutes
The number of teeth stating gear is identical, can achieve two described walking synchronized backswings of assembly；If the number of teeth of two described gears not phase
With achievable two described walking assembly not backswings at the same speed.
In the technical solution of the utility model, described gear is imperfect gear, therefore can reduce the life of gear
Produce cost and weight.
In the technical solution of the utility model, angle detection module, described angle detection module and institute can also be included
State deformation drive component to be connected in order to detect gear corner, thus the angle of two described walking assemblies can be detected, be easy to walk
The Deformation control in portion.According to optional technical scheme, described angle detection module is encoder, described encoder and described deformation
Drive component is connected and can indirectly detect the corner of described gear, or is coaxially connected with described gear to obtain described gear
Corner thus obtain described walking assembly angle.
In the technical solution of the utility model, described walking assembly can be running on wheels assembly, because two described wheels
Formula running part frame is connected with two described gears respectively, so when described deformation drive component drives described monodentate bar Double-gear
During mechanism, two described running on wheels assemblies can oppositely swing simultaneously, thus two described running on wheels assemblies can be changed
Angle, can achieve the wheelspan change of two described running on wheels assemblies and the change of the height of running part described in the utility model
Change.
In the technical solution of the utility model, described walking assembly can be crawler-type traveling assembly, because described in two
Track frame is connected with two described gears respectively, so when described deformation drive component drives described monodentate bar Double-gear mechanism
When, two described crawler-type traveling assemblies can oppositely swing simultaneously, thus two described crawler-type traveling assemblies can be changed
Angle, and then can achieve the ground contact length of two described crawler-type traveling assemblies and the height of running part described in the utility model
The change of degree.
Additionally, this utility model also proposed a kind of firefighting movable platform, it includes：Main car body, the employing described in two
The running part of rackwork deformation, and the described pedestal of the running part of employing rackwork deformation described in two is respectively at described
The both sides of main car body are connected.
In the technical solution of the utility model, it also includes differential balance device, and two described employing rackworks become
The described pedestal of the running part of shape is pivotly connected with described main car body, described differential balance device respectively with described main car body
It is connected with two described pedestals.
By technique scheme, due to the reason of the running part using described employing rackwork deformation, this fire-fighting
The chassis height of mobile platform and position of centre of gravity can up-down adjustment, so described fire-fightings with the change of described running part angle
Mobile platform just can need to adjust chassis, height of C.G. according to passed through landform, and the entire length of mobile platform, to adjust
The terrain trafficability of high mobile platform, adaptability and kinetic stability.
Following beneficial effect can be obtained using the technical solution of the utility model：(1) adopt described monodentate bar Double-gear
Mechanism achieves two described walking assembly angles of described running part and the regulation of described running part height；(2) adopt institute
The firefighting movable platform stating running part achieves the height on chassis of firefighting movable platform and the length adjustment of vehicle body, thus carrying
The high terrain trafficability of firefighting movable platform and adaptability；(3) adopt the firefighting movable platform tool of described differential balance device
There is the ability of passive adaptation landform；(4) adopt this utility model scheme can with the robot of fire-fighting robot and other field, with
And other mobile devices.
