CN108438091B - A kind of anti-inclination exploration robot - Google Patents
A kind of anti-inclination exploration robot Download PDFInfo
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- CN108438091B CN108438091B CN201810226378.1A CN201810226378A CN108438091B CN 108438091 B CN108438091 B CN 108438091B CN 201810226378 A CN201810226378 A CN 201810226378A CN 108438091 B CN108438091 B CN 108438091B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 239000000969 carrier Substances 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 13
- 238000013016 damping Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 5
- 239000006096 absorbing agent Substances 0.000 abstract description 4
- 230000035939 shock Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/185—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram the arms being essentially parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of exploration robots, are in particular a kind of anti-inclination exploration robots, and robot can prevent from itself from rolling, the wheel of robot carries damping effect, the installation for eliminating traditional shock absorber, saves space, alleviates the weight of machine human body；And the height of robot can be adjusted.The body assembly includes mainboard, and there are two body assembly settings；The upper end of connecting plate I is fixedly connected with connection circular shaft, connecting plate II clearance fit is inserted in the upper end of connection circular shaft, the upper end of connection circular shaft is fixedly connected with gear I, gear I is located at the upper end of connecting plate II, and the upper end of connecting plate II is fixedly connected with motor rack, motor I is fixedly connected on motor rack, gear II is fixedly connected on the output shaft of motor I, gear II is engaged with gear I, and the left end of connecting plate I is fixedly connected on a mainboard, and the right end of connecting plate II is fixedly connected on another mainboard.
Description
Technical field
The present invention relates to a kind of exploration robots, are in particular a kind of anti-inclination exploration robots.
Background technique
Application No. is geological prospecting robot before a kind of constructing tunnel of CN201720964367.4, which is disclosed
Geological prospecting robot before a kind of constructing tunnel, including exploration robot shells, telescopic rod, drill head, the inspection of soil property lithosphere
Analyzer is surveyed, the exploration robot shells upper end is equipped with blade fixing seat, and blade fixing seat upper end is equipped with rotation
Blade, the exploration robot shells upper end are equipped with rotating camera two, and the exploration robot shells lower end is equipped with ten thousand
To wheel, the exploration robot shells lower end is equipped with air pump, and the exploration robot shells side is equipped with the telescopic rod,
The telescopic rod lower end is equipped with the drill head.Exploration robot architecture is simple, easy to use, by exploring robot energy
It is enough that the case where tunnel internal is explored automatically, and signal is passed into user at the first time, so that user is to tunnel
Internal various situations are understood, and safe and reliable strong applicability is convenient for popularization.Robot in the utility model does not have damping
Effect, and cannot prevent robot from rolling.
Summary of the invention
The present invention provides a kind of anti-inclination exploration robot, and its advantages are that robot can prevent from itself from rolling, machine
The wheel of device people carries damping effect, eliminates the installation of traditional shock absorber, saves space, alleviates the weight of machine human body
Amount；And the height of robot can be adjusted.
The present invention relates to a kind of exploration robots, are in particular a kind of anti-inclination exploration robot, including main body group
Part, middle even part and anti-inclination part, robot can prevent from itself from rolling, and the wheel of robot carries damping effect, eliminates biography
The installation of system damper, saves space, alleviates the weight of machine human body；And the height of robot can be adjusted.
The body assembly includes mainboard, and there are two body assembly settings；
Connecting part in described includes connecting plate I, gear I, connection circular shaft, motor I, gear II, motor rack and connecting plate II, connecting plate
The upper end of I is fixedly connected with connection circular shaft, and connecting plate II clearance fit is inserted in the upper end of connection circular shaft, and the upper end for connecting circular shaft is fixed
It is connected with gear I, gear I is located at the upper end of connecting plate II, and the upper end of connecting plate II is fixedly connected with motor rack, fixed company on motor rack
It is connected to motor I, gear II is fixedly connected on the output shaft of motor I, gear II is engaged with gear I, and the left end of connecting plate I is fixed to be connected
It connects on a mainboard, the right end of connecting plate II is fixedly connected on another mainboard；
The anti-inclination part includes horizontal seat, body cradle, side wheel, fastening screw II, side wheel hack lever, fastening screw III, turns
Set, energetically spring pedestal, energetically spring, thin bar, pushing moves seat and down-pressed pole, horizontal seat are fixedly connected on the mainboard of device left end
Right end, the rear and front end of horizontal seat are fixedly connected to body cradle, are rotatably connected to pivoted housing on two body cradles, on two pivoted housings
Side wheel hack lever is slidably connected, fastening screw III has been connected through a screw thread on two pivoted housings, fastening screw III withstands on side
It takes turns on hack lever, the upper end of two side wheel hack levers is fixedly connected to spring pedestal energetically, and two fixed between spring pedestal energetically
It is connected with spring energetically, the upper end of horizontal seat is symmetrically fixedly connected with that there are two thin bars, and the upper end of two thin bars slidably connects pushing
Seat is moved, fastening screw II there are two being connected through a screw thread on shifting seat is pushed, two fastening screw II are withstood on respectively in two thin bars,
It pushes and moves the rear and front end of seat and be fixedly connected to down-pressed pole, two down-pressed poles are located at the upper of two spring pedestals energetically
Side, the lower end of two side wheel hack levers is rotatably connected to side wheel.
