CN209164014U - A kind of driving device suitable for adverse circumstances - Google Patents
A kind of driving device suitable for adverse circumstances Download PDFInfo
- Publication number
- CN209164014U CN209164014U CN201822087823.9U CN201822087823U CN209164014U CN 209164014 U CN209164014 U CN 209164014U CN 201822087823 U CN201822087823 U CN 201822087823U CN 209164014 U CN209164014 U CN 209164014U
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- Prior art keywords
- shell
- mounting rod
- power mechanism
- driving device
- adverse circumstances
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Abstract
The utility model relates to a kind of driving devices suitable for adverse circumstances, it include: shell, power mechanism, rotating arm and counterweight, shell is completely enclosed, power mechanism, rotating arm and counterweight are all set in shell, one end of rotating arm and power mechanism are sequentially connected, the other end with reconnection, rotating arm can be freely rotated inside the housing under the drive of power mechanism, the beneficial effects of the utility model are: the principle by utilizing the conservation of angular momentum, while so that power mechanism drives counterweight to be rotated inside the shell by rotating arm, so that shell rotates, realize that shell moves on the ground, it can be more resistant to rugged environment using the form of enclosed shell mechanism and internal drive, so that in the presence of a harsh environment operation when it is safer, and it being capable of save the cost.
Description
Technical field
The utility model relates to a kind of mechanical actuation device more particularly to a kind of driving devices suitable for adverse circumstances.
Background technique
Driving device is a kind of mechanical structure for being able to drive object operation, and it is dynamic that operating, walking of object etc. may be implemented
Make, driving device needs are run under a variety of different environment, and driving device in the prior art is generally driven using external
Dynamic form will receive external erosion, especially on desert, salt alkali pool, winding road when moving under more rugged environment
Or when tractor-ploughing walking on the ground, since driving device is non-enclosed structure, dust, gravel in environment etc. can be with drivings
Device moves into driving device, so that abrasion, corrosion equivalent damage are caused to driving device, so that driving device is being disliked
Tolerance under bad environment is poor, there are security risk when operation, while higher cost.
Utility model content
To solve the above-mentioned problems, the utility model provides a kind of driving device suitable for adverse circumstances, purpose
It is to enable driving device more resistant to rugged environment, while operation is safer, and it being capable of save the cost.
To achieve the goals above, the utility model the following technical schemes are provided:
A kind of driving device suitable for adverse circumstances, comprising: shell, power mechanism, rotating arm and counterweight, the shell
Completely enclosed, the power mechanism, the rotating arm and the counterweight are all set in the shell, one end of the rotating arm
It is sequentially connected with the power mechanism, for the other end with described with reconnection, the rotating arm can be in the band of the power mechanism
It is freely rotated under dynamic in the interior of shell.
Further, the shell is sphere, and the counterweight can be along the full freedom degree rotation of the centre of sphere of the shell.
Further, the shell is cylindrical the structure, the counterweight can be rotated along the circumference of the shell.
Further, a kind of driving device suitable for adverse circumstances further includes mounting rod, the both ends point of the mounting rod
It is not fixedly connected with the inner wall of the shell, the mounting rod passes through the centre of sphere of the shell, and the power mechanism is set to institute
It states on mounting rod and can be free to slide on the mounting rod.
Further, the mounting rod is equipped with two blocks for limiting to the power mechanism, two gears
The distance between block is greater than projected length of the power mechanism on the mounting rod.
Further, a kind of driving device suitable for adverse circumstances further includes mounting rod, the both ends point of the mounting rod
Be not flexibly connected with the inner wall of the shell, the mounting rod by the centre of sphere of the shell, and the length of the mounting rod with
The diameter of the shell is equal, and the power mechanism is set on the mounting rod and being capable of the free skating on the mounting rod
It is dynamic.