Brief description
Fig. 1 is the schematic front view in the running on wheels portion according to this utility model embodiment；
Fig. 2 is the schematic perspective view in the running on wheels portion shown in Fig. 1；
Fig. 3 is another schematic perspective view in the running on wheels portion shown in Fig. 1；
Fig. 4 is the exploded perspective figure of the running on wheels portion part-structure shown in Fig. 1；
Fig. 5 is the schematic front view during running on wheels portion adjustment angle 180 degree shown in Fig. 1；
Fig. 6 is schematic front view when running on wheels portion adjustment angle shown in Fig. 1 is less；
Fig. 7 is the schematic front view in the crawler-type traveling portion according to another embodiment of this utility model；
Fig. 8 is the higher schematic front view of center of gravity in the crawler-type traveling portion shown in Fig. 7；
Fig. 9 is the relatively low schematic front view of center of gravity in the crawler-type traveling portion shown in Fig. 7；
Figure 10 is the schematic perspective view with the mobile platform in running on wheels portion shown in Fig. 1；
Figure 11 is the schematic diagram that the wheeled firefighting movable platform shown in Fig. 7 improves head room；
Figure 12 is the schematic diagram that the wheeled firefighting movable platform shown in Fig. 7 reduces head room；
Figure 13 be have shown in Fig. 7 the firefighting movable platform in crawler-type traveling portion schematic perspective view；
Figure 14 is that the firefighting movable platform equipped with differential balance device of another embodiment of this utility model passes through rough ground
The state diagram in face；
Figure 15 is the schematic perspective view of the fire-fighting robot for environment detection with mobile platform shown in Figure 10；
Reference：
1100 running on wheels portions；1200 crawler-type traveling portions；2000 main car bodies；3000 differential balance devices；4000 sides turn
Axle；
1 pedestal；
11 base frames；
111 footstocks；112 bases；
12 side plates；
121 gear shaft block installing holes；122 connecting interfaces；
13 gear shaft blocks；
2 monodentate bar Double-gear mechanisms；
21 the two-sided racks；
22 gears；
221 gear shafts；
2211 keys；
3 deformation drive components；
31 screw rods；
32 nuts；
33 actuators；
4 guide rail slide block devices；
41 guide rails；
42 slide blocks；
5 walking assemblies；
51 running on wheels assemblies；5101 revolver type walking assemblies；5102 right running on wheels assemblies；
511 running on wheels portion framves；
5111 connection frames；
51111 ear mount；51112 opening long slot bores；51113 fixing holes；
512 vehicle wheel components；
513 wheel actuators；
514 ring flanges；
5141 dowel holes；5142 fixing screwed holes；
515 attaching nuts；
516 screws；
52 crawler-type traveling assemblies；5201 left crawler-type traveling assemblies；5202 right-hand track chiain formula walking assemblies；
521 track frames；
5211 track frame mainboards；5212 track frame connecting plates；
522 Athey wheels；
5221 driving Athey wheels；5222 driven Athey wheels；
523 crawler belts；
524 Athey wheel actuators；
6 encoders；
Specific embodiment
Embodiment of the present utility model is described below in detail, the embodiment by reference to Description of Drawings is exemplary, only
For explaining this utility model, and it is not intended that to restriction of the present utility model.
Describe the walking of the employing rackwork deformation according to this utility model embodiment with reference to Fig. 1-Figure 15 in detail
Portion, this running part can be used for mobile platform, but not limited to this.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, according to some embodiments of the present utility model, using the row of rackwork deformation
Walk portion, including：Pedestal 1, monodentate bar Double-gear mechanism 2, deformation drive component 3, guide rail slide block device 4 and walking assembly 5；As figure
Shown in 4, pedestal 1 also includes connecting interface 122, and connecting interface 122 is used for connecting main car body 2000 and running part；Monodentate bar bidentate
Wheel mechanism 2 includes：The two-sided rack 21, the two-sided rack 21 both sides are all with teeth, and the two-sided rack 21 is movably connected with pedestal 1；Tooth
Wheel 22, gear 22 is two, what two gears 22 were symmetrical be located at the two-sided rack both sides the respectively tooth with the two-sided rack 21 both sides
Engagement；Deformation drive component 3 is connected with the two-sided rack 21 and drives the two-sided rack 21 along described pedestal 1 linear reciprocating motion；
Specifically, deformation drive component 3 includes：Screw rod 31, nut 32 and actuator 33, nut 32 is fixed with the two-sided rack 21 upper surface
Connect, the two-sided rack 21 vertically has through hole, and screw rod 31 is connected by screw thread pair with nut 32, and screw rod 31 is pivotable
Set on the pedestal 1, actuator 33 is fixing with pedestal 1, and is connected with screw rod 31 by shaft coupling, is rotated with drive screw 31；
Guide rail slide block device 4 includes guide rail 41 and slide block 42, and guide rail 41 is connected with pedestal 1, and slide block 42 is connected with the two-sided rack 21；Walking
Assembly 5 is two, and two walking assemblies 5 are connected with two gears 22 respectively；In embodiment shown in Fig. 1, Fig. 2, two gears
22 number of teeth is identical with modulus.
