CN218616948U - Jumping obstacle-surmounting trolley with gliding capability - Google Patents
Jumping obstacle-surmounting trolley with gliding capability Download PDFInfo
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- CN218616948U CN218616948U CN202221692408.6U CN202221692408U CN218616948U CN 218616948 U CN218616948 U CN 218616948U CN 202221692408 U CN202221692408 U CN 202221692408U CN 218616948 U CN218616948 U CN 218616948U
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Abstract
The utility model discloses a jumping hinders dolly more with ability of gliding, hinder the dolly more and include trunk structure, jump leg structure, jump angle guiding mechanism, glide wing structure, jump leg structure sets up between the lateral wall of trunk structure, jump angle guiding mechanism sets up jump leg structure is structural, the glide wing structure sets up the lateral wall of trunk structure. The utility model discloses use the design of jump and travel mechanism separation, simplified overall structure, realized the combination of high ability of marcing and high obstacle crossing ability.
Description
Technical Field
The utility model relates to a robot field particularly, is a jumping obstacle-surmounting dolly with gliding ability.
Background
The intelligent trolley can replace human to work in various environments, is widely applied to the fields of rescue, military, anti-terrorism, investigation and the like, is a national key technology which is concerned about internationally, and is also one of the technologies which limit the export of China in developed countries. In these application fields, the mobile robot is required to be capable of adapting to a complex terrain environment, and therefore, how to simultaneously have a fast moving capability and a strong obstacle-crossing capability becomes a popular research point in the field of intelligent vehicles. The intelligent vehicle drives the robot to advance through the rolling of the wheels, has extremely high advancing capability and relatively stable movement, almost has no fluctuation of the center of gravity when the plane moves, but the requirement of the robot on a contact surface is higher, and the robot is difficult to pass through when encountering obstacles or sunken hollow earth surfaces, so that the application of the intelligent vehicle is limited to a great extent.
Jumping is an excellent obstacle crossing mode, and compared with wheel advancing, jumping has characteristics such as wide range of motion, high removal efficiency, explosive power are strong, can greatly compensate the not enough of intelligent vehicle obstacle crossing ability. However, the existing hopping robot has a complex structure, low capacity utilization efficiency, difficulty in realizing continuous hopping, single motion form and poor high-speed traveling capacity, and has great limitation on adaptation to complex environments.
The gliding is used as the supplement of the jumping ability, the jumping performance and the jumping distance can be improved to a greater extent, the impact on landing is reduced, and the buffering performance is more excellent.
SUMMERY OF THE UTILITY MODEL
The utility model provides a jumping obstacle-surmounting trolley with gliding capability aiming at the problems commonly existing in the intelligent trolley and the jumping robot, combines the high-efficiency advancing capability of the intelligent trolley with the obstacle-surmounting capability of the jumping robot, and realizes farther jumping distance by retracting and releasing the gliding wing through a double-crank mechanism in the jumping process; the landing buffering and stable landing are realized through a gear rack mechanism, and the adaptability of the intelligent trolley to complex terrains is improved;
the utility model provides a jumping obstacle-surmounting trolley with gliding capability,
obstacle crossing trolley includes trunk structure, jump leg structure, jump angle guiding mechanism, glider structure, jump leg structure sets up between the lateral wall of trunk structure, jump angle guiding mechanism sets up jump leg structure is structural, the glider structure sets up the lateral wall of trunk structure.
Optionally, the trunk structure includes a frame, a blocking rod, and wheel devices, the wheel devices include a first wheel device, a second wheel device, a third wheel device, and a fourth wheel device, which are symmetrically installed, and the travel speed of the four wheel devices can be controlled by a program, and different jump distances can be achieved by wheel run-up assistance.
Optionally, the jumping angle adjusting mechanism can adjust the jumping angle of the obstacle crossing trolley through the extension length of the rack to realize jumping at different heights and distances.
Optionally, the distance measuring sensor can realize distance measurement at different angles through rotation, so that the height or width of the obstacle can be measured.
Optionally, the rack in the jump angle adjusting mechanism is engaged with a gear, and the sensor is rotated by transmitting motion through engagement of a first bevel gear and a second bevel gear, and two universal joints are used: the first universal joint and the second universal joint are connected with the rod piece, so that the rotation angle of the sensor and the rotation angle of the gear keep a proportional relation, and synchronous movement of obstacle measurement and jump angle adjustment is realized.