Further, the both ends of the mounting rod are respectively equipped with scroll wheel, each scroll wheel with the mounting rod
The structure of spherical pair is constituted, the scroll wheel can move freely on the inner wall of the shell.
Further, sliding rail is equipped in the shell, the shape of the sliding rail is adapted with the inner wall of the shell, described
Counterweight is set in the sliding rail, and the counterweight can be free to slide in the sliding rail.
Further, the length of the rotating arm is not more than the radius of the shell.
Further, the outer wall of the shell is equipped with wearing layer.
The utility model provides a kind of driving device suitable for adverse circumstances, the beneficial effect is that: pass through utilization
The principle of the conservation of angular momentum makes while so that power mechanism drives counterweight to be rotated inside the shell by rotating arm
Shell rotates, realize that shell moves on the ground, use the form of enclosed shell mechanism and internal drive can be with
More resistant to rugged environment so that in the presence of a harsh environment operation when it is safer, and being capable of save the cost.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural representation of the embodiment one of driving device suitable for adverse circumstances provided by the utility model
Figure；
Fig. 2 is a kind of structural representation of the embodiment two of driving device suitable for adverse circumstances provided by the utility model
Figure；
Fig. 3 is a kind of a kind of structure of the embodiment three of driving device suitable for adverse circumstances provided by the utility model
Schematic diagram；
Fig. 4 is a kind of another knot of the embodiment three of driving device suitable for adverse circumstances provided by the utility model
Structure schematic diagram；
Fig. 5 is a kind of structural representation of the example IV of driving device suitable for adverse circumstances provided by the utility model
Figure；
Fig. 6 is a kind of structural representation of the embodiment five of driving device suitable for adverse circumstances provided by the utility model
Figure；
Fig. 7 is a kind of structural representation of the embodiment six of driving device suitable for adverse circumstances provided by the utility model
Figure；
Fig. 8 is a kind of structural representation of the embodiment seven of driving device suitable for adverse circumstances provided by the utility model
Figure；
1- shell in figure；2- motor；3- rotating arm；4- counterweight；5- battery；6- balance weight；7- mounting rod；8- block；
9- displacement sensor；10- pushing meanss；11- scroll wheel；12- sliding rail；13- motor；14- transmission device；15- idler wheel.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below by the technology to the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Obtained all other embodiment is put, the range that the utility model is protected is belonged to.
Embodiment one
As shown in Figure 1, the utility model provides a kind of driving device suitable for adverse circumstances, comprising: shell 1 moves
Force mechanisms, rotating arm 3 and counterweight 4, the shell 1 is completely enclosed, and the power mechanism, the rotating arm 3 and the counterweight 4 are equal
It is set in the shell 1, one end of the rotating arm 3 and the power mechanism are sequentially connected, and the other end and the counterweight 4 connect
It connects, the rotating arm 3 can be freely rotated inside the shell 1 under the drive of the power mechanism, pass through above structure
Design so that the principle by utilizing the conservation of angular momentum, so that power mechanism drives the counterweight 4 in institute by rotating arm 3
It states while be rotated in shell 1, so that the shell 1 rotates, realizes that the shell 1 moves on the ground,
It can be more resistant to rugged environment, so that making in the presence of a harsh environment using the form of enclosed shell mechanism and internal drive
It is safer when industry, and being capable of save the cost.
In above structure, structure that the power mechanism can be matched using motor 2 and battery 5, wherein the electricity
Pond 5 is set on the motor 2, and the battery 5 is electrically connected for powering to the motor 2 with the motor 2, institute
Lithium battery group can be used by stating battery 5, to realize the continued power to the motor 2.
Preferably, the shape of the shell 1 be sphere or cylindrical structure, when the shell 1 be sphere when, it is described to match
Weighing 4 can be along the full freedom degree rotation of the centre of sphere of the shell 1；When the shell 1 is cylindrical structure, the counterweight 4 can
Circumference along the shell 1 moves.