As shown in Figure 1 and Figure 2, according to some embodiments of the present utility model, pedestal 1 is body structure, including base frame
11st, side plate 12, gear shaft block 13；The top of base frame 11 is provided with footstock 111 in centre position, and the bottom of base frame 11 is in centre
Position is provided with base 112, and footstock 111 is coaxially set with base 112；Side plate 12 is two, is connected with base frame 11, side plate 12
It is provided with two gear shaft block installing holes 121, side plate 12 is additionally provided with connecting interface 122；Gear shaft block 13 is arranged on gear shaft
It is connected in seat installing hole 121 and with side plate.The two-sided rack 21 of monodentate bar Double-gear mechanism 2 and two gears 22 are all located at pedestal
In 1 body structure.The gear 22 of monodentate bar Double-gear mechanism 2 is provided with gear shaft 221, specifically, in the present embodiment, such as
Shown in Fig. 4, gear shaft 221 is additionally provided with key 2211, and gear shaft 221 is linked together by key 2211 with gear 22.Gear
The two ends of axle 221 are supported in the gear shaft block 13 of both sides, and stretch out gear shaft block 13, when being embodied as, gear shaft 221 and tooth
Axle block 13 is provided with bearing.The two-sided rack 21 is provided between two gears 22 and is meshed with two gears 22.According to this practicality
Some new embodiments, screw rod 31 supports in the footstock 111 and base 112 that are arranged on base frame 11, by footstock 111 and bottom
The supporting of seat 112, when being embodied as, between footstock 111 and screw rod 31, is equipped with bearing between base 112 and screw rod 31.
According to some embodiments of the present utility model, as shown in Figure 1 and Figure 2, gear 22 is imperfect gear, gear 22
The number of teeth only need can and the two-sided rack 21 engage and reach two extreme positions, so both can guarantee that gear corner size meet
Demand, can reduce the volume of the volume, weight and pedestal 1 of gear 22 again.
According to some embodiments of the present utility model, actuator 33 is motor or hydraulic motor or the electricity through slowing down
Machine and hydraulic motor.The actuator 33 of the embodiment shown in Fig. 1, Fig. 2 employs the motor through slowing down.
By such scheme, actuator 33 drive screw 31 deforming drive component 3 rotates, and drives the two-sided rack 21 leading
Leading of rail slide block device 4 moves up and down downward along pedestal 1；The two-sided rack 21 drives two gears being meshed therewith 22 reverse
Rotate；Because two walking assemblies 5 are connected with two gears 22 respectively, when deformation drive component 3 drives the two-sided rack
21 linear motion when, two walking assembly 5 can backswing, thus change two walking assemblies 5 angle it is achieved that walking
The deformation in portion.If two gears 22 are worked as, and the number of teeth is identical, the angle of two walking assembly 5 swings is identical；If two gears 22 are worked as
The number of teeth differs, then the angle of two walking assembly 5 swings differs.
According to some embodiments of the present utility model, as shown in Figure 1, Figure 2, Figure 3 shows, according to some enforcements of the present utility model
Example, using the running part of rackwork deformation, can also include angle detection module, and angle detection module is encoder 6, coding
Device 6 is connected with deformation drive component 3 and can indirectly detect the corner of gear 22.According to other enforcements of the present utility model
Example, encoder 6 can be coaxially connected with gear 22 to obtain the corner of gear 22 thus obtaining the angle of two walking assemblies 5.
According to some embodiments of the present utility model, walking assembly 5 is running on wheels assembly 51, as shown in figure 1, wheeled row
Walk assembly and divide revolver type walking assembly 5101 and right running on wheels assembly 5102, running on wheels assembly 51 includes：Running on wheels portion
Frame 511, running on wheels portion frame 511 is connected with gear 22；Vehicle wheel component 512, vehicle wheel component 512 and running on wheels portion frame 511 phase
Even；Wheel actuator 513, wheel actuator 513 is connected with vehicle wheel component 512 and driving moment assembly 512 rotates；Ring flange
514, mounting flange 514 is connected with gear 22 and running on wheels portion frame 511；Attaching nut 515, and attaching nut 515 passes through spiral shell
Stricture of vagina pair is connected with gear shaft 221 and fixed flange 514.
