CN206031547U - Shock attenuation walking portion that screw actuation warp and have its fire control moving platform - Google Patents
Shock attenuation walking portion that screw actuation warp and have its fire control moving platform Download PDFInfo
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- CN206031547U CN206031547U CN201620887038.XU CN201620887038U CN206031547U CN 206031547 U CN206031547 U CN 206031547U CN 201620887038 U CN201620887038 U CN 201620887038U CN 206031547 U CN206031547 U CN 206031547U
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- leading screw
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- walking
- frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
Abstract
The utility model discloses a shock attenuation walking portion that screw actuation warp, including frame, epicyclic train subassembly, angle modulation device and walking assembly, the epicyclic train subassembly is two, is symmetrical arrangement, including sun gear, rocking arm, planet wheel and damping component, damping component links to each other with frame and rocking arm respectively, and the screw piece of angle modulation device links to each other with one of them sun gear, and the axle bed piece links to each other with another sun gear, and the screw piece distance between fast can change under the effect of lead screw with the axle bed, the planet that drives two sun gears, meshes with the sun gear is taken turns and is taken turns continuous walking assembly antiport with the planet to the deformation of walking portion has been realized, when two walking assembly received external shock, because of damping component's existence, the rocking arm can be swung in certain limit elasticity for walking portion has damping performance. Furthermore, the utility model discloses still provide a fire control moving platform, included the shock attenuation walking portion of foretell screw actuation deformation, can be used to fire -fighting robot's design.
Description
Technical field
This utility model is related to robotics, more particularly to a kind of leading screw drives the damping running part and tool of deformation
There is its firefighting movable platform, can be used to design fire-fighting robot.
Background technology
The mobile robot in the fields such as fire-fighting and rescue, detection investigation is applied to, needs face the terrain environment of complexity, therefore
It is required that robot should be with good landform adaptability, by property and kinetic stability.By taking fire-fighting robot as an example, some disappear
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 are required
Want robot that there is higher head room, to prevent obstacle jam robot chassis；Some landform require robots with compared with
Low position of centre of gravity, increases the ground connection of robot to provide good stability, when such as climbing slope.And current robot row
Walk portion and attitude can not be adjusted according to the change of landform, therefore obstacle climbing ability is affected with terrain trafficability.Such as patent (patent
Number：200810023553.3) a kind of rocker type four-wheel robot for proposing, which has a performance of passive adaptation landform, but its
Running part is fixed running part, it is impossible to according to landform need adjust its angle.When the oblique of heavy grade is climbed by the robot
During slope, because position of centre of gravity is higher, rolling is susceptible to；When the robot therefrom between across compared with high obstacle thing when, if free height
Degree cannot then pass through or jam occurs less than barrier.If can be according to the feature of terrain obstruction, robot (such as fire-fighting robot)
The running part of mobile platform can change its angle, shape on one's own initiative, high with the whole height, the center of gravity that change robot moving platform
Degree, ground connection size, head room, then can improve terrain trafficability, adaptability and the fortune of mobile platform using this running part
Dynamic stability.Meanwhile, under complicated orographic condition, road surface is often compared and is jolted, mobile platform by when can be subject to larger
Impulsive force, will so affect the performance of the instrument entrained by robot, also affect institute collecting sample to a certain extent
Stability.If mobile platform has shock-absorbing function, certain impact can be absorbed just, so as to improve displacement stationarity, be reduced
Fault rate and increase the service life, and more stable platform can be provided for detection, sampling.
Currently used for the fire-fighting robot of fire, the environment detection of dangerization explosion scene and sampling work, had
The design of the deformable running part of shock-absorbing function, thus, design a kind of deformable robot ambulation portion with shock-absorbing function
And especially firefighting movable platform is highly significant using the mobile platform of running part design.
Utility model content
This utility model aims to solve the problem that technical problem present in prior art.For this purpose, this utility model provides one kind
Leading screw drives the damping running part and the firefighting movable platform with which of deformation, the running part be occurred actively according to different terrain
Deformation, allows to adjust whole height, position of centre of gravity using its mobile platform, adjusts its ground connection size, while having damping
Function, to improve its ability for adapting to different terrain.
