CN103600785A - Wheeled dive mechanism capable of climbing continuous steps - Google Patents
Wheeled dive mechanism capable of climbing continuous steps Download PDFInfo
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- CN103600785A CN103600785A CN201310572156.2A CN201310572156A CN103600785A CN 103600785 A CN103600785 A CN 103600785A CN 201310572156 A CN201310572156 A CN 201310572156A CN 103600785 A CN103600785 A CN 103600785A
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- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 239000000919 ceramic Substances 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims 3
- 239000002390 adhesive tape Substances 0.000 claims 1
- 239000000956 alloy Substances 0.000 claims 1
- 229910045601 alloy Inorganic materials 0.000 claims 1
- 239000000843 powder Substances 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 230000009191 jumping Effects 0.000 abstract 1
- 230000001464 adherent effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004663 powder metallurgy Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
本发明涉公开了一种翻越连续台阶的轮式驱动机构，包括机体和行走机构，所述行走机构对称设置于机体的左右两侧，所述行走机构包括4个直径相等且速率及方向完全同步的偏心轮；所述机体内设置动力驱动装置，所述动力驱动装置通过驱动轴与偏心轮连接；所述机体的下前端设置翻越支撑件。该翻越连续台阶的轮式驱动机构，解决了目前机器人的行走机构在翻越楼梯台阶时带来的不便以及行走机构控制复杂的问题，具有结构简单，体积小、重量轻、可连续翻越台阶的特点。
The present invention discloses a wheeled drive mechanism for climbing over continuous steps, including a body and a running mechanism. The running mechanism is symmetrically arranged on the left and right sides of the body. The eccentric wheel; the power drive device is arranged in the body, and the power drive device is connected with the eccentric wheel through the drive shaft; the lower front end of the body is provided with a jumping support. The wheel-type drive mechanism for climbing over continuous steps solves the inconvenience caused by the current robot's walking mechanism when climbing over the stairs and the problem of complicated control of the walking mechanism. It has the characteristics of simple structure, small size, light weight, and continuous climbing. .
Description
Technical field
The present invention relates to a kind of wheeled driver train of crossing continuous step.
Background technology
At present, the landform that robot will be crossed as stair can be taked multiple walking structure.Common are " crawler type " " wheeled " " leg formula ".Directly utilize crawler belt to rotate to reach and advance or the robot of the object of climbing is called caterpillar type robot, ground strong adaptability, stability Gao, mechanism are simple, but waste of power is high, and level land efficiency is lower.The robot that imitates the mankind or other animal leg exercise is called legged mobile robot.Ground strong adaptability, stability Gao，Dan mechanism and control are complicated, running velocity is low.Directly utilize wheel or class wheel to rotate to reach and advance or the robot of the object of climbing is called wheeled robot.Meeting under certain landform comformability prerequisite, can give full play to mobile robot and move flexibly, control the advantages such as simple.But the comformability size to landform is directly proportional to the quantity of wheel, along with taking turns the increase of quantum count, the shortcomings such as bulky, Heavy Weight have been brought again.
Summary of the invention
The object of the present invention is to provide a kind of wheeled driver train of crossing continuous step, be intended to solve inconvenience and the traveling gear that the traveling gear of current robot brings when crossing stairway step and control complicated problem, this wheeled driver train of crossing continuous step has simple in structure, the feature that volume is little, lightweight, can cross step continuously.
The present invention realizes like this, a wheeled driver train of crossing continuous step, comprises body and traveling gear, and its special character is, described traveling gear is symmetricly set in the left and right sides of body, and described traveling gear comprises the eccentric wheel of 4 equal diameters and speed and direction Complete Synchronization; In described body, Power Drive Unit is set, described Power Drive Unit is connected with eccentric wheel by axle drive shaft; Strut member is crossed in the lower front end setting of described body.
Further, described in to cross strut member be one group of Metallic rod be arrangeding in parallel, Metallic rod arranges anti-skidding ripple in the one side contacting with stairway step.
Further, the outside face of crossing strut member described in arranges wearing layer.
Further, described wearing layer is the wherein a kind of of ceramic layer, powder metallurgy layer and modified plastics layer.
Further, the thickness of described wearing layer is 0.2～2mm.
Further, described in to cross strut member be one group of Metallic rod be arrangeding in parallel, the bottom of crossing strut member and body arranges anti-skidding adherent zone, described anti-skidding adherent zone is that one deck adheres to and crosses strut member and underpart with the rubber tape of anti-slip veins.
Further, described eccentric surface uniform arranges cylindrical protrusion portion.
Further, described Power Drive Unit comprises motor and storage battery.
The invention provides a kind of wheeled driver train of crossing continuous step, solve inconvenience and the traveling gear that the traveling gear of current robot brings when crossing stairway step and controlled complicated problem, this wheeled driving mechanism structure of crossing continuous step is simple, volume is little, lightweight, can cross continuously step, when the action of crossing step, eccentric wheel and body independently switch, without manual control, eccentric wheel rotates a circle, body can be walked to step to a new level, and the efficiency of therefore going upstairs is higher.