The body assembly further include spring I, sliding block, lower link, boss, move up and down plate, riser, bearing, wheel rim,
Take turns hack lever and upper connecting rod, the upper end of mainboard is provided with sliding block, and the outer ring of bearing is fixedly connected with wheel rim, symmetrical in the inner ring of bearing
Riser there are two being fixedly connected, moves up and down plate and is slidably connected between the upper end of two risers, move up and down four angles of plate
Place is fixedly connected to boss, and four boss are bonded with the side of riser, and the upper end of spring I, which is welded on, to be moved up and down under plate
End, the lower end of spring I are fixedly connected on the lower end of the inner ring of bearing, and spring I is located between two risers, move up and down plate upper end
Rear and front end be fixedly connected to wheel hack lever, the middle-end of two wheel hack levers is hingedly connected with lower link, two lower links
The other end is hinged on the left end of mainboard, and one end of upper connecting rod is connected between the upper end of two wheel hack levers, upper connecting rod it is another
End is hinged on sliding block.
The body assembly further includes sliding slot, thin cylinder sliding slot, T-shaped block, thin cylinder, fastening nut, thick cylinder, fastening
Screw I, the upper end of mainboard are provided with sliding slot, and the lower end of sliding block is fixedly connected with T-shaped block, and T-shaped block is slidably connected in sliding slot, T
The lower end of shape block is connected through a screw thread there are two fastening screw I, and two fastening screw I are withstood on the bottom surface of mainboard, upper connecting rod
Upper end be provided with thin cylinder sliding slot, the front end of thick cylinder is fixedly connected with thin cylinder, and screw thread, thin cylinder are provided on thin cylinder
On be connected through a screw thread fastening nut, the assembly of thin cylinder and thick cylinder be fixedly connected on two wheel hack levers upper end it
Between, thin cylindrical slid is connected in thin cylinder sliding slot, and fastening nut and thick cylinder are clipped in the rear and front end of upper connecting rod.
The driving assembly includes horizontal cylinder, hinged seat, rear quarter butt, portal frame, distance rod, articulated shaft, friction pulley, electricity
Machine II and preceding quarter butt, two hinged seats are respectively fixedly connected in the upper end for two wheel hack levers for being located at device left end, and horizontal cylinder turns
Dynamic to be connected between two hinged seats, the front end of horizontal cylinder is fixedly connected with preceding quarter butt, after the rear end of horizontal cylinder is fixedly connected with
Quarter butt, is fixedly connected with motor II on preceding quarter butt, and the output shaft of motor II passes through preceding quarter butt, fixed on the output shaft of motor II to connect
It is connected to friction pulley, articulated shaft is fixedly connected on rear quarter butt, the output shaft of articulated shaft and motor II is coaxial, and the both ends of portal frame are solid
Surely it is connected between the rear end of two risers of device left end, the upper end of distance rod is rotatably connected on articulated shaft, spacing
The lower end of bar is hinged on portal frame, and the hinge joint of distance rod and portal frame is located on the extended line of the axis of bearing, friction pulley
It is pressed on the wheel rim of left end.
Described is fixedly connected with electric cabinet on the mainboard of device right end.