According to some embodiments of the present utility model, as shown in Figure 1, Figure 2, Figure 3, Figure 4, running on wheels assembly 51 passes through method
Blue disk 514 is connected with gear 22 with attaching nut 515, specifically, as shown in figure 4, the running on wheels of running on wheels assembly 51
Portion's frame 511 one end is provided with connection frame 5111, and the ear mount 51111 connecting frame 5111 is provided with opening long slot bore 51112, opening elongated slot
It is provided with fixing hole 51113 around hole 51112；Ring flange 514 center of running on wheels assembly 51 is provided with dowel hole 5141, and periphery sets
There is fixing screwed hole 5142, two ring flanges 514 are respectively fitted on the two ends of gear shaft 221, and pass through key with gear shaft 221
2211 are connected, and ring flange 514 is stretched out at gear shaft 221 end, and the section of stretching out of gear shaft 221 puts into the ear mount 51111 connecting frame 5111
Opening long slot bore 51112 in, using screw 516 by connect frame 5111 ear mount 51111 be connected with ring flange 514, screw 516
Threaded through fixing hole 51113 with fixing screwed hole 5142；Gear shaft 221 two ends external thread section passes through two nuts 515
Carry out axially position, specifically, nut 515 adopts locking nut, can be to wheeled row by adjusting the nut 515 of gear shaft 221
Walk the fine setting that assembly 51 carries out gear shaft 221 axial direction.Therefore, by this scheme and structure, gear 22 is with gear shaft 221 coaxially
Link together, gear shaft 221 is linked together by key 2211 with ring flange 514, the running on wheels of running on wheels assembly 51
Portion's frame 511 is fixed together by screw 516 with ring flange 514, so, two running on wheels assemblies 51 and two gears
22 be connected and the rotations with two gear shafts 221 and change angle.Tooth when two gears 22 of monodentate bar Double-gear mechanism 2
When number is identical, when deformation drive component 3 drives monodentate bar Double-gear mechanism 2 motion, gear 22 drives revolver type walking assembly
5101 and right running on wheels assembly 5102 rotate backward at the same speed, it is achieved thereby that the corner dimension of two running on wheels assemblies 51
Adjust, that is, achieve the deformation in running on wheels portion of the present utility model.According to some embodiments other, the tooth of two gears 22
Number differs, and can achieve the not synchronized backswing of two walking assemblies 51, also can achieve running on wheels portion of the present utility model
Deformation.
As shown in Figure 5, Figure 6, Fig. 5 is the view that running part angle is in 180 degree, and now, the length of running part is
Greatly, and center of gravity is relatively low；Fig. 6 is view when running on wheels portion angle reaches less, now, the length in running on wheels portion
Minimum, its center of gravity is higher.In some other embodiments, the gear 22 of monodentate bar Double-gear mechanism 2 is complete gear, this
Sample, the pivot angle excursion of the running on wheels assembly in running on wheels portion is some larger, in some designs, the wheel in running on wheels portion
Formula walking assembly can the position shown in Fig. 5 upwards, downward both direction swing.
Optionally, according to embodiment of the present utility model, wheel actuator 513 is motor or hydraulic motor or process
The motor slowing down and hydraulic motor.The wheel actuator 513 of the embodiment shown in Fig. 1, Fig. 2 employs the motor through slowing down.