Optionally, in the jumping leg structure, the upper end of the torsion spring set is connected to the connecting plate, the lower end of the torsion spring set is fixed to the jumping plate, the connecting plate is rotatably connected with the jumping plate, and the initial included angle is one hundred eighty degrees.
Optionally, the glider structure is connected with the frame by connecting rod one, connecting rod two, connecting rod three and is constituteed double crank mechanism, stirs connecting rod one through the plectrum in the jump mechanism and as motion input to realize the expansion of glider through the last transmission of pinion connecting axle to the glider skeleton with pinion connecting axle fixed connection, need not additionally to increase the power supply.
Optionally, the glider structure still includes the glider and withdraws the mechanism, the glider is withdrawed the mechanism and is upwards withdrawed by the impact effect on ground by rack two when falling to the ground, through pinion and perpendicular gear engagement transmission motion to the glider skeleton with pinion fixed connection, make the glider skeleton automatically withdraw when falling to the ground.
The utility model discloses a following scheme realizes:
the distance measuring sensor detects obstacles in the advancing process of the trolley, and the measuring angle and the take-off angle are adjusted through the gear rack mechanism and the connecting rod. The jumping leg structure motor is started, the jumping leg rotates to the position of the blocking rod piece to start to compress a torsion spring in the jumping leg structure to store force, the jumping leg structure is separated from the blocking rod piece after the motor rotates to a corresponding angle, elastic potential energy is released instantly to jump, the motor in the air continuously rotates, meanwhile, a shifting piece fixedly connected with the jumping leg pushes a driving piece of a double-crank mechanism in the gliding wing structure, the gliding wing is unfolded, the dead time of the obstacle crossing trolley in the air is prolonged, the jumping performance is enhanced, and a rack in the gliding wing withdrawing mechanism slightly protrudes out of a vehicle body through gear and rack transmission when the gliding wing is unfolded. When landing, the rack in the gliding wing withdrawing mechanism firstly contacts the ground, and the gliding wing is withdrawn under the stress to the vehicle body, so that the gliding wing is restored to the initial position and a certain buffer is provided. And the motor in the jumping leg structure automatically stops after rotating for one circle, returns to the initial position and waits for the next instruction of the program.
Preferably, the gliding wing structure and the jumping angle adjusting structure are two groups and symmetrically distributed along the axis of the vehicle, so that the obstacle crossing trolley is guaranteed to bear the same force from left to right and jump stably.
Preferably, the angle adjustment of the distance measuring sensor is realized through an angle adjustment structure, the rotating angle of the distance measuring sensor and the gear on the shaft of the first bevel gear are enabled to keep synchronous rotation through the meshing of the first bevel gear and the second bevel gear, and the proportional relation between the extending length of the rack and the rotating angle of the distance measuring sensor is realized.
Preferably, the two driving motors of the jumping leg structure are symmetrically arranged, so that the force of the jumping leg is balanced, and the stability of the trolley is kept.
The utility model has the advantages that
1. The utility model discloses use the design of jump and running gear separation, simplified overall structure, realized the combination of high ability of marcing and high ability of surmounting obstacles.
2. The utility model discloses a unique power mode of holding has realized accomplishing the preparation that triggers in the energy storage, and the energy storage finishes triggering promptly, need not independent design elasticity release mechanism, has simplified the structure, is favorable to realizing holistic lightweight.
3. The utility model designs a distinctive jump angle guiding mechanism, accomplished the synchronous of detecting the obstacle and adjusting jump angle and gone on, improved work efficiency, practiced thrift the energy to a certain extent.
4. The utility model discloses the innovation has realized the linkage of glide wing and has received and releases the mechanism, accomplishes the expansion through the drive of jump mechanism, combines the glide wing to withdraw the mechanism and realize withdrawing with the relation on ground under the condition that need not independent motor control, ensures that the glide wing is expanded aloft, withdraws when falling to the ground, provides to a certain extent and falls to the ground the buffering, utilizes the extension of dead time in air to improve the jump performance.
Drawings
Fig. 1 is the overall structure schematic diagram of the obstacle-crossing trolley with gliding capability in the utility model.
Fig. 2 is a schematic view of the trunk structure of the present invention.