A kind of anti-roll of the invention explores having the beneficial effect that for robot
Robot is explored in a kind of anti-inclination of the invention, and robot can prevent from itself from rolling, and the wheel of robot is included to be subtracted
Effect is shaken, the installation of traditional shock absorber is eliminated, saves space, alleviate the weight of machine human body；And the height of robot
Degree can be adjusted.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is a kind of anti-structural schematic diagram one for rolling exploration robot of the present invention；
Fig. 2 is a kind of anti-structural schematic diagram two for rolling exploration robot of the present invention；
The structural schematic diagram one of component based on Fig. 3；
The structural schematic diagram two of component based on Fig. 4；
The partial structure diagram of component based on Fig. 5；
The structural schematic diagram of component based on Fig. 6；
Fig. 7 is the anti-structural schematic diagram one for rolling part；
Fig. 8 is the anti-structural schematic diagram two for rolling part；
Fig. 9 is the structural schematic diagram one of driving assembly；
Figure 10 is the structural schematic diagram two of driving assembly.
In figure: body assembly 1；Mainboard 1-1；Spring I1-2；Sliding block 1-3；Sliding slot 1-4；Lower link 1-5；Boss 1-6；On
Lower shifting board 1-7；Riser 1-8；Bearing 1-9；Wheel rim 1-10；Take turns hack lever 1-11；Thin cylinder sliding slot 1-12；Upper connecting rod 1-13；T shape
Block 1-14；Thin cylinder 1-15；Fastening nut 1-16；Thick cylinder 1-17；Fastening screw I1-18；Middle even part 2；Connecting plate I2-1；Gear
I2-2；Connect circular shaft 2-3；Motor I2-4；Gear II2-5；Motor rack 2-6；Connecting plate II2-7；Anti- inclination part 3；Horizontal seat 3-1；Hinge
Meet frame 3-2；Side wheel 3-3；Fastening screw II3-4；Side wheel hack lever 3-5；Fastening screw III3-6；Pivoted housing 3-7；Spring pedestal energetically
3-8；Spring 3-9 energetically；Thin bar 3-10；It pushes and moves seat 3-11；Down-pressed pole 3-12；Driving assembly 4；Horizontal cylinder 4-1；Hinged seat 4-
2；Quarter butt 4-3 afterwards；Portal frame 4-4；Distance rod 4-5；Articulated shaft 4-6；Friction pulley 4-7；Motor II4-8；Preceding quarter butt 4-9.
Specific embodiment
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-10, in particular it to be one that the present invention relates to a kind of exploration robots
Robot is explored in the anti-inclination of kind, including body assembly 1, middle even part 2 and anti-inclination part 3, robot can prevent from itself from rolling, machine
The wheel of device people carries damping effect, eliminates the installation of traditional shock absorber, saves space, alleviates the weight of machine human body
Amount；And the height of robot can be adjusted.
The body assembly 1 includes mainboard 1-1, and there are two the settings of body assembly 1；
Connecting part 2 in described includes connecting plate I2-1, gear I2-2, connection circular shaft 2-3, motor I2-4, gear II2-5, electricity
Rack 2-6 and connecting plate II2-7, the upper end of connecting plate I2-1 are fixedly connected with connection circular shaft 2-3, and connecting plate II2-7 clearance fit is inserted in
The upper end of circular shaft 2-3 is connected, the upper end of connection circular shaft 2-3 is fixedly connected with gear I2-2, and gear I2-2 is located at connecting plate II2-7's
Upper end, the upper end of connecting plate II2-7 are fixedly connected with motor rack 2-6, and motor I2-4, motor I2- are fixedly connected on motor rack 2-6
Gear II2-5 is fixedly connected on 4 output shaft, gear II2-5 is engaged with gear I2-2, and the left end of connecting plate I2-1 is fixedly connected
On a mainboard 1-1, the right end of connecting plate II2-7 is fixedly connected on another mainboard 1-1；Band movable tooth when motor I2-4 is rotated
II2-5 rotation is taken turns, band moving gear I2-2 is rotated when gear II2-5 is rotated, and gear I2-2 drives connecting plate by connection circular shaft 2-3
I2-1 rotation, thus realize the relative rotation of connecting plate I2-1 and connecting plate II2-7, so that two mainboard 1-1 are angled,
Realize robot turning.