Embodiment two
As a kind of improvement of above-described embodiment one, as shown in Fig. 2, a kind of driving device suitable for adverse circumstances is also wrapped
Include the balance weight 6 for balancing the power mechanism weight, the power mechanism and the balance weight 6 respectively with the shell 1
Inner wall be fixedly connected, and the line of the center of gravity of the power mechanism and the center of gravity of the balance weight 6 passes through the ball of the shell 1
The heart, by the design of above structure, when so that the power mechanism driving the counterweight 4 to be rotated by the rotating arm 3,
The balance weight 6 can balance the weight of the power mechanism.
Preferably, the weight of the power mechanism and the balance weight 6 are equal in weight, and the power mechanism is to described
The centre of sphere of the distance of the centre of sphere of shell 1 and the balance weight 6 to the shell 1 is equidistant, the output of the power mechanism
End is overlapped with the tie point of the rotating arm 3 with the centre of sphere of the shell 1, by the arrangement of above structure, so that the power
Mechanism and the balance weight 6 are equal relative to the torque of the centre of sphere of the shell 1, to guarantee that the shell 1 rolls on the ground
It can only be rolled toward the direction when dynamic, i.e., the described shell 1 is rolled along rectilinear direction on the ground, certainly, when described dynamic
The weight of force mechanisms and when varying in weight of the balance weight 6, can be by adjusting the center of gravity of the power mechanism and described outer
The distance between the center of gravity of the distance between centre of sphere of shell 1 or the adjusting balance weight 6 and the centre of sphere of the shell 1 can be real
It is identical now to adjust the torque that the power mechanism and the balance weight 6 are generated relative to the centre of sphere of the shell 1, to realize institute
The straight line of shell 1 on the ground is stated to roll.
Embodiment three
Another kind as above-described embodiment one improves, as shown in figure 3, a kind of driving device suitable for adverse circumstances is also
Including mounting rod 7, the both ends of the mounting rod 7 are fixedly connected with the inner wall of the shell 1 respectively, and the mounting rod 7 passes through institute
The centre of sphere of shell 1 is stated, the power mechanism is set on the mounting rod 7 and can be free to slide on the mounting rod 7, leads to
Cross the design of above structure, the mounting rod 7 is needed across the power mechanism, to guarantee the rotating arm 3 in rotation
It will not be interfered simultaneously with the mounting rod 7, so that the tie point of the power mechanism and the rotating arm 3 is located at outside described
When the centre of sphere of shell 1, the track that the shell 1 moves on the ground is straight line, when the company of the power mechanism and the rotating arm 3
When contact deviates the centre of sphere of the shell 1, the track that the shell 1 can move on the ground is curve.
Preferably, the mounting rod 7 is equipped with two blocks 8 for limiting to the power mechanism, two gears
The distance between block 8 is greater than projected length of the power mechanism on the mounting rod 7, and the power mechanism exists in order to prevent
Biggish offset occurs on the mounting rod 7, and due to the length limitation of the rotating arm 3, is arranged two on the mounting rod 7
A block 8 can be realized the power mechanism and occur when driving the rotating arm 3 rotation with the inner wall of the shell 1
Collision.
Certainly, in above structure, as shown in figure 4, can also be by the Design of length of the mounting rod 7 at less than the shell
1 diameter, so that the mounting rod 7 does not pass through the centre of sphere of the shell 1, to realize the power mechanism and the rotating arm
3 tie point deviates the centre of sphere of the shell 1, is eccentrically rotated to realize.
Example IV
As a kind of improvement of above-described embodiment three, as shown in figure 5, displacement sensor 9 is installed on the power mechanism,
The mounting rod 7 is equipped with the pushing meanss 10 for pushing the power mechanism to move on the mounting rod 7, the promotion
The structure type that device 10 can use stepper motor 13 and lead screw pair to cooperate can be described by the design of above structure
The outside of shell 1 controls all parts in the shell 1, specifically, controller is set outside the shell 1,
Institute's displacement sensors 9 and the stepper motor 13 are connected with the controller in a signal way. respectively, and the controller can pass through institute
The position signal that displacement sensors 9 are fed back controls the stepper motor 13, and the stepper motor 13 passes through the silk
Thick stick pair can push the power mechanism to move on the mounting rod 7, to realize described in the external control from the shell 1
The movement of shell 1 on the ground.