Fig. 3 is a schematic view of the jumping leg mechanism of the present invention.
Fig. 4 is the schematic structural diagram of the jumping angle adjusting mechanism of the present invention.
Fig. 5 is a schematic bottom view of the structure of the glider of the present invention.
Figure 6 is the schematic diagram of the side view of the structure of the glider of the present invention.
Description of reference numerals: 1-torso structure; 2-a jumping leg mechanism; 3-a jump angle adjusting mechanism; 4-a glider mechanism; 101-a frame; 102-a wheel arrangement one; 103-wheel arrangement two; 104-wheel arrangement three; 105-wheel arrangement four; 106-a blocking lever; 201-a motor; 202-a fixing rod; 203-a base handle; 204-connecting rod one; 205-plectrum; 206-connecting plate; 207-torsion spring set; 208-a jump board; 209-link two; 301-rack motor; 302-bevel gear one; 303-bevel gear two; 304-a rack; 305-gear shaft; 306-bevel gear links; 307-gimbal one; 308-bar three; 309-gimbal two; 310-bar four; 311-a sensor; 401-link one; 402-fastening nail one; 403-fixing nail two; 404-link two; 405-fastening nail three; 406-link three; 407-fastening nail four; 408-rack two; 409-vertical gear; 410-vertical gear connecting shaft; 411-pinion gear; 412-glider skeleton; 413-pinion connecting shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Examples
Referring to fig. 1, the present invention provides an obstacle-crossing trolley with gliding capability, which comprises a trunk structure 1, a jumping leg structure 2, a jumping angle adjusting mechanism 3, and a gliding wing structure 4.
Referring to fig. 2, the trunk structure 1 mainly includes a frame 101, and the structure mainly realizes positioning and installation of each mechanism. Four groups of vehicle devices 102-105 are symmetrically arranged at four corners of the frame 101 to realize high-speed travelling of the trolley. The blocking rod 106 is fixedly connected to the frame 101, and mainly realizes the compression and force storage effects on the jumping leg.
Referring to fig. 3 for the jumping leg structure 2, a motor 201 is installed on the frame 101, a base handle 203 is synchronously rotated with the motor 201 through a first connecting rod 204 and a fixing rod 202, a shifting piece 205 is fixedly connected to the base handle 203, and the base handle 203 is connected with a connecting plate 206 and can rotate around the first connecting rod 204. The connecting plate 206 and the jump plate 208 are connected through a second connecting rod 209 to form a rotating pair, and the angular relationship of the rotating pair is determined by the torsion spring set 207. The upper end of the torsion spring group 207 is connected with the connecting plate 206, the lower end is fixed on the jump plate 208, when the jump mechanism stores energy, the opening angle of the torsion spring 207 is reduced through the downward pressing action of the blocking rod 106 on the jump plate 208, and the force storage action in the jump stage is completed. When the jumping leg structure motor 201 rotates to an angle away from the blocking rod 106, elastic potential energy is released instantly to complete the jumping action.
Referring to fig. 4, the jumping angle adjustment structure 3 includes a rack motor 301, a first bevel gear 302, a second bevel gear 303, a rack 304, a gear shaft 305, a bevel gear link 306, a first universal joint 307, a third rod 308, a second universal joint 309, a fourth rod 310, and a sensor 311. The rack motor 301 is mounted on the frame 101, and the gear shaft 305, the bevel gear connecting rod 306, the third rod 308 and the fourth rod 310 are mounted on the frame 101 and can radially rotate and cannot axially move. The connection mode of each component is as follows: the rack 304 is mounted on the rack motor 301 and can move back and forth. The rack 304 is meshed with gears on a gear shaft 305, the bevel gear II 303 is fixedly connected to the gear shaft 305, the bevel gear I302 is meshed with the bevel gear II 303 for transmission, the bevel gear I302 is fixedly connected to a bevel gear connecting rod 306, the bevel gear connecting rod 306 is connected with a third rod 308, a first universal joint 307 is connected to the third rod 308 and a fourth rod 310 through a second universal joint 309, and the sensor 311 is fixed on the fourth rod 310 and keeps synchronous rotation with the fourth rod 310. The angle rotation of the sensor 311 and the rotation angle of the rack 304 keep a proportional relation, and the synchronous realization of the side obstacle and the jump angle adjustment is realized. The working principle is as follows: in the process of advancing the obstacle crossing trolley, the distance measuring sensor 311 always forms an acute angle smaller than 90 degrees with the ground, so that the distance measuring sensor 311 of the trolley on a plane always returns to a fixed value until a complex ground state is met: a gap appears in the front of the trolley, and the value returned by the distance