The anti-inclination part 3 includes horizontal seat 3-1, body cradle 3-2, side wheel 3-3, fastening screw II3-4, side wheel hack lever 3-
5, fastening screw III3-6, pivoted housing 3-7, energetically spring pedestal 3-8, energetically spring 3-9, thin bar 3-10, push move seat 3-11 and
Down-pressed pole 3-12, horizontal seat 3-1 are fixedly connected on the right end of the mainboard 1-1 of device left end, and the rear and front end of horizontal seat 3-1 is fixed to be connected
It is connected to body cradle 3-2, pivoted housing 3-7 is rotatably connected on two body cradle 3-2, slidably connects side on two pivoted housing 3-7
Hack lever 3-5 is taken turns, has been connected through a screw thread fastening screw III3-6 on two pivoted housing 3-7, fastening screw III3-6 withstands on side wheel
On hack lever 3-5, the upper end of two side wheel hack lever 3-5 is fixedly connected to spring pedestal 3-8 energetically, two spring pedestal 3- energetically
It is fixedly connected with spring 3-9 energetically between 8, the upper end of horizontal seat 3-1 is symmetrically fixedly connected with that there are two thin bar 3-10, two thin bar 3-
10 upper end slidably connects pushing and moves seat 3-11, pushes and is connected through a screw thread on shifting seat 3-11 there are two fastening screw II3-4,
Two fastening screw II3-4 are withstood on respectively on two thin bar 3-10, and the rear and front end for pushing shifting seat 3-11 is fixedly connected to down
Compression bar 3-12, two down-pressed pole 3-12 are located at the top of two spring pedestal 3-8 energetically, under two side wheel hack lever 3-5
End is rotatably connected to side wheel 3-3.Side wheel hack lever 3-5 can be slided on pivoted housing 3-7, and fastening screw III3-6 can be by side wheel
Hack lever 3-5 is fixed on pivoted housing 3-7, to adjust the height of side wheel 3-3；It pushes and moves band when seat 3-11 glides along thin bar 3-10
Dynamic two down-pressed pole 3-12 are moved down, and two down-pressed pole 3-12 are moved down presses two spring pedestal 3-8 energetically respectively, to make two
Side wheel hack lever 3-5 is rotated at pivoted housing 3-7, and side wheel hack lever 3-5 is adjusted to the state being slightly slanted outward, fastening screw II3-
4, which can will push shifting seat 3-11, fixes；When robot rolls, the side wheel 3-3 of side lands, and side wheel hack lever 3-5 is around pivoted housing 3-7
Place's rotation drive energetically spring 3-9 be bent, the returning place force of spring 3-9 is by return after robot damping when rolling energetically.
The body assembly 1 further includes spring I1-2, sliding block 1-3, lower link 1-5, boss 1-6, moves up and down plate 1-
7, riser 1-8, bearing 1-9, wheel rim 1-10, wheel hack lever 1-11 and upper connecting rod 1-13, the upper end of mainboard 1-1 are provided with sliding block 1-3,
The outer ring of bearing 1-9 is fixedly connected with wheel rim 1-10, is symmetrically fixedly connected in the inner ring of bearing 1-9 there are two riser 1-8, up and down
Movable plate 1-7 is slidably connected between the upper end of two riser 1-8, is moved up and down and is fixedly connected at four angles of plate 1-7
Boss 1-6, four boss 1-6 are bonded with the side of riser 1-8, and the upper end of spring I1-2, which is welded on, moves up and down plate 1-7's
Lower end, the lower end of spring I1-2 are fixedly connected on the lower end of the inner ring of bearing 1-9, and spring I1-2 is located between two riser 1-8,
The rear and front end for moving up and down the upper end plate 1-7 is fixedly connected to wheel hack lever 1-11, and the middle-end of two wheel hack lever 1-11 is hinged
It is connected with lower link 1-5, the other end of two lower link 1-5 is hinged on the left end of mainboard 1-1, and one end of upper connecting rod 1-13 connects
It connects between the upper end of two wheel hack lever 1-11, the other end of upper connecting rod 1-13 is hinged on sliding block 1-3.Wheel rim 1-10 can be
The outer ring position of bearing 1-9 rotates, and moving up and down plate 1-7 can slide between two riser 1-8, and riser 1-8 is constantly subjected to
The elastic force of spring I1-2, spring I1-2 plays the role of damping when being shaken.
