CN103448825A - Telescopic and insertable moving mechanism - Google Patents
Telescopic and insertable moving mechanism Download PDFInfo
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- CN103448825A CN103448825A CN2013103618016A CN201310361801A CN103448825A CN 103448825 A CN103448825 A CN 103448825A CN 2013103618016 A CN2013103618016 A CN 2013103618016A CN 201310361801 A CN201310361801 A CN 201310361801A CN 103448825 A CN103448825 A CN 103448825A
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Abstract
The invention discloses a telescopic and insertable moving mechanism. The telescopic and insertable moving mechanism comprises an upper rod group (A), a lower rod group (B), as well as three branched chain push rods and connectors thereof, wherein the top end of each branched chain push rod is inserted into a bottom hole of a connecting rod of the upper rod group (A) and is fixedly connected with the bottom hole through a pin; the tail end of each branched chain push rod is inserted into a top hole of a joint bearing rod of the lower rod group (B) and is fixedly connected with the top hole through a pin. By controlling the telescoping of a driving motor and each push rod in the upper rod group (A), the telescoping motion of the upper rod group (A) and the lower rod group (B) can be realized, the insertion motion between the upper rod group (A) and the lower rod group (B) can be realized, and the whole mechanism has a telescoping and insertion movement gait and a climbing and turning movement gait. The telescopic and insertable moving mechanism can be applied to pipeline robots and the related civilian fields, and can be applied to the fields of planetary exploration and military use.
Description
Technical field
The present invention relates to a kind of travel mechanism, be specifically related to the interspersed travel mechanism of a kind of convergent-divergent.
Background technology
The mobile robot can be divided into according to move mode: the types such as wheeled mobile robot, walking mobile robot, climbing robot, squirmy robot.The mobile robot has locomotive function, replacing the people to be engaged under danger, harsh environment aspect operation and people's environment operation can't be obtained, than general robot, larger manoevreability, alerting ability is arranged.
Chinese patent CN103133818A has proposed a kind of pipe robot, and it is by the flexible climbing that realizes integrated model of electric pushrod.But this moveable robot movement form is single, complex structure can't adapt to more complicated landform and working environment.
Summary of the invention
The technical problem to be solved in the present invention: the most gait of travel mechanism is single, and structure is more complicated, not strong to the adaptive capacity of ground and environment.
Technical scheme of the present invention: the interspersed travel mechanism of a kind of convergent-divergent comprises a upper boom group, lower beam group, three side chain push rods and the connection between them;
Described upper boom group is by three turning cylinders, three pipe links, three platform push rods, six contiguous blocks, motor, power-transfer clutch forms, turning cylinder is rotationally connected through the axis hole formation of pipe link, the two ends of turning cylinder are rotationally connected with the axis hole formation on two contiguous block tops respectively, carry out axial restraint with jump ring, the two ends of platform push rod form a fixed connection by pin with the bottom outlet of two contiguous block bottoms respectively, the platform push rod is the multi-stage motor push rod, three platform push rod simultaneous retractables, realize the whole convergent-divergent of upper boom group, the connection of clutch control motor shaft and pipe link with separate,
Described lower beam group is by three turning cylinders, three oscillating bearing bars, three platform push rods, six contiguous blocks form, turning cylinder is through the inner ring of the oscillating bearing of oscillating bearing bar, carry out axial restraint with jump ring, the two ends of turning cylinder are rotationally connected with the axis hole formation on two contiguous block tops respectively, carry out axial restraint with jump ring, the two ends of platform push rod form a fixed connection by pin with the bottom outlet of two contiguous block bottoms respectively, the platform push rod is the multi-stage motor push rod, three platform push rod simultaneous retractables, realize the whole convergent-divergent of lower beam group, the oscillating bearing bar also small size left-right rotation of moving axis integral cycle rotating that can rotate, formation ball pair,
Described three side chain push rods are the multi-stage motor push rod, the top of side chain push rod is inserted in the bottom outlet of pipe link of upper boom group, be fixed connection with pin, the tail end of side chain push rod is inserted in the apical pore of oscillating bearing bar of lower beam group, be fixed connection with pin, by such connection, construct the interspersed travel mechanism of a kind of convergent-divergent;
Beneficial effect of the present invention: the interspersed travel mechanism of a kind of convergent-divergent of the present invention, upper boom group and lower beam group can realize respectively the convergent-divergent motion, can realize interting motion between upper boom group and lower beam group, mechanism's integral body has convergent-divergent and interts mobile gait and climb the wall mobile gait of turning.Can be applicable to pipe robot and relevant civil area, also can be applicable to celestial body detecting and military field.