Concrete technical scheme of the present utility model is：A kind of leading screw drives the damping running part of deformation, including：Frame；Week
Runner module, the cyclic train component are two, be arranged symmetrically, and the cyclic train component includes：Sun gear, institute
State sun gear to be pivotly connected with the frame, the sun gear is provided with extension bar；Pivoted arm, the pivoted arm and the sun gear
Coaxially pivotly it is connected；Planetary gear, the planetary gear are pivotly connected with the pivoted arm, and the planetary gear and institute
State sun gear to be meshed；Damper element, the damper element are connected with the frame and the pivoted arm respectively；Reclining apparatus, institute
Stating reclining apparatus includes：Screw block, the screw block are stretched out with the described of the sun gear of a cyclic train component
Bar is pivotly connected；Axle bed block, the axle bed block are stretched with the described of the sun gear of cyclic train component another described
Rod is pivotly connected, and the sun gear of two cyclic train components is meshed；Leading screw, the leading screw with it is described
Screw block is connected with screw thread pair, and the leading screw is connected with rotating parafacies with the axle bed block；Leading screw actuator, the leading screw actuator
It is connected with the leading screw, and drives the leading screw to rotate.Walking component, the walking component are two, two walking groups
Part is connected with two planetary gears respectively.
Optionally, the leading screw of the present utility model drives the damping running part of deformation, the screw block to be provided with internal thread hole；
The axle bed block is provided with axle bed hole；The leading screw includes light shaft part and silk shaft part, and the silk shaft part is interior located at the screw block
Silk hole constitutes screw thread pair, and the light shaft part of the leading screw is constituted in the axle bed hole of the saddle and rotates secondary；The angle modulation
The leading screw actuator of device includes：Actuator seat, the actuator seat are fixedly linked with the axle bed block；Revolving part, institute
State revolving part to be connected with the leading screw and drive the leading screw to rotate.
Optionally, the leading screw of the present utility model drives the damping running part of deformation, the damper element to subtract for spring
Shake device, the spring damper two ends are mutually hinged with the frame and the pivoted arm respectively.
Optionally, the leading screw of the present utility model drives the damping running part of deformation, and described leading screw actuator is electricity
Machine or hydraulic motor or motor and hydraulic motor through slowing down.
Optionally, the leading screw of the present utility model drives the damping running part of deformation, and the walking component is wheeled row
Component is walked, the running on wheels parts include：Running on wheels assembly frame, the running on wheels assembly frame and the cyclic train
The planetary gear of component is connected；Component, the vehicle wheel component are connected with the walking assembly frame, wheel actuator, the car
Wheel driving moving part is connected with the vehicle wheel component, and drives the vehicle wheel component to rotate.
Optionally, the leading screw of the present utility model drives the damping running part of deformation, and the walking component is crawler type
Walking component, which includes：Track frame, the track frame are connected with the planetary gear of the cyclic train component；Drive crawler belt
Wheel, the driving Athey wheel are connected with the track frame；Driven Athey wheel, the driven Athey wheel are connected with the track frame；
Crawler belt, the crawler belt are included in outside driving Athey wheel and the driven Athey wheel, and are meshed with Athey wheel is driven；Crawler belt wheel driving
Moving part, the Athey wheel actuator are connected with the driving Athey wheel, and drive the driving Athey wheel to rotate.
By above-mentioned technical proposal, the leading screw makes the screw block and described under the driving of the leading screw actuator
The relative distance of axle bed block changes, and so as to drive the sun gear to rotate, and then drives what is be meshed with the sun gear
The planet crop rotation spinning motion, meanwhile, because the pivoted arm respectively with the sun gear and the pivotable phase of the planetary gear
Even, so the planetary gear can also be around the sun crop rotation revolution motion.Again because being provided between the frame and the pivoted arm
The damper element, if the damper element is considered as indeformable, the cyclic train can be considered fixed shaft gear train.Therefore pass through
When the reclining apparatus drive two sun gears to rotate synchronous backward rotation, the sun gear drives the planet rotation
It is dynamic, so as to drive the walking component being connected with the planetary gear to rotate.Because the cyclic train component is two, and is in
It is arranged symmetrically, and the sun gear in two cyclic train components intermeshes, it is thereby achieved that two running part group
Part backswing simultaneously, it is achieved thereby that the regulation of the angle of two walking parts, has also reached the running part and has realized
The purpose of deformation.And under normal circumstances, the damper element being connected between the frame and the pivoted arm is flexibly limited
The rotation of the pivoted arm.When the reclining apparatus are failure to actuate, then the sun gear is not rotated, when the walking component is subject to outer
Power is acted on, and when such as moving on fluctuating rough terrain, now the walking component drives the planetary gear with the pivoted arm as propping up
Support is rotated, because the sun gear is not rotated, therefore the planetary gear and the sun gear engagement rotation, and drive the pivoted arm
Around the sun gear center rotating, so as to the pivoted arm compresses the damper element, therefore the damper element is to the pivoted arm
And the planetary gear has certain shock absorbing effect so that the walking component can be done within the specific limits has certain resistance
The rotation of Buddhist nun, therefore, shock-absorbing function is had according to running part of the present utility model.