The body assembly 1 further includes sliding slot 1-4, thin cylinder sliding slot 1-12, T-shaped block 1-14, thin cylinder 1-15, fastening
Nut 1-16, thick cylinder 1-17, fastening screw I1-18, the upper end of mainboard 1-1 are provided with sliding slot 1-4, and the lower end of sliding block 1-3 is solid
Surely it is connected with T-shaped block 1-14, T-shaped block 1-14 is slidably connected in sliding slot 1-4, and the lower end of T-shaped block 1-14 has been connected through a screw thread
Two fastening screw I1-18, two fastening screw I1-18 are withstood on the bottom surface of mainboard 1-1, the upper end setting of upper connecting rod 1-13
There is thin cylinder sliding slot 1-12, the front end of thick cylinder 1-17 is fixedly connected with thin cylinder 1-15, is provided with screw thread on thin cylinder 1-15,
It is connected through a screw thread fastening nut 1-16 on thin cylinder 1-15, thin cylinder 1-15 is fixedly connected with the assembly of thick cylinder 1-17
Between the upper end of two wheel hack lever 1-11, thin cylinder 1-15 is slidably connected in thin cylinder sliding slot 1-12, fastening nut 1-16
The rear and front end of upper connecting rod 1-13 is clipped in thick cylinder 1-17.T-shaped block 1-14 can be slided in sliding slot 1-4, to drive cunning
Block 1-3 horizontally slips, and sliding block 1-3 sliding can drive two wheel hack lever 1-11 to increase or reduce, to adjust wheel rim 1-10
Height, to adjust the chassis height of robot；Thin cylinder 1-15 can be slided and be rotated in thin cylinder sliding slot 1-12, be revolved
Thin cylinder 1-15 can be fixed on upper connecting rod 1-13 by dynamic fastening nut 1-16, increased or reduced in two wheel hack lever 1-11
When, it needs to slide thin cylinder 1-15 and adjusts two wheel hack lever 1-11 to vertical state.
The driving assembly 4 include horizontal cylinder 4-1, hinged seat 4-2, rear quarter butt 4-3, portal frame 4-4, distance rod 4-5,
Articulated shaft 4-6, friction pulley 4-7, motor II4-8 and preceding quarter butt 4-9, two hinged seat 4-2, which are respectively fixedly connected with, is being located at device
The upper end of two wheel hack lever 1-11 of left end, horizontal cylinder 4-1 are rotatably connected between two hinged seat 4-2, before horizontal cylinder 4-1
Quarter butt 4-9 before end is fixedly connected with, the rear end of horizontal cylinder 4-1 is fixedly connected with rear quarter butt 4-3, is fixedly connected on preceding quarter butt 4-9
There is motor II4-8, the output shaft of motor II4-8 passes through preceding quarter butt 4-9, is fixedly connected with friction on the output shaft of motor II4-8
4-7 is taken turns, is fixedly connected with articulated shaft 4-6 on rear quarter butt 4-3, articulated shaft 4-6 and the output shaft of motor II4-8 are coaxial, portal frame
The both ends of 4-4 are fixedly connected between the rear end of two riser 1-8 of device left end, and the upper end of distance rod 4-5, which rotates, to be connected
It connects on articulated shaft 4-6, the lower end of distance rod 4-5 is hinged on portal frame 4-4, the hinge joint of distance rod 4-5 and portal frame 4-4
On the extended line of the axis of bearing 1-9, friction pulley 4-7 is pressed on the wheel rim 1-10 of left end.Horizontal cylinder 4-1 can be around hinged
Seat 4-2 rotation, motor II4-8 rotate when drive friction pulley 4-7 rotation, since the length of distance rod 4-5 is fixed, no matter bearing 1-
How 9 move up and down, the position of quarter butt 4-3 after distance rod 4-5 is limited always, thus limit horizontal cylinder 4-1, rear quarter butt 4-3 and
The position of preceding quarter butt 4-9 entirety, is pressed in friction pulley 4-7 always on wheel rim 1-10, and friction pulley 4-7 rotation drives wheel rim 1-10 to turn
It is dynamic, to drive robot mobile.
Described is fixedly connected with electric cabinet 5 on the mainboard 1-1 of device right end.It is used to that power supply is installed in electric cabinet 6
And control circuit, thus driving and control motor I2-4 and motor II4-8.