Accompanying drawing explanation
Fig. 1 is block diagram of the present invention;
Fig. 2 is the structural representation of the embodiment of the present invention 1;
Fig. 3 is the structural representation of the embodiment of the present invention 2;
Fig. 4 is the schematic diagram of the present invention when crossing continuous step;
Wherein, 1-body; 2-eccentric wheel; 3-axle drive shaft; 4-crosses strut member; 5-knock hole; 6-cylindrical protrusion portion; The anti-skidding adherent zone of 7-.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 shows the structure of the wheeled driver train of crossing continuous step that the embodiment of the present invention provides.For convenience of explanation, only show part related to the present invention.
The wheeled driver train that this crosses continuous step, comprises body 1 and traveling gear, and traveling gear is symmetricly set in the left and right sides of body 1, and traveling gear comprises the eccentric wheel 2 of 4 equal diameters and speed and direction Complete Synchronization; The interior Power Drive Unit that arranges of body 1, described Power Drive Unit is connected with eccentric wheel 2 by axle drive shaft 3; Strut member 4 is crossed in the lower front end setting of body 1.
Below in conjunction with drawings and the specific embodiments, application principle of the present invention is further described.
As shown in Figure 2, a kind of wheeled driver train of crossing continuous step that the embodiment of the present invention provides, this wheeled driver train of crossing continuous step comprises: comprise body 1 and traveling gear, traveling gear is symmetricly set in the left and right sides of body 1, and traveling gear comprises the eccentric wheel 2 of 4 equal diameters and speed and direction Complete Synchronization; The interior Power Drive Unit that arranges of body 1, Power Drive Unit is connected with eccentric wheel 2 by axle drive shaft 3, and eccentric wheel 2 is equipped with knock hole 5, and each eccentric knock hole 5 is consistent to the distance in the axle center of axle drive shaft 3; Strut member 4 is crossed in the lower front end setting of body 1.
The outside face of crossing strut member 4 arranges wearing layer.
Wearing layer is the wherein a kind of of ceramic layer, powder metallurgy layer and modified plastics layer.
The thickness of wearing layer is 0.2～2mm.
The surface uniform of eccentric wheel 2 arranges cylindrical protrusion portion 6, and the quantity of the elongated protrusion portion 6 that each eccentric wheel 2 arranges is 3.
Power Drive Unit comprises motor and storage battery.
As shown in Figure 3, a kind of wheeled driver train of crossing continuous step that the embodiment of the present invention provides, this wheeled driver train of crossing continuous step comprises: comprise body 1 and traveling gear, traveling gear is symmetricly set in the left and right sides of body 1, and traveling gear comprises the eccentric wheel 2 of 4 equal diameters and speed and direction Complete Synchronization; The interior Power Drive Unit that arranges of body 1, Power Drive Unit is connected with eccentric wheel 2 by axle drive shaft 3, and eccentric wheel 2 is equipped with knock hole 5, and each eccentric knock hole 5 is consistent to the distance in the axle center of axle drive shaft 3; Strut member 4 is crossed in the lower front end setting of body 1.
The surface uniform of eccentric wheel 2 arranges cylindrical protrusion portion 6, and the quantity of the elongated protrusion portion 6 that each eccentric wheel 2 arranges is 3.
Power Drive Unit comprises motor and storage battery.
The wheeled driver train of crossing continuous step that the embodiment of the present invention provides, simple in structure, volume is little, lightweight, can cross continuously step, when the action of crossing step, eccentric wheel and body independently switch, and without manual control, eccentric wheel rotates a circle, body can be walked to step to a new level, the cylindrical protrusion portion that eccentric wheel is set, contributes to cross continuous step, has avoided when crossing step, the generation of the skidding of wheel and step, the efficiency of therefore going upstairs is higher.
Fig. 4 has gone out the schematic diagram of the wheeled driver train of crossing continuous step provided by the invention when crossing continuous step, and as shown in Fig. 4 (a)-Fig. 4 (g), this wheeled driver train advances on level road, and body can regular heave and set; When there is stair obstacle in the place ahead, the strut member of crossing of body lower front end can, along with body heave and set, in some moment, be crossed strut member and can ride on stairway step, now the eccentric knock hole in the front and back of body, in extreme higher position, is crossed the height of strut member a little more than single shoulder height; Along with the front and back eccentric wheel of body is synchronously rotated further, front part of a body is crossed strut member and is raised, and wheelie rotates, when eccentric distal end turns to while contacting with step, now the point of action of power drops on eccentric wheel, and front and back eccentric wheel is rotated further and will makes body move obliquely.Then crossing strut member can ride on next stage step, at a time, before and after eccentric wheel can unsettled being rotated further, owing to there being anti-skidding design, body can steadily rest on step and not glide, until the eccentric distal end in front and back forwards the position contacting with step to, due to the variation of the point of action of power, whole body can be raised, and motion obliquely, from then on the rule that is moved into of body circulates, thereby reaches the object of crossing continuously step.