Embodiment five
Another kind as above-described embodiment one improves, as shown in fig. 6, a kind of driving device suitable for adverse circumstances is also
Including mounting rod 7, the both ends of the mounting rod 7 are flexibly connected with the inner wall of the shell 1 respectively, and the mounting rod 7 passes through institute
The centre of sphere of shell 1 is stated, and the length of the mounting rod 7 is equal with the diameter of the shell 1, the power mechanism is set to described
And can be free to slide on the mounting rod 7 on mounting rod 7, by the design of above structure, the mounting rod 7 need across
The power mechanism, thus guarantee that the rotating arm 3 will not interfere while rotating with the mounting rod 7, it will be described
The both ends of mounting rod 7 are respectively with the inner wall of the shell 1 using being flexibly connected, so that the mounting rod 7 can in the shell 1
It is arbitrarily rotated with the axis along itself, can also arbitrarily be rotated around the centre of sphere of the shell 1, further improve the mounting rod
7 freedom degree, to realize that the shell 1 can be on the ground along arbitrary directional rolling.
Specifically, in order to realize the movement effects of mounting rod 7 described above, the both ends of the mounting rod 7 are respectively equipped with rolling
Driving wheel 11, each scroll wheel 11 constitute the structure of spherical pair with the mounting rod 7, and the scroll wheel 11 can be described
It is moved freely on the inner wall of shell 1, design using the above structure, allows each scroll wheel 11 in the shell 1
It is arbitrarily rolled on the inner wall of the inherent shell 1, the activity of the inner wall at the both ends and shell 1 of certain mounting rod 7 is even
The mode of connecing can also be the structure of other forms, just not repeat one by one herein.
Embodiment six
Another kind as above-described embodiment one improves, as shown in fig. 7, being equipped with sliding rail 12, the sliding rail in the shell 1
12 shape is adapted with the inner wall of the shell 1, and the counterweight 4 is set in the sliding rail 12, and the counterweight 4 can be
It is free to slide in the sliding rail 12, by the design of above structure, the counterweight 4 can be limited by the sliding rail 12
System, moves the counterweight 4 along the track of the track of the sliding rail 12, described dynamic when mode using the above structure
Force mechanisms can also be connected with the connection type of the rotating arm 3 using being fixedly connected using the activity of such as articulated manner
Form is connect, the power mechanism is made only to provide the driving that the rotating arm 3 is rotated by the way of flexible connection
Power, the sliding rail 12 play the role of limiting the counterweight 4.
Embodiment seven
Another kind as above-described embodiment one improves, as shown in figure 8, can be by the engine in the shell 1
Structure, the rotating arm 3, the counterweight 4 and the battery 5 structure replace with motor 13, transmission device 14, idler wheel 15 and battery
5 structure, the motor 13 is sequentially connected by transmission device 14 and the idler wheel 15 and the idler wheel 15 is driven to rotate, described
Battery 5 is electrically connected with the motor 13 and for powering to the motor 13, and the inner wall of the shell 1 is equipped with magnetic suck layer,
The idler wheel 15 is using metal material and can be adsorbed on the inner wall of the shell 1 by the magnetic suck layer, by above-mentioned
The design of structure, the motor 13 drive the idler wheel 15 to move on the inner wall of the shell 1 by the transmission device 14,
Using the principle of the conservation of angular momentum, internal trolley can be arranged to realize with rolling in the shell 1 in the shell 1
And the rolling of the mobile realization shell 1 using internal trolley.