A kind of anti-working principle for rolling exploration robot of the invention: band moving gear II2-5 is rotated when motor I2-4 is rotated,
Band moving gear I2-2 is rotated when gear II2-5 is rotated, and gear I2-2 drives connecting plate I2-1 rotation by connection circular shaft 2-3, thus
It realizes the relative rotation of connecting plate I2-1 and connecting plate II2-7, so that two mainboard 1-1 are angled, realizes that robot turns
It is curved.Side wheel hack lever 3-5 can be slided on pivoted housing 3-7, and side wheel hack lever 3-5 can be fixed on pivoted housing 3- by fastening screw III3-6
On 7, to adjust the height of side wheel 3-3；It pushes to move when seat 3-11 glides along thin bar 3-10 and drive under two down-pressed pole 3-12
It moves, two down-pressed pole 3-12 are moved down presses two spring pedestal 3-8 energetically respectively, to make two side wheel hack lever 3-5 in pivoted housing
It rotates, side wheel hack lever 3-5 is adjusted to the state being slightly slanted outward, fastening screw II3-4 can move seat 3- for pushing at 3-7
11 is fixed；When robot rolls, the side wheel 3-3 of side lands, and side wheel hack lever 3-5 rotates drive bullet energetically at pivoted housing 3-7
Spring 3-9 bending, the returning place force of spring 3-9 is by return after robot damping when rolling energetically.Wheel rim 1-10 can be in bearing 1-9
Outer ring position rotation, moving up and down plate 1-7 can slide between two riser 1-8, and riser 1-8 is constantly subjected to spring I1-2
Elastic force, spring I1-2 plays the role of damping when being shaken.T-shaped block 1-14 can be slided in sliding slot 1-4, thus band
Movable slider 1-3 horizontally slips, and sliding block 1-3 sliding can drive two wheel hack lever 1-11 to increase or reduce, to adjust wheel rim
The height of 1-10, to adjust the chassis height of robot；Thin cylinder 1-15 can be slided and be turned in thin cylinder sliding slot 1-12
Dynamic, thin cylinder 1-15 can be fixed on upper connecting rod 1-13 by turn fastening nut 1-16, increase in two wheel hack lever 1-11 or
When person reduces, needs to slide thin cylinder 1-15 and adjust two wheel hack lever 1-11 to vertical state.Horizontal cylinder 4-1 can be around hinge
Joint chair 4-2 rotation, motor II4-8 rotate when drive friction pulley 4-7 rotation, since the length of distance rod 4-5 is fixed, no matter bearing
How 1-9 moves up and down, the position of quarter butt 4-3 after distance rod 4-5 is limited always, to limit horizontal cylinder 4-1, rear quarter butt 4-3
With the position of preceding quarter butt 4-9 entirety, it is pressed in friction pulley 4-7 always on wheel rim 1-10, friction pulley 4-7 rotation drives wheel rim 1-10
Rotation, to drive robot mobile.It is used to that power supply and control circuit are installed in electric cabinet 6, thus driving and control motor I2-
4 and motor II4-8.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (4)
1. robot, including body assembly (1), middle even part (2) and anti-inclination part (3) are explored in a kind of anti-inclination, it is characterised in that:
The body assembly (1) includes mainboard (1-1), and there are two body assembly (1) settings；
Connecting part (2) in described includes connecting plate I (2-1), gear I (2-2), connection circular shaft (2-3), motor I (2-4), gear II
(2-5), motor rack (2-6) and connecting plate II (2-7), the upper end of connecting plate I (2-1) are fixedly connected with connection circular shaft (2-3), connecting plate II
(2-7) clearance fit is inserted in the upper end of connection circular shaft (2-3), and the upper end of connection circular shaft (2-3) is fixedly connected with gear I (2-2),
Gear I (2-2) is located at the upper end of connecting plate II (2-7), and the upper end of connecting plate II (2-7) is fixedly connected with motor rack (2-6), motor rack
It is fixedly connected on (2-6) motor I (2-4), gear II (2-5), gear II is fixedly connected on the output shaft of motor I (2-4)
(2-5) is engaged with gear I (2-2), and the left end of connecting plate I (2-1) is fixedly connected on a mainboard (1-1), connecting plate II's (2-7)
Right end is fixedly connected on another mainboard (1-1)；
The anti-inclination part (3) includes horizontal seat (3-1), body cradle (3-2), side wheel (3-3), fastening screw II (3-4), side wheel
Hack lever (3-5), fastening screw III (3-6), pivoted housing (3-7), energetically spring pedestal (3-8), energetically spring (3-9), thin bar (3-