In the technical solution of the utility model, the walking component can be running on wheels component, because two wheels
Formula running part frame is connected with two planetary gears respectively, so when the leading screw actuator drives the reclining apparatus further
When driving the cyclic train component, two running on wheels components can be swung on synchronous backward ground simultaneously, so as to change two
The angle of the individual running on wheels component, is capable of achieving the wheelspan change of two running on wheels components and described in the utility model
Running part height change.
In the technical solution of the utility model, the walking component can be crawler-type traveling component, because described in two
Track frame is connected with two planetary gears respectively, so when the leading screw actuator drives the reclining apparatus and then drives
During the cyclic train component, two crawler-type traveling components oppositely can be swung simultaneously, so as to change described in two
The angle of crawler-type traveling component, and then it is capable of achieving the ground contact length and this utility model of two crawler-type traveling components
The change of the height of described running part.
In addition, this utility model also proposed a kind of firefighting movable platform, drive including the leading screw described in main car body and two
The damping running part of dynamic deformation, and the leading screw drive deformation damping running part the frame respectively with the main car body
Both sides are connected.
By above-mentioned technical proposal, the reason of the damping running part due to driving deformation using the leading screw, firefighting movable
The chassis height of platform and position of centre of gravity can be adjusted, so described firefighting movable up and down with the change of the running part angle
Platform just can according to by landform need adjust chassis, height of C.G., and the entire length of firefighting movable platform, while
With shock-absorbing function, and the terrain trafficability of firefighting movable platform, adaptability and kinetic stability are improved.
Following beneficial effect can be obtained using the technical solution of the utility model：(1) using reclining apparatus, described
Cyclic train component, realizes two walking component angles and the regulation of the running part height of the running part；
(2) damping is adopted, realizes the running part and there is shock-absorbing function in rolling ground；(2) disappearing using the running part
The adjustable in length of the height and vehicle body on the chassis of anti-moving moving platform, so that improve the terrain trafficability of firefighting movable platform
And adaptability；(3) the walking component has a range of elastic deformability, moves from the fire-fighting using the running part is made
Moving platform has shock-absorbing function；(4) fire-fighting robot and other field robot, Yi Jiqi can be designed using this utility model
His mobile device.
Description of the drawings：
Fig. 1 is the structural scheme of mechanism of the damping running part for driving deformation according to the leading screw of this utility model embodiment；
Fig. 2 is to drive the mechanism under another form of damping running part of deformation to show according to the leading screw of this utility model embodiment
It is intended to；
Fig. 3 is the schematic perspective view of the damping running part for driving deformation according to the leading screw of this utility model embodiment；
Fig. 4 is the schematic perspective view of embodiment frame shown in Fig. 3；
Fig. 5 is the schematic perspective view of the reclining apparatus of embodiment shown in Fig. 3；
Fig. 6 is the schematic perspective view of embodiment partial structurtes shown in Fig. 3；
Fig. 7 is the schematic perspective view of the walking component of embodiment shown in Fig. 3；
Fig. 8 is the explosive view of the members of the walking component of embodiment shown in Fig. 3；
Fig. 9 is the schematic perspective view according to another embodiment of the present utility model；
Figure 10 is the front view that the running part of embodiment in Fig. 3 is deformed into an extreme position；
Figure 11 is the front view that the running part of embodiment in Fig. 3 is deformed into another extreme position；
Figure 12 is the front view that the running part of embodiment in Fig. 7 is deformed into an extreme position；
Figure 13 is the front view that the running part of embodiment in Fig. 7 is deformed into another extreme position；
Figure 14 is the schematic perspective view of the firefighting movable platform with embodiment illustrated in fig. 3；
Figure 15 is the schematic perspective view with the firefighting movable platform of running part in embodiment illustrated in fig. 7；
Figure 16 is that firefighting movable platform shown in Figure 12 highly travels to improve the shape of stability in smooth-riding surface with low chassis
State figure；
Figure 17 is that firefighting movable platform shown in Figure 12 lifts chassis height with the state diagram of obstacle detouring.