These are only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310572156.2A CN103600785A (en) | 2013-11-18 | 2013-11-18 | Wheeled dive mechanism capable of climbing continuous steps |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310572156.2A CN103600785A (en) | 2013-11-18 | 2013-11-18 | Wheeled dive mechanism capable of climbing continuous steps |
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| CN103600785A true CN103600785A (en) | 2014-02-26 |
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| CN201310572156.2A Pending CN103600785A (en) | 2013-11-18 | 2013-11-18 | Wheeled dive mechanism capable of climbing continuous steps |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057773A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Axial semi-wheel obstacle crossing wheel |
| CN104129446A (en) * | 2014-05-21 | 2014-11-05 | 潍坊泰阳座椅系统有限公司 | Claw type stair climbing machine |
| CN104691642A (en) * | 2015-03-20 | 2015-06-10 | 西南大学 | Multiphase connecting rod wheel driving mechanism |
| CN106585758A (en) * | 2016-12-10 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Wheel-legged disaster relief engineering vehicle |
| CN109680609A (en) * | 2019-01-08 | 2019-04-26 | 上海源盛机械电气制造有限公司 | One kind is across barrier mechanism, moving trolley and noise barrier stand column bolt inspection device |
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| JPH07246940A (en) * | 1994-01-20 | 1995-09-26 | Yasuyuki Kawamorita | Travel device for stairs, etc. |
| DE29922916U1 (en) * | 1999-12-28 | 2000-03-23 | Wieners, Karl-Heinz, 34314 Espenau | Wheel arrangement for means of transport and vehicles |
| DE10248889A1 (en) * | 2001-12-13 | 2003-06-26 | Alber Ulrich Gmbh & Co Kg | Stair climbing arrangement e.g. for wheelchairs has control unit which controls operation of pair of wheels and interrupts the climbing process when pair of wheels reach predetermined position |
| US20060145433A1 (en) * | 2003-01-09 | 2006-07-06 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
| US7487976B1 (en) * | 2006-06-15 | 2009-02-10 | Williams Mychael J | Hand truck |
| CN101384466A (en) * | 2006-02-15 | 2009-03-11 | 特莱翁尼克瑞典有限公司 | wheel suspension |
| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN102602470A (en) * | 2012-03-21 | 2012-07-25 | 西南大学 | Barrier-crossing traveling system capable of alternately switching linkage mechanisms |
| CN202641747U (en) * | 2012-07-09 | 2013-01-02 | 董宜铭 | Motor-driven electrical power assisted stair climbing cart |
| CN203651954U (en) * | 2013-11-18 | 2014-06-18 | 西南大学 | Wheel type driving mechanism for continuously climbing over stairs |
-
2013
- 2013-11-18 CN CN201310572156.2A patent/CN103600785A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246940A (en) * | 1994-01-20 | 1995-09-26 | Yasuyuki Kawamorita | Travel device for stairs, etc. |
| DE29922916U1 (en) * | 1999-12-28 | 2000-03-23 | Wieners, Karl-Heinz, 34314 Espenau | Wheel arrangement for means of transport and vehicles |
| DE10248889A1 (en) * | 2001-12-13 | 2003-06-26 | Alber Ulrich Gmbh & Co Kg | Stair climbing arrangement e.g. for wheelchairs has control unit which controls operation of pair of wheels and interrupts the climbing process when pair of wheels reach predetermined position |
| US20060145433A1 (en) * | 2003-01-09 | 2006-07-06 | Seo-Rim Kim | Running apparatus for stairs, ramps and off roads |
| CN101384466A (en) * | 2006-02-15 | 2009-03-11 | 特莱翁尼克瑞典有限公司 | wheel suspension |
| US7487976B1 (en) * | 2006-06-15 | 2009-02-10 | Williams Mychael J | Hand truck |
| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
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| CN202641747U (en) * | 2012-07-09 | 2013-01-02 | 董宜铭 | Motor-driven electrical power assisted stair climbing cart |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057773A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Axial semi-wheel obstacle crossing wheel |
| CN104129446A (en) * | 2014-05-21 | 2014-11-05 | 潍坊泰阳座椅系统有限公司 | Claw type stair climbing machine |
| CN104691642A (en) * | 2015-03-20 | 2015-06-10 | 西南大学 | Multiphase connecting rod wheel driving mechanism |
| CN104691642B (en) * | 2015-03-20 | 2017-03-08 | 西南大学 | A kind of leggy connecting rod actuation |
| CN106585758A (en) * | 2016-12-10 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Wheel-legged disaster relief engineering vehicle |
| CN106585758B (en) * | 2016-12-10 | 2023-10-13 | 台州市豪力实业有限公司 | Wheel leg type disaster relief engineering vehicle |
| CN109680609A (en) * | 2019-01-08 | 2019-04-26 | 上海源盛机械电气制造有限公司 | One kind is across barrier mechanism, moving trolley and noise barrier stand column bolt inspection device |
| CN109680609B (en) * | 2019-01-08 | 2023-12-22 | 上海源盛机械电气制造有限公司 | Obstacle crossing mechanism, travelling car and sound barrier upright bolt inspection device |
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Application publication date: 20140226 |
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