According to another embodiment of the present utility model, assembly 5 of walking can also be crawler-type traveling assembly 52, as Fig. 7 institute
In the embodiment shown, the left crawler-type traveling assembly 5201 of 52 points of crawler-type traveling assembly and right-hand track chiain formula walking assembly 5202, carry out
Belt walking assembly 52 includes：Track frame 521, track frame 521 is connected with gear 22；Athey wheel 522, Athey wheel 522 and crawler belt
Frame 521 is connected, and Athey wheel 522 includes driving Athey wheel 5221 and driven Athey wheel 5222；Crawler belt 523, crawler belt 523 envelope is being carried out
Outside belt wheel 522, and it is meshed with driving Athey wheel 5221；Athey wheel actuator 524, Athey wheel actuator 524 and driving crawler belt
Wheel 5221 is connected, and drives Athey wheel 5221 to rotate.In embodiment shown in Fig. 7, Athey wheel actuator 524 is carried out with driving
Flexible element transmission is employed, specifically, described flexible element transmission employs chain drive, described flexible element transmission between belt wheel 5221
Toothed belt transmission may also be employed.In some other embodiment, acceptable between Athey wheel actuator 524 and driving Athey wheel 5221
Using be coaxially connected transmission or gear drive.
In the embodiment shown in fig. 7, similar with the connected mode of running on wheels assembly 51 and gear 22, by crawler type
Walking assembly 52 is connected with gear 22.Specifically, track frame 521 includes track frame body frame 5211 and track frame connecting plate 5212,
Track frame connecting plate 5212 is fixedly connected with track frame body frame 5211, and track frame connecting plate 5212 is connected with gear 22；Crawler belt
Frame connecting plate 5212 and the connected mode of gear 22 and running on wheels assembly 51 and gear in Fig. 1, Fig. 2 and embodiment illustrated in fig. 4
22 connected mode is similar to.
Fig. 8, Fig. 9 are the state diagrams that crawler-type traveling assembly is under different angles in two track unit, in Fig. 8, this
The ground contact length in the crawler-type traveling portion of utility model is less, is easy to turn to, now center of gravity is higher；In Fig. 9, of the present utility model
The ground contact length in crawler-type traveling portion is larger, is easy to by soft landform, is easy to by the landform such as raceway groove, now crawler-type traveling
Portion's center of gravity is low, also can obtain preferable stability.
In a word, according to some embodiments of the present utility model, the rotation of actuator 33 is converted by monodentate bar Double-gear mechanism 2
For the rotation reverse at the same speed of two gears 22, and two walking assemblies 5 are connected by ring flange 514 with gear 22, so just
The rightabout rotation of two gears 22 is converted into the rightabout rotation of two walking assemblies 5, therefore, two walkings
There is rightabout change in the angle of assembly 5 under the driving of actuator 33.
This utility model also proposed a kind of firefighting movable platform, including main car body 2000 and using rackwork deformation
Running part；Described running part is two, and is respectively provided at main car body 2000 both sides and is connected with main car body 2000.According to this practicality
Some new embodiments, described running part can be running on wheels portion 1100, and described running part can also be crawler-type traveling
Portion 1200.It is the mobile platform using running on wheels portion 1100 in Figure 10, Figure 13 is the fire-fighting using crawler-type traveling portion 1200
Mobile platform.In the embodiment shown in fig. 10, connecting interface 122 is passed through by running on wheels portion 1100 and main car using link
Body 2000 is connected.
Because described firefighting movable platform has the running part using rackwork deformation, when described running part drives in deformation
When dynamic assembly 3 drives lower angle that reversely synchronized change occurs, the length of wagon of described firefighting movable platform changes accordingly, with
The chassis height of Shi Suoshu firefighting movable platform also changes, so, the chassis height of described firefighting movable platform and vehicle body
Length is adjustable, can carry out obstacle detouring by adjusting chassis height when described firefighting movable platform runs into barrier；Work as institute
When stating firefighting movable platform and moving on the slope, reduce the stability that chassis height can improve mobile platform, to avoid platform to incline
Cover.Therefore, have using rackwork deformation running part firefighting movable platform have more preferable landform adaptability, stability with
Adaptability.
As shown in Figure 11,12, Figure 11 is that the firefighting movable platform with running on wheels portion 1100 passes through to adjust compared with during high obstacle
The state diagram of section head room, Figure 12 is that the firefighting movable platform with running on wheels portion 1100 passes through to change weight during relatively low obstacle
The state diagram of the stability of mobile platform is improved in heart position, by two figures as can be seen that having the fire-fighting in running on wheels portion 1100
Mobile platform can be by adjusting the road surface that head room adapts to have the obstacle that is uneven.