Reference：
1000 leading screws drive the damping running part of deformation；2000 main car bodies；
1 frame；
11 main frame plates；
111 first sun gear axis holes；112 second sun gear axis holes；113 connecting holes；114 damping connecting holes；
12 first gear axles；
13 second gear axles；
14 connecting rods；
2 weeks Rotating wheel modules；
201 first cyclic train components；202 second epicyclic wheel modules；
21 sun gears；
211 sun wheel bore；
212 extension bars；
2121 hinge holes；
22 pivoted arms；
221 determine axle center hole；222 dynamic axle center holes；223 damper element connecting holes；
23 planetary gears；
231 planet wheel spindles；
24 damper elements；
3 reclining apparatus；
31 screw blocks；
311 internal thread holes；312 nut axis；
32 axle bed blocks；
321 axle bed holes；322 axle bed axles；
33 leading screws；
331 smooth shaft parts；332 shaft parts；
34 leading screw actuators；
4 walking components；
41 crawler-type traveling components；
411 track frames；
4111 crawler belt frame plates；4112 track frame connecting shafts；
412 drive Athey wheel；
413 driven Athey wheels；
414 crawler belts；
415 track drive parts；
416 first flexible driving units；
417 second flexible driving units；
42 running on wheels components；
421 walking assembly frames；
4211 walking component frame plates；4212 wheeled stand connecting shafts；
422 vehicle wheel components；
423 wheel actuators.
Specific embodiment:
Describe the damping walking for driving deformation according to the leading screw of this utility model embodiment with reference to Fig. 1-Figure 17 in detail
Portion and the mobile platform with which, and this utility model is further illustrated, it is exemplary by reference to the embodiment of Description of Drawings
, it is only used for explaining this utility model, and it is not intended that to restriction of the present utility model.
It is to drive the mechanism of the damping running part of deformation to illustrate according to the leading screw of this utility model embodiment as shown in Figure 1, Figure 2
Figure, including：Frame 1；Cyclic train component 2, cyclic train component 2 are two, be arranged symmetrically, and cyclic train component 2 is wrapped
Include：Sun gear 21, sun gear 21 are pivotly connected with the frame 1, and sun gear 21 is provided with extension bar 212；Pivoted arm 22, pivoted arm
22 are coaxially pivotly connected with sun gear 21；Planetary gear 23, planetary gear 23 are pivotly connected with pivoted arm 22, and planet
Wheel 23 is meshed with sun gear 21；Damper element 24, damper element 24 are connected with frame 1 and pivoted arm 22 respectively；Reclining apparatus 3,
Reclining apparatus 3 include：The extension bar 212 of the sun gear 21 of screw block 31, screw block 31 and the second epicyclic wheel module 202 can pivot
Turn ground to be connected；The extension bar 212 of the sun gear 21 of axle bed block 32, axle bed block 32 and the first cyclic train component 201 is pivotly
It is connected, and the first cyclic train component 201 is meshed with the sun gear 21 of the second epicyclic wheel module 202；Leading screw 33, leading screw 33
It is connected with screw thread pair with screw block 31, leading screw 33 is connected with rotating parafacies with axle bed block 32；Leading screw actuator 34, leading screw actuator 34
It is connected with leading screw 33, and drives leading screw 33 to rotate.Walking component 4, walking component 4 are two, and two walking components 4 are respectively with two
Individual planetary gear 23 is connected.
Fig. 3 to Fig. 8 is one embodiment of the present utility model, and the walking component 4 of the embodiment is two, two walking groups
Part 4 is connected with two planetary gears 23 respectively.The walking component 4 of the embodiment employs crawler-type traveling component 41, constitutes shoe
Belt running part.The structure of frame 1 is discussed in detail according to Fig. 4, specifically, frame 1 includes：Main frame plate 11, first gear axle 12,
Second gear axle 13, connecting rod 14；Main frame plate 11 is two, and in being arranged symmetrically in front and back, main frame plate 11 is provided with damping connecting hole
111st, the first sun gear axis hole 112, the second sun gear axis hole 113, connecting hole 114；First gear axle 12, second gear axle 13 and
The structure of connecting rod 14 is similar, illustrates structure by taking first gear axle 12 as an example, and 12 two ends of first gear axle are provided with the shaft shoulder and screw thread,
And have the nut being connected with screw thread.First gear axle 12, second gear axle 13 and connecting rod 14 are located between two pieces of main frame plates 11,
And the two ends of three are respectively placed in the first sun gear axis hole 112 of main frame plate 11, the second sun gear axis hole 113, connecting hole 114
In, and be fixedly connected with two pieces of main frame plates 11 by the shaft shoulder and nut at its two ends.