measuring sensor 311 suddenly increases sharply to be infinite, which indicates that a gap-type obstacle appears in the front of the trolley; a convex obstacle appears in front of the trolley, and the return value of the distance measuring sensor 311 is suddenly reduced, which indicates that an obstacle appears in front of the trolley. At the moment, the trolley stops, the distance measuring angle of the sensor 311 is adjusted through the angle adjusting structure 3, namely the rack 304 is driven by the rack motor 301, the rack 304 is meshed with the gear 305 and moves to the sensor 311 through the meshing transmission of the bevel gear I302 and the bevel gear II 303, so that the included angle between the distance measuring sensor and the ground is changed from an acute angle to an obtuse angle, the sensor accelerates the return and processing of distance measuring data in the process of the change of the distance measuring angle of the sensor, when the returned data is suddenly changed to infinity, the situation that the measured data of the current distance measuring angle is larger than the height of an obstacle is shown, the rack 304 stops moving, the synchronous distance measuring sensor 311 stops rotating, and jumping is started.
Referring to fig. 5 and 6 for the glider structure 4, the glider structure 4 includes a dual crank mechanism, a gear transmission mechanism, and a rack-and-pinion mechanism. The double-crank mechanism mainly comprises a first rod 401, a first fixing nail 402, a second fixing nail 403, a second rod 404, a third fixing nail 405, a third rod 406 and a fourth fixing nail 407. The connection mode of the double-crank mechanism is that the frame 101 and the first rod 401 form a rotating pair through the second fixing nail 403, the first rod 401 and the second rod 404 form a rotating pair through the first fixing nail 402, the second rod 404 and the third rod 406 form a rotating pair through the third fixing nail 405, and the third rod 406 and the frame 101 form a rotating pair through the fourth fixing nail 407. The double crank mechanism can keep the rotation angles of the first rod 401 and the third rod 406 consistent. The gear transmission mechanism is meshed with a pinion 411 through a vertical gear 409, and a glider framework 412 and the pinion 411 are fixedly connected to a pinion connecting shaft 413 and keep synchronous rotation; the vertical gear 409 is mounted on the frame 101 through a vertical gear connecting shaft 410, forming a revolute pair. The rack-and-pinion mechanism is engaged with a second rack 408 through a vertical gear 409 to transmit motion, a rack 412 is installed on the vehicle frame 101 to realize vertical sliding, and when the trolley falls to the ground, the second rack 408 moves upwards to enable the glider framework 412 to retract inwards through the gear.
The utility model discloses a theory of operation as follows:
when the distance measuring sensor 311 detects an obstacle, the takeoff angle is adjusted through the rack 304, meanwhile, the rack 304 is meshed with the gear 305 to transmit motion, the angle of the sensor 311 fixed on the rod four 310 is adjusted through the meshing of the bevel gear one 302 and the bevel gear two 303, the height of the obstacle is measured, and data are continuously returned to the single chip microcomputer to be calculated until the measurement is completed. The motor 201 of the jumping leg structure is started, the jumping plate 208 in the jumping leg structure 3 rotates to the position of the blocking rod 106 to press the torsion spring group 207 in the jumping leg structure to accumulate force, the jumping plate 208 is separated from the blocking rod 106 after the motor 201 rotates to a corresponding angle, the torsion spring group 207 instantly releases elastic potential energy to finish jumping, the motor 201 drives the base handle 203 to continuously rotate during the jumping of the obstacle-crossing trolley to the air, meanwhile, the poking piece 205 fixedly connected with the base handle 203 pushes the rod I401 in the gliding wing structure to drive the double-crank mechanism to expand the gliding wing framework 412, the stagnation time of the obstacle-crossing trolley in the air is increased, the jumping performance is enhanced, and the gliding wing framework 412 is expanded while the rack II 408 in the retracting mechanism of the gliding wing framework 412 slightly protrudes out of the trolley body through meshing transmission of the rack II 408 of the gear 412. When landing, the second rack 408 firstly contacts the ground, is stressed to retract the vehicle body, and is meshed with and driven by the second rack 408 through the vertical gear 409 to enable the glider framework 412 to restore the initial position and provide certain buffering. The motor 201 in the jumping leg structure automatically stops after rotating for one circle, returns to the initial position and waits for the next command of the program.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.