According to some embodiments of the present utility model, this utility model also proposed a kind of firefighting movable platform, this fire-fighting
Mobile platform also includes differential balance device 3000；The described pedestal 1 of the running part of two described employing rackwork deformation with
Main car body 2000 is pivotly connected, differential balance device 3000 respectively with main car body 2000 and two running on wheels portions 1100
Pedestal 1 is connected.Described running part in embodiment illustrated in fig. 14 is running on wheels portion 1100；Specifically, main car body 2000 passes through
Side rotating shaft 4000 is connected with running on wheels portion 1100, and side rotating shaft 4000 is two, and two side rotating shafts 4000 are pivotable is located at
The both sides of main car body 2000；Differential balance device 3000 can be connected with main car body 2000 and two side rotating shafts 4000 respectively, thus,
Running on wheels portion 1100 can be made to adapt to the landform of big rise and fall by differential balance device 3000, and then improve firefighting movable
The landform adaptability of platform and stability.Figure 14 also show the firefighting movable platform with running on wheels portion 1100 by tool
There iss the road surface time difference dynamic poise device of obstacle that is uneven.Fire-fighting according to other embodiments of the present utility model moves
Moving platform may also be employed crawler-type traveling portion 1200
Optionally, differential balance device 3000 is link-type differential balance device or gear type differential bascule.
Additionally, have using rackwork deformation running part mobile platform can be also used for design head room adjustable
Robot and other mobile devices, as designed by Figure 15 is a kind of employing this utility model mobile platform for environment detection
Fire-fighting robot
For other compositions of fire-fighting robot and other mobile devices, such as link-type differential balance device or gear
Formula differential balance device, for prior art, and is known to one of ordinary skill in the art, therefore is not described in detail.
While there has been shown and described that embodiment of the present utility model, those of ordinary skill in the art can be to these
Embodiment carries out multiple changes, modification, replacement and modification, and scope of the present utility model is limited by claim and its equivalent.
Claims (10)
1. a kind of running part of employing rackwork deformation is it is characterised in that include：
Pedestal；
Monodentate bar Double-gear mechanism, described monodentate bar Double-gear mechanism includes：
The two-sided rack, described the two-sided rack both sides are all with teeth and described the two-sided rack and described pedestal constitute moving sets；
Gear, described gear be two, be respectively provided at described the two-sided rack both sides and respectively with described the two-sided rack both sides
Tooth engages, and two described gears are pivotable with described pedestal to be connected；
Deformation drive component, described deformation drive component is connected with described the two-sided rack and drives described the two-sided rack along described
Pedestal linear reciprocating motion；
Walking assembly, described walking assembly is two, and two described walking assemblies are connected with two described gears respectively.
2. the running part using rackwork deformation according to claim 1 is it is characterised in that also include：
Angle detection module, described angle detection module is connected to detect described gear corner with described deformation drive component；
Described angle detection module is encoder.
3. the running part of employing rackwork deformation according to claim 1 is it is characterised in that described walking assembly is wheel
Formula walking assembly, described running on wheels assembly includes：
Running on wheels portion frame, described running on wheels portion frame is connected with described gear；
Vehicle wheel component, described vehicle wheel component is connected with described running part frame；
Wheel actuator, described wheel actuator is connected with described vehicle wheel component, and drives described vehicle wheel component to rotate.
4. the running part of employing rackwork deformation according to claim 1 is it is characterised in that described walking assembly is to carry out
Belt walking assembly, it includes：
Track frame, described track frame is connected with described gear；
Athey wheel, described Athey wheel is connected with described track frame, and described Athey wheel includes driving Athey wheel and driven Athey wheel；
Crawler belt, described crawler belt envelope is outside described Athey wheel, and is meshed with described driving Athey wheel；
Athey wheel actuator, described Athey wheel actuator is connected with described driving Athey wheel, and drives described driving crawler belt rotation
Dynamic.