With reference to Fig. 3 and Fig. 6, cyclic train component 2 includes the first cyclic train component 201 and the second epicyclic wheel module
202, it is arranged symmetrically, used as optional technical scheme, according to some embodiments of the present utility model, cyclic train component 2 is
Inside and outside two-layer parallel construction, can so cause the running part 1000 shown in Fig. 3 more balanced in the stress of width, while increasing
The intensity of cyclic train component 2, and the design of structure of being more convenient for are added.As shown in fig. 6, sun gear 21 is duplicate gear, it is placed in
Between two main frame plates 11；Sun gear 21 is provided with sun wheel bore 211 at axle center；Extension bar 212 is inside and outside two-layer parallel construction,
Extension bar 212 is provided with hinge hole 2121；The sun gear 21 of the first cyclic train component 201 passes through sun wheel bore 211 and is placed in
The first gear axle 12 of the first sun gear axis hole 112 is rotatably engaged.Likewise, the sun of the second epicyclic wheel module 202
Wheel 21 is rotatably engaged with the second gear axle 13 for being placed in the second sun gear axis hole 113, and two sun gears 21 intermesh.
22 double-decker in the shape of a frame of pivoted arm, is placed between two main frame plates 11, and pivoted arm 22 is provided with determines axle center hole 221 and dynamic axle center hole
222；Determine axle center hole 221 concentric with the first sun gear axis hole 112 in frame 1, and pivoted arm 22 is by determining axle center hole 221 and
One gear shaft 12 is rotatably engaged.Likewise, cyclic train component 202 can with first gear axle 12 by determining axle center hole 221
Rotationally coordinate.Planetary gear 23 is also duplicate gear, is provided with concentric planet wheel spindle 231, and planetary gear 23 passes through planetary gear
Dynamic axle center hole 222 on axle 231 and pivoted arm 22 is rotatable with pivoted arm 22 to be coordinated, and planetary gear 23 is engaged with sun gear 21.
Optionally, according to other embodiment of the present utility model, the cyclic train component be single layer structure, the sun
Wheel, the planetary gear and the rocking arm are all single layer structure.This scheme is applied to the walking of the not high occasion of intensity requirement
The design in portion.
In the embodiment shown in Fig. 3, Fig. 6, the damper element 24 of cyclic train component 2 is spring damper, the bullet
The two ends of spring amortisseur are mutually hinged with the damper element connecting hole 223 of the damping connecting hole 114 and pivoted arm 22 of frame 1 respectively.
Reclining apparatus 3 include：Screw block 31；Axle bed block 32；Leading screw 33；Leading screw actuator 34.With reference to Fig. 5 specifically
The structure of bright reclining apparatus 3.The screw block 31 of reclining apparatus 3 is provided with internal thread hole 311, and 31 both sides of screw block are provided with nut axis
312；It is engaged by the hinge hole 2121 on extension bar 212 of the nut axis 312 with cyclic train 201, screw block 31 and turnover
The extension bar 212 of train 201 forms hinged relationship.Axle bed block 32 is provided with axle bed hole 321, and 32 both sides of axle bed block are provided with axle bed axle
322, it is engaged by the hinge hole 2121 on extension bar 212 of the nut axis 312 with cyclic train 202, screw block 31 and turnover
The extension bar 212 of train 202 forms hinged relationship.The leading screw 33 of reclining apparatus 3 includes light shaft part 331, silk shaft part 332；Silk axle
Section 332 constitutes screw thread pair located at 31 internal thread hole of screw block 311, and the light shaft part 331 of leading screw 33 is located at the axle bed hole 321 of axle bed block 32
Interior composition rotates secondary.Leading screw actuator 34 is connected with leading screw 33, and drives leading screw 33 to rotate.