10) it, pushes shifting seat (3-11) and down-pressed pole (3-12), horizontal seat (3-1) is fixedly connected on the right side of the mainboard (1-1) of device left end
End, the rear and front end of horizontal seat (3-1) is fixedly connected to body cradle (3-2), is rotatably connected on two body cradles (3-2)
It covers (3-7), is slidably connected side wheel hack lever (3-5) on two pivoted housings (3-7), connected by screw thread on two pivoted housings (3-7)
It is connected to fastening screw III (3-6), fastening screw III (3-6) is withstood on side wheel hack lever (3-5), two side wheel hack levers (3-5)
Upper end is fixedly connected to spring pedestal (3-8) energetically, and two are fixedly connected with spring energetically between spring pedestal (3-8) energetically
(3-9), the upper end of horizontal seat (3-1) are symmetrically fixedly connected there are two thin bar (3-10), and the upper end of two thin bars (3-10), which is slided, to be connected
It is connected to pushing and moves seat (3-11), push there are two being connected through a screw thread in shifting seat (3-11) fastening screw II (3-4), two fastenings
Screw II (3-4) is withstood on respectively on two thin bars (3-10), and the rear and front end for pushing shifting seat (3-11) is fixedly connected to pushing
Bar (3-12), two down-pressed poles (3-12) are located at the top of two spring pedestals (3-8) energetically, two side wheel hack lever (3-
5) lower end is rotatably connected to side wheel (3-3)；
The body assembly (1) further include spring I (1-2), sliding block (1-3), lower link (1-5), boss (1-6), on move down
Movable plate (1-7), riser (1-8), bearing (1-9), wheel rim (1-10), wheel hack lever (1-11) and upper connecting rod (1-13), mainboard (1-1)
Upper end be provided with sliding block (1-3), the outer ring of bearing (1-9) is fixedly connected with wheel rim (1-10), right in the inner ring of bearing (1-9)
Title is fixedly connected there are two riser (1-8), is moved up and down plate (1-7) and is slidably connected between the upper end of two risers (1-8), on
It is fixedly connected to boss (1-6) at four angles of lower shifting board (1-7), side of four boss (1-6) with riser (1-8)
Fitting, the upper end of spring I (1-2) are welded on the lower end for moving up and down plate (1-7), and the lower end of spring I (1-2) is fixedly connected on axis
The lower end of the inner ring of (1-9) is held, spring I (1-2) is located between two risers (1-8), moves up and down the front and back of the upper end plate (1-7)
Both ends are fixedly connected to wheel hack lever (1-11), and the middle-end of two wheel hack levers (1-11) is hingedly connected with lower link (1-5), and two
The other end of a lower link (1-5) is hinged on the left end of mainboard (1-1), and one end of upper connecting rod (1-13) is connected to two wheel carriers
Between the upper end of bar (1-11), the other end of upper connecting rod (1-13) is hinged on sliding block (1-3).
2. robot is explored in the anti-inclination of one kind according to claim 1, it is characterised in that: the body assembly (1) is also
Including sliding slot (1-4), thin cylinder sliding slot (1-12), T-shaped block (1-14), thin cylinder (1-15), fastening nut (1-16), thick cylinder
(1-17) and fastening screw I (1-18), the upper end of mainboard (1-1) are provided with sliding slot (1-4), and the lower end of sliding block (1-3) is fixed to be connected
It is connected to T-shaped block (1-14), T-shaped block (1-14) is slidably connected in sliding slot (1-4), and the lower end of T-shaped block (1-14) is connected by screw thread
It connects there are two fastening screw I (1-18), two fastening screw I (1-18) withstand on the bottom surface of mainboard (1-1), upper connecting rod (1-
13) upper end is provided with thin cylinder sliding slot (1-12), and the front end of thick cylinder (1-17) is fixedly connected with thin cylinder (1-15), thin circle
It is provided with screw thread on column (1-15), has been connected through a screw thread fastening nut (1-16) on thin cylinder (1-15), thin cylinder (1-15)
And the assembly of thick cylinder (1-17) is fixedly connected between the upper end of two wheel hack levers (1-11), thin cylinder (1-15) sliding connects
It connects in the thin cylinder sliding slot (1-12), fastening nut (1-16) and thick cylinder (1-17) are clipped in the front and back two of upper connecting rod (1-13)
End.