Claims (8)
1. A jumping obstacle-crossing trolley with gliding capability, which is characterized in that,
obstacle crossing trolley includes trunk structure (1), jump leg structure (2), jump angle guiding mechanism (3), glider structure (4), jump leg structure (2) sets up between the lateral wall of trunk structure (1), jump angle guiding mechanism (3) set up on the jump leg structure (2), glider structure (4) sets up the lateral wall of trunk structure (1).
2. A jumping obstacle-surmounting trolley with gliding capability according to claim 1,
the trunk structure (1) comprises a frame (101), a blocking rod (106) and wheel devices, wherein the wheel devices comprise a first wheel device (102), a second wheel device (103), a third wheel device (104) and a fourth wheel device (105) which are symmetrically arranged, the travelling speed of the four wheel devices can be controlled by a program, and different jumping distances can be realized by wheel run-up assistance.
3. The jumping obstacle-crossing trolley with gliding capability as claimed in claim 1,
the jumping angle adjusting mechanism (3) can adjust the jumping angle of the obstacle crossing trolley through the extension length of the rack (304) to realize jumping at different heights and distances.
4. A jumping obstacle-surmounting trolley with gliding capability according to claim 3,
the jump angle adjusting mechanism (3) comprises a distance measuring sensor (311),
the distance measuring sensor (311) can realize distance measurement of different angles through rotation, so that the height or the width of the obstacle can be measured.
5. A jumping obstacle-surmounting trolley with gliding capability according to claim 3,
the rack (304) in the jump angle adjusting mechanism (3) is meshed with a gear (305), and a sensor (311) is enabled to rotate by transmitting motion through the meshing of a bevel gear I (302) and a bevel gear II (303), and two universal joints are used: the first universal joint (307) and the second universal joint (309) are connected with the rod piece, so that the rotating angle of the sensor (311) and the rotating angle of the gear (305) keep a proportional relation, and synchronous movement of obstacle measurement and jumping angle adjustment is realized.
6. The jumping obstacle-crossing trolley with gliding capability as claimed in claim 1,
in jump leg structure (2), torsional spring group (207) upper end is connected on connecting plate (206), and the lower extreme is fixed on jump board (208), and connecting plate (206) are connected for rotating with jump board (208), and just initial contained angle is one hundred eighty degrees.
7. The jumping obstacle-crossing trolley with gliding capability as claimed in claim 1,
the glider structure of the glider structure (4) is formed by rotationally connecting a first connecting rod (401), a second connecting rod (404), a third connecting rod (406) and a frame (101) to form a double-crank mechanism, the first connecting rod (401) is stirred through a stirring sheet (205) in the jumping mechanism to be used as motion input, and the unfolding of the glider is realized through transmitting on a pinion connecting shaft (413) to a glider framework (412) fixedly connected with the pinion connecting shaft (413), and no additional power source is needed.
8. The jumping obstacle-crossing trolley with gliding capability as claimed in claim 7,
the glider structure (4) also comprises a glider retracting mechanism, the glider retracting mechanism is retracted upwards under the action of ground impact by a second rack (408) when falling to the ground, and is engaged with a vertical gear (409) through a pinion (411) to transmit motion to a glider framework (412) fixedly connected with the pinion (411), so that the glider framework (412) is automatically retracted when falling to the ground.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221692408.6U CN218616948U (en) | 2022-06-30 | 2022-06-30 | Jumping obstacle-surmounting trolley with gliding capability |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221692408.6U CN218616948U (en) | 2022-06-30 | 2022-06-30 | Jumping obstacle-surmounting trolley with gliding capability |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116001937A (en) * | 2023-03-28 | 2023-04-25 | 北京理工大学 | Rapid obstacle surmounting vehicle and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116001937A (en) * | 2023-03-28 | 2023-04-25 | 北京理工大学 | Rapid obstacle surmounting vehicle and control method thereof |
| CN116001937B (en) * | 2023-03-28 | 2023-08-01 | 北京理工大学 | Rapid obstacle surmounting vehicle and control method thereof |
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