Optionally, according to this utility model embodiment, the leading screw actuator 34 of reclining apparatus 3 is motor, or liquid
Pressure motor or motor and hydraulic motor through slowing down.
By above-mentioned technical proposal, leading screw 33 makes screw block 31 and axle bed block 32 under the driving of leading screw actuator 34
Relative distance changes, and so as to drive sun gear 21 to rotate, and then drives the planetary gear 23 being meshed with sun gear 21 to make certainly
Transhipment is dynamic, meanwhile, because pivoted arm 22 respectively with sun gear 21 and planetary gear 23 is pivotable is connected, planetary gear 23 can also be around
Sun gear 21 and make revolution motion.Again because being provided with damper element 24 between frame 1 and pivoted arm 22, if damper element 24 is considered as not
During deformation, cyclic train component 2 can be considered fixed shaft gear train.Therefore two sun gears 21 are driven to rotate synchronization by reclining apparatus 3
When rotating backward, sun gear 21 drives planetary gear 23 to rotate, so as to drive the walking component 4 being connected with planetary gear 23 to rotate.Cause
It is two for cyclic train component 2, and is arranged symmetrically, and the sun gear 21 in two cyclic train components 2 intermeshes, because
This, realizes two 4 synchronous backwards of walking component and swings, it is achieved thereby that the regulation of the angle of two walking components 4, also reaches
The running part realizes the purpose of deformation.And under normal circumstances, the damper element 24 being connected between frame 1 and pivoted arm 22 is elastic
Limit the rotation of pivoted arm 22.When reclining apparatus 3 are failure to actuate, then sun gear 21 is not rotated, when walking component 4 is subject to outer masterpiece
With, when such as moving on fluctuating rough terrain, component 4 of now walking drives planetary gear 23 with pivoted arm 22 as support rotating, because
Sun gear 21 is not rotated, therefore planetary gear 23 and 21 engagement rotation of sun gear, and drives pivoted arm 22 around 21 center rotating of sun gear,
So as to 22 compression shock absorption element 24 of pivoted arm, therefore damper element 24 there is certain bumper and absorbing shock to make pivoted arm 22 and planetary gear 23
With so that walking component 4 can do the rotation with certain damping within the specific limits, therefore, according to walking of the present utility model
Portion has shock-absorbing function.
According to the walking component 4 in this utility model embodiment be crawler-type traveling component, embodiment in such as Fig. 3.Below
The structure of crawler-type traveling component is described in detail with reference to Fig. 3, Fig. 7 and Fig. 8.Due to walking, component 4 and planetary gear 23 are fixed company
Connect, in the present embodiment, walking component 4 is merged into into a part with planetary gear 23.Specifically, the walking component 4 of the present embodiment
Including：Track frame 411, driving Athey wheel 412, driven Athey wheel 413, crawler belt 414, track drive part 415, the first flexible driving
Unit 416 and the second flexible driving unit 417；Further, track frame 411 includes two pieces of crawler belt frame plates 4111, and 3 crawler belts
Frame connecting shaft 4112；Crawler belt frame plate 4111 is provided with axle bed hole 41111 and three through holes 41112, same on its central axis seat hole 41111
Axle center is provided with bearing block and bearing；Track frame connecting shaft 4112 is respectively arranged at two ends with the single order shaft shoulder and external screw thread, by axle
Shoulder and nut realize being fixedly connected for two pieces of crawler belt frame plates 4111 and axle respectively；It is concentric on driving Athey wheel 412 to be provided with driving
Track wheel shaft 4121, both pass through bonded, and what live axle 4121 was concentric is located at axle bed hole 41111, rotatably with shoe
Tape holder 411 is connected.Driven Athey wheel 413 is four；Three driven Athey wheels 413 therein are pivotable respectively to be located at three shoes
In tape holder connecting shaft 4112；A remaining driven Athey wheel 413 is pivotable to be located on planet wheel spindle 231；414 envelope of crawler belt
Outside driving Athey wheel 412 and four driven Athey wheel Athey wheels 413, and it is meshed with Athey wheel 412 is driven；Track drive part
415 are bolted part is fixed on crawler belt frame plate 4111, and track drive part 415 is reducing motor in the present embodiment；The
One flexible driving unit 416 is connected with track drive part 415, and can be rotated in the presence of track drive part 415；Second is flexible
What gear unit 417 was concentric is fixed on driving track wheel shaft 4121, in the present embodiment, the first flexible driving unit 416
Chain conveyer is adopted between the second flexible driving unit 417.