It further include driving assembly (4), it is characterised in that: institute 3. robot is explored in the anti-inclination of one kind according to claim 2
The driving assembly (4) stated includes horizontal cylinder (4-1), hinged seat (4-2), rear quarter butt (4-3), portal frame (4-4), distance rod (4-
5), articulated shaft (4-6), friction pulley (4-7), motor II (4-8) and preceding quarter butt (4-9), two hinged seats (4-2) are fixed respectively to be connected
It connects in the upper end for two wheel hack levers (1-11) for being located at device left end, horizontal cylinder (4-1) is rotatably connected on two hinged seats (4-2)
Between, the front end of horizontal cylinder (4-1) is fixedly connected with preceding quarter butt (4-9), and the rear end of horizontal cylinder (4-1) is fixedly connected with rear quarter butt
(4-3) is fixedly connected with motor II (4-8) on preceding quarter butt (4-9), and the output shaft of motor II (4-8) passes through preceding quarter butt (4-9),
It is fixedly connected on the output shaft of motor II (4-8) friction pulley (4-7), is fixedly connected with articulated shaft (4- on rear quarter butt (4-3)
6), articulated shaft (4-6) and the output shaft of motor II (4-8) are coaxial, and the both ends of portal frame (4-4) are fixedly connected on positioned at a device left side
Between the rear end of two risers (1-8) at end, the upper end of distance rod (4-5) is rotatably connected on articulated shaft (4-6), distance rod
The lower end of (4-5) is hinged on portal frame (4-4), and the hinge joint of distance rod (4-5) and portal frame (4-4) are located at bearing (1-9)
Axis extended line on, friction pulley (4-7) is pressed on the wheel rim (1-10) of left end.
It further include electric cabinet (5), it is characterised in that: described 4. robot is explored in the anti-inclination of one kind according to claim 1
The mainboard (1-1) positioned at device right end on be fixedly connected with electric cabinet (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810226378.1A CN108438091B (en) | 2018-03-19 | 2018-03-19 | A kind of anti-inclination exploration robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810226378.1A CN108438091B (en) | 2018-03-19 | 2018-03-19 | A kind of anti-inclination exploration robot |
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| CN108438091A CN108438091A (en) | 2018-08-24 |
| CN108438091B true CN108438091B (en) | 2019-02-15 |
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| CN201810226378.1A Active CN108438091B (en) | 2018-03-19 | 2018-03-19 | A kind of anti-inclination exploration robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109109599A (en) * | 2018-09-28 | 2019-01-01 | 华南理工大学 | A kind of liftable damping chassis of front-wheel based on Mecanum wheel and method |
| CN109281982A (en) * | 2018-11-01 | 2019-01-29 | 苏州赛亚智能技术有限公司 | A kind of exploration robot damping |
| CN109384173B (en) * | 2018-11-15 | 2019-09-24 | 哈尔滨新智达自动化成套装备有限公司 | A kind of industry carrying robot |
| CN110770053B (en) * | 2018-12-21 | 2021-10-15 | 深圳市大疆创新科技有限公司 | Vehicle and lifting device thereof |
| CN116039313B (en) * | 2023-03-29 | 2023-10-13 | 哈尔滨学院 | Lunar robot chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2947516B1 (en) * | 2009-07-01 | 2011-07-22 | Sarl Grosjean Rene Viticole | AUTOMOTIVE ENCLOSURE VEHICLE |
| CN202987328U (en) * | 2012-11-20 | 2013-06-12 | 上海欧桥电子科技发展有限公司 | Obstacle crossing running mechanism of robot |
| CN105365914A (en) * | 2014-08-19 | 2016-03-02 | 北京凌云智能科技有限公司 | Electric two-wheel automobile |
| CN104443109A (en) * | 2014-09-09 | 2015-03-25 | 泰安海松机械有限公司 | Agricultural high land gap operation machine |
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Effective date of registration: 20190131 Address after: 150006 Room 424, 4th Floor, Science Park Building, Harbin University of Technology, No. 434, Post Street, Nangang District, Harbin City, Heilongjiang Province Patentee after: Harbin modi science and Technology Co., Ltd. Address before: 161000 group 9, former Haig village, Changqing Township, Fulaerji District, Qigihar, Heilongjiang Patentee before: Dan Shumei |
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Effective date of registration: 20210707 Address after: 201, 2nd floor, Science Park building, Harbin University of technology, no.434, youyou street, Nangang District, Harbin City, Heilongjiang Province Patentee after: Siling robot technology (Harbin) Co.,Ltd. Address before: 150006 Room 424, 4th Floor, Science Park Building, Harbin University of Technology, No. 434, Post Street, Nangang District, Harbin City, Heilongjiang Province Patentee before: HARBIN MODI TECHNOLOGY Co.,Ltd. |
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