The accompanying drawing explanation
The whole graphics of the travel mechanism that a kind of convergent-divergent of Fig. 1 is interspersed
The upper boom group graphics of the travel mechanism that a kind of convergent-divergent of Fig. 2 is interspersed
The lower beam group graphics of the travel mechanism that a kind of convergent-divergent of Fig. 3 is interspersed
The turning cylinder graphics of the travel mechanism that a kind of convergent-divergent of Fig. 4 is interspersed
The contiguous block graphics of the travel mechanism that a kind of convergent-divergent of Fig. 5 is interspersed
The platform push rod graphics of the travel mechanism that a kind of convergent-divergent of Fig. 6 is interspersed
The pipe link graphics of the travel mechanism that a kind of convergent-divergent of Fig. 7 is interspersed
The motor pipe link graphics of the travel mechanism that a kind of convergent-divergent of Fig. 8 is interspersed
The motor contiguous block graphics of the travel mechanism that a kind of convergent-divergent of Fig. 9 is interspersed
The oscillating bearing bar graphics of the travel mechanism that a kind of convergent-divergent of Figure 10 is interspersed
The oscillating bearing bar erection plan of the travel mechanism that a kind of convergent-divergent of Figure 11 is interspersed
The power-transfer clutch of the travel mechanism that a kind of convergent-divergent of Figure 12 is interspersed and motor erection plan
Figure 13 (a), Figure 13 (b), Figure 13 (c), Figure 13 (d), Figure 13 (e) are the exploded drawingss of the interspersed mobile gait of the interspersed travel mechanism's convergent-divergent of a kind of convergent-divergent:
The initial attitude of the interspersed mobile gait of Figure 13 (a) convergent-divergent
Figure 13 (b) upper boom group (A) is whole amplifies, lower beam group (B) overall shrinkage
Figure 13 (c) lower beam group (B) and upper boom group (A) are in same plane
Figure 13 (d) lower beam group (B) is through upper boom group (A)
Figure 13 (e) upper boom group (A) overall shrinkage, lower beam group (B) is whole amplifies
Figure 14 (a), Figure 14 (b), Figure 14 (c), Figure 14 (d), Figure 14 (e), Figure 14 (f), Figure 14 (g) are that the turn exploded drawings of mobile gait of wall is climbed by the interspersed travel mechanism of a kind of convergent-divergent:
Figure 14 (a) climbs the turn initial attitude of mobile gait of wall
Figure 14 (b) upper boom group (A) overall shrinkage
The elongation of Figure 14 (c) side chain push rod, upper boom group (A) plane, place and lower beam group (B) plane, place are not parallel
Figure 14 (d) upper boom group (A) is whole amplifies
Figure 14 (e) lower beam group (B) overall shrinkage
Figure 14 (f) side chain push rod shrinks, upper boom group (A) plane, place and lower beam group (B) place plane parallel
Figure 14 (g) lower beam group (B) is whole amplifies
In figure: the first turning cylinder (1), the first contiguous block (2), the first platform push rod (3), the second contiguous block (4), the second pipe link (5), the second turning cylinder (6), the 3rd contiguous block (7), the second platform push rod (8), the 4th contiguous block (9), motor pipe link (10), the 3rd turning cylinder (11), power-transfer clutch (12), motor (13), motor contiguous block (14), the 3rd platform push rod (15), the 5th contiguous block (16) and head rod (17), the 6th contiguous block (18), Siping City's platform push rod (19), the 7th contiguous block (20), second joint bearing rod (21), the 5th turning cylinder (22), the 8th contiguous block (23), the 5th platform push rod (24), the 9th contiguous block (25), the 6th turning cylinder (26), three-knuckle bearing bar (27), the tenth contiguous block (28), the 6th platform push rod (29), the 11 contiguous block (30), the 4th turning cylinder (31) and the first oscillating bearing bar (32), the first side chain push rod (33), the second side chain push rod (34), the 3rd side chain push rod (35).
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
The interspersed travel mechanism of a kind of convergent-divergent as shown in Figure 1, comprises upper boom group (A), lower beam group (B), the first side chain push rod (33), the second side chain push rod (34), the 3rd side chain push rod (35) and the connection between them.
Embodiments of the present invention:
As Fig. 2, upper boom group (A) is by the first turning cylinder (1), the first contiguous block (2), the first platform push rod (3), the second contiguous block (4), the second pipe link (5), the second turning cylinder (6), the 3rd contiguous block (7), the second platform push rod (8), the 4th contiguous block (9), motor pipe link (10), the 3rd turning cylinder (11), power-transfer clutch (12), motor (13), motor contiguous block (14), the 3rd platform push rod (15), the 5th contiguous block (16) and head rod (17) form, the first contiguous block (2), the second contiguous block (4), the 3rd contiguous block (7), the 4th contiguous block (9) and the 5th contiguous block (16) structure and measure-alike, head rod (17) and the second pipe link (5) structure and measure-alike, the first turning cylinder (1) and the second turning cylinder (6) structure and measure-alike, the first platform push rod (3) is the multi-stage motor push rod, the second platform push rod (8), the 3rd platform push rod (15) is identical with the first platform push rod (3) model,
As Fig. 2, in upper boom group (A), a of the first turning cylinder (1) end is rotationally connected through axis hole (2a) formation of the first contiguous block (2), carry out axial restraint with jump ring, head rod (17) is through on the first turning cylinder (1) by axis hole (17a), formation is rotationally connected, the b end of the first turning cylinder (1) is rotationally connected