The state diagram that Figure 10, Figure 11 are crawler-type traveling components in two track units under different angles, Tu10Zhong,
The ground contact length in crawler-type traveling portion of the present utility model is less, is easy to turn to, and now center of gravity is higher；In Figure 11, this practicality is new
The ground contact length in the crawler-type traveling portion of type is larger, is easy to by landform such as soft landform or raceway grooves, now crawler-type traveling portion
Center of gravity is low, can obtain higher stability.
Optionally, component 4 of walking can also use running on wheels component, the embodiment in such as Fig. 9.With crawler-type traveling component class
As, walking component 4 is merged into into a part with planetary gear 23；Walking component 4 includes running on wheels assembly frame 421, wheel
Component 422, wheel actuator 423.Specifically, assembly frame 421 of walking includes two walking component frame plates 4211, two walking groups
Wheeled stand wheeled stand connecting shaft 4212 is provided between part frame plate 4211,；Wheeled stand connecting shaft 4212 is respectively arranged at two ends with single order axle
Shoulder and external screw thread, realize the fixation of two walking component frame plates 4211 and wheeled stand connecting shaft 4212 by the shaft shoulder and nut；
Two walking component frame plates 4211 are pivotable with pivoted arm 22 respectively to be connected；Wheel actuator 423 is wheel hub motor, wherein wheel
The stationary part of actuator 423 is bolted in walking assembly frame 421, and rotor portion is connected with vehicle wheel component 422.
As shown in Figure 12 and Figure 13, Figure 12 is state diagram when running on wheels portion angle reaches less, now, described wheeled
The length of running part is minimum, and its center of gravity is higher；Figure 13 is state diagram of the running part angle in 180 degree, now, the running part
Length is maximum, and center of gravity is relatively low.
Additionally, this utility model also proposed a kind of firefighting movable platform, as shown in Figure 14, Figure 15, including main car body
2000 and two above-mentioned leading screws drive the damping running part 1000 of deformation.As above-mentioned firefighting movable platform has running part
1000, when under driving of the running part 1000 in actuator 31 there is the change of reverse sync in angle, the car of firefighting movable platform
Body length changes accordingly, while its chassis height also changes, so, the chassis height and vehicle body length of firefighting movable platform
Degree is adjustable, can carry out obstacle detouring by adjusting chassis height when firefighting movable platform runs into barrier；Work as firefighting movable
When platform is moved on the slope, the stability that chassis height can improve mobile platform is reduced, to avoid platform from toppling, simultaneously because
Running part 1000 has shock-absorbing function, so the terrain trafficability of firefighting movable platform, adaptability and kinetic stability are carried
It is high.
Specifically, as shown in Figure 16,17, Figure 16 is that above-mentioned firefighting movable platform is highly travelled with low chassis in smooth-riding surface
Schematic diagram, Figure 17 is that above-mentioned firefighting movable platform lifts chassis height with the state diagram of obstacle detouring, it can be seen that with wheeled row
The firefighting movable platform for walking portion 1000 can adapt to the road surface with the obstacle that is uneven by the height on regulation chassis；Together
Sample, can adjust the height of C.G. of firefighting movable platform by the height of adjustment running part 1000, such as climb in centre of gravity
Climb slope and can improve firefighting movable platform stabilization.
Design be can be also used for damping work(using the firefighting movable platform for deforming running part 1000 with shock-absorbing function
The fire-fighting robot for environment detection of the deformation of energy and other field robot, and other mobile devices.
For other of mobile platform, robot and other mobile devices are constituted, it has been prior art, and for this area
It is well-known to the ordinarily skilled artisan, therefore be not described in detail.
While there has been shown and described that embodiment of the present utility model, it will be understood by those skilled in the art that：
Various changes, modification, replacement can be carried out to these embodiments in the case of without departing from principle of the present utility model and objective
And modification, scope of the present utility model limited by claim and its equivalent.