5. the running part of employing rackwork according to claim 1 deformation is it is characterised in that described the two-sided rack and institute
State and between pedestal, be provided with guide rail slide block device, be provided with bearing between the two ends of described gear axial direction and described pedestal, and described guide rail is slided
Block assembly includes：
Guide rail, described guide rail is connected with described pedestal；
Slide block, described slide block is connected with described the two-sided rack and can move along a straight line along described guide rail.
6. the running part of employing rackwork according to claim 1 deformation is it is characterised in that described deformation driving group
Part also includes：
Screw rod, described screw rod is pivotable with described pedestal to be connected；
Nut, described nut is connected with described the two-sided rack, and described nut is connected by screw thread pair with described screw rod；
Actuator, described actuator is fixedly connected with described pedestal and drives described screw rod to rotate, and described actuator is motor
Or hydraulic motor or the motor through slowing down and hydraulic motor.
7. the running part using rackwork deformation according to claim 1 it is characterised in that described gear be provided with
The coaxially connected gear shaft of described gear, and the two ends of described gear shaft are pivotly connected with described pedestal and stretch out described base
Frame, described gear shaft is connected with described walking assembly in the outside of described pedestal.
8. the running part of employing rackwork deformation according to claim 1 is it is characterised in that described gear is imperfect
Gear.
9. a kind of firefighting movable platform is it is characterised in that include：
Main car body；
Adopt the running part of rackwork deformation any one of two claim 1-8, and described employing rackwork becomes
The described pedestal of the running part of shape is connected with the both sides of described main car body respectively.
10. firefighting movable platform according to claim 9 is it is characterised in that also include differential balance device, described in two
Described pedestal using the running part of rackwork deformation is pivotly connected with described main car body, and described differential balance device divides
It is not connected with described main car body and two described pedestals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620885281.8U CN205971579U (en) | 2016-08-16 | 2016-08-16 | Walking portion that adoption rackwork warp and fire control moving platform who has it |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620885281.8U CN205971579U (en) | 2016-08-16 | 2016-08-16 | Walking portion that adoption rackwork warp and fire control moving platform who has it |
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| CN205971579U true CN205971579U (en) | 2017-02-22 |
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| CN201620885281.8U Active CN205971579U (en) | 2016-08-16 | 2016-08-16 | Walking portion that adoption rackwork warp and fire control moving platform who has it |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106167059A (en) * | 2016-08-16 | 2016-11-30 | 中国矿业大学 | Use the running part of rackwork deformation and there is its firefighting movable platform |
| CN108045481A (en) * | 2017-12-14 | 2018-05-18 | 定远县中林机械技术有限公司 | A kind of electrodynamic balance vehicle automatic balancing arrangement |
| CN108674648A (en) * | 2018-05-31 | 2018-10-19 | 安徽工程大学 | A kind of unmanned plane rotor cutting angle regulating device |
| CN115071856A (en) * | 2022-05-31 | 2022-09-20 | 中国矿业大学(北京) | Wheel-leg type mobile platform and detection inspection robot with same |
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2016
- 2016-08-16 CN CN201620885281.8U patent/CN205971579U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106167059A (en) * | 2016-08-16 | 2016-11-30 | 中国矿业大学 | Use the running part of rackwork deformation and there is its firefighting movable platform |
| CN108045481A (en) * | 2017-12-14 | 2018-05-18 | 定远县中林机械技术有限公司 | A kind of electrodynamic balance vehicle automatic balancing arrangement |
| CN108045481B (en) * | 2017-12-14 | 2020-04-03 | 定远县中林机械技术有限公司 | Automatic balancing device of electric balance car |
| CN108674648A (en) * | 2018-05-31 | 2018-10-19 | 安徽工程大学 | A kind of unmanned plane rotor cutting angle regulating device |
| CN108674648B (en) * | 2018-05-31 | 2021-11-30 | 安徽工程大学 | Unmanned aerial vehicle rotor cutting angle adjusting device |
| CN115071856A (en) * | 2022-05-31 | 2022-09-20 | 中国矿业大学(北京) | Wheel-leg type mobile platform and detection inspection robot with same |
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