In above-described embodiment one into embodiment seven, the rotating arm 3 is when rotating and described outer in order to prevent
The inner wall of shell 1 is collided, and the length of the rotating arm 3 should be not more than the radius of the shell 1.
Embodiment eight
Another kind as above-described embodiment one to embodiment seven improves, in order to reinforce the shell 1 in the presence of a harsh environment
Abrasive resistance when movement can be equipped with wearing layer, to improve driving device in adverse circumstances on the outer wall of the shell 1
Abrasive resistance when lower movement can also carry out coarse processing on the surface of the shell 1, so that the shell 1 and ground
Frictional force increases, and is more conducive to the movement of driving device on the ground.
In conclusion the utility model structure is simple, it is a kind of stronger drive suitable for adverse circumstances of a practicability
Dynamic device.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (10)
1. a kind of driving device suitable for adverse circumstances characterized by comprising shell, power mechanism, rotating arm and match
Weight, the shell is completely enclosed, and the power mechanism, the rotating arm and the counterweight are all set in the shell, described
One end of rotating arm and the power mechanism are sequentially connected, and for the other end with described with reconnection, the rotating arm can be described
It is freely rotated under the drive of power mechanism in the interior of shell.
2. a kind of driving device suitable for adverse circumstances according to claim 1, which is characterized in that the shell is ball
Body, the counterweight can be along the full freedom degree rotations of the centre of sphere of the shell.
3. a kind of driving device suitable for adverse circumstances according to claim 1, which is characterized in that the shell is circle
Column structure, the counterweight can be rotated along the circumference of the shell.
4. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that further include installation
Bar, the both ends of the mounting rod are fixedly connected with the inner wall of the shell respectively, and the mounting rod passes through the centre of sphere of the shell,
The power mechanism is set on the mounting rod and can be free to slide on the mounting rod.
5. a kind of driving device suitable for adverse circumstances according to claim 4, which is characterized in that on the mounting rod
Equipped with two blocks for limiting to the power mechanism, the distance between two described blocks are greater than the power mechanism and exist
Projected length on the mounting rod.
6. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that further include installation
Bar, the both ends of the mounting rod are flexibly connected with the inner wall of the shell respectively, and the mounting rod passes through the centre of sphere of the shell,
And the length of the mounting rod is equal with the diameter of the shell, the power mechanism is set on the mounting rod and can be
It is free to slide on the mounting rod.
7. a kind of driving device suitable for adverse circumstances according to claim 6, which is characterized in that the mounting rod
Both ends are respectively equipped with scroll wheel, and each scroll wheel constitutes the structure of spherical pair, the scroll wheel energy with the mounting rod
It is enough to be moved freely on the inner wall of the shell.
8. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that set in the shell
There is sliding rail, the shape of the sliding rail is adapted with the inner wall of the shell, and the counterweight is set in the sliding rail, and described is matched
Beijing South Maxpower Technology Co. Ltd is enough free to slide in the sliding rail.
9. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that the rotating arm
Length is not more than the radius of the shell.
10. a kind of driving device suitable for adverse circumstances according to claim 1, which is characterized in that the shell
Outer wall is equipped with wearing layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822087823.9U CN209164014U (en) | 2018-12-12 | 2018-12-12 | A kind of driving device suitable for adverse circumstances |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822087823.9U CN209164014U (en) | 2018-12-12 | 2018-12-12 | A kind of driving device suitable for adverse circumstances |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209164014U true CN209164014U (en) | 2019-07-26 |
Family
ID=67343390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822087823.9U Active CN209164014U (en) | 2018-12-12 | 2018-12-12 | A kind of driving device suitable for adverse circumstances |
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| Country | Link |
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| CN (1) | CN209164014U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
-
2018
- 2018-12-12 CN CN201822087823.9U patent/CN209164014U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109404233A (en) * | 2018-12-12 | 2019-03-01 | 同方计算机有限公司 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
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