Claims (7)
1. a kind of leading screw drives the damping running part of deformation, it is characterised in that include：
Frame；
Cyclic train component, the cyclic train component are two, be arranged symmetrically, and the cyclic train component includes：
Sun gear, the sun gear are pivotly connected with the frame, and the sun gear is provided with extension bar；
Pivoted arm, the pivoted arm are coaxially pivotly connected with the sun gear；
Planetary gear, the planetary gear are pivotly connected with the pivoted arm, and the planetary gear is meshed with the sun gear；
Damper element, the damper element are connected with the frame and the pivoted arm respectively；
Reclining apparatus, the reclining apparatus include：
Screw block, the extension bar of the screw block and the sun gear of a cyclic train component pivotly phase
Even；
The extension bar of the sun gear of axle bed block, the axle bed block and another cyclic train component is pivotly
It is connected, and the sun gear of two cyclic train components is meshed；
Leading screw, the leading screw are connected with screw thread pair with the screw block, and the leading screw is connected with rotating parafacies with the axle bed block；
Leading screw actuator, the leading screw actuator are connected with the leading screw, and drive the leading screw to rotate；
Walking component, the walking component are two, and two walking components are connected with two planetary gears respectively.
2. leading screw according to claim 1 drives the damping running part of deformation, it is characterised in that：
The screw block is provided with internal thread hole；
The axle bed block is provided with axle bed hole；
The leading screw includes light shaft part and silk shaft part, and the silk shaft part constitutes screw thread pair, institute located at the internal thread hole of the screw block
The light shaft part for stating leading screw constitutes rotation pair in the axle bed hole of the saddle；
The leading screw actuator of the reclining apparatus includes：
Actuator seat, the actuator seat are fixedly linked with the axle bed block；
Revolving part, the revolving part are connected with the leading screw and drive the leading screw to rotate.
3. leading screw according to claim 1 drives the damping running part of deformation, it is characterised in that：The damper element is bullet
Spring amortisseur, the spring damper two ends are mutually hinged with the frame and the pivoted arm respectively.
4. leading screw according to claim 1 drives the damping running part of deformation, it is characterised in that described leading screw actuator
For motor or hydraulic motor or the motor and hydraulic motor through deceleration.
5. leading screw according to claim 1 drives the damping running part of deformation, it is characterised in that the walking component is wheel
Formula walking component, the running on wheels parts include：
Running on wheels assembly frame, the running on wheels assembly frame are connected with the planetary gear of the cyclic train component；
Vehicle wheel component, the vehicle wheel component are connected with the walking assembly frame,
Wheel actuator, the wheel actuator are connected with the vehicle wheel component, and drive the vehicle wheel component to rotate.
6. leading screw according to claim 1 drives the damping running part of deformation, it is characterised in that the walking component is shoe
Belt walking component, which includes：
Track frame, the track frame are connected with the planetary gear of the cyclic train component；
Athey wheel, the driving Athey wheel is driven to be connected with the track frame；
Driven Athey wheel, the driven Athey wheel are connected with the track frame；
Crawler belt, the crawler belt are included in outside driving Athey wheel and the driven Athey wheel, and are meshed with Athey wheel is driven；
Athey wheel actuator, the Athey wheel actuator are connected with the driving Athey wheel, and drive the driving crawler belt rotation
It is dynamic.
7. a kind of firefighting movable platform, it is characterised in that include：
Main car body；
Leading screw any one of two claim 1-6 drives the damping running part of deformation, and the leading screw drives deformation
The frame of damping running part be connected with the both sides of the main car body respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620887038.XU CN206031547U (en) | 2016-08-16 | 2016-08-16 | Shock attenuation walking portion that screw actuation warp and have its fire control moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620887038.XU CN206031547U (en) | 2016-08-16 | 2016-08-16 | Shock attenuation walking portion that screw actuation warp and have its fire control moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206031547U true CN206031547U (en) | 2017-03-22 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620887038.XU Active CN206031547U (en) | 2016-08-16 | 2016-08-16 | Shock attenuation walking portion that screw actuation warp and have its fire control moving platform |
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| Country | Link |
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| CN (1) | CN206031547U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184438A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Leading screw drives the damping running part of deformation and has its firefighting movable platform |
| CN110356483A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of four axis driving Track-wheel type fork truck |
-
2016
- 2016-08-16 CN CN201620887038.XU patent/CN206031547U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184438A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Leading screw drives the damping running part of deformation and has its firefighting movable platform |
| CN110356483A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of four axis driving Track-wheel type fork truck |
| CN110356483B (en) * | 2019-07-19 | 2023-08-25 | 无锡华盛力通电驱动系统有限公司 | Four-axis driving crawler wheel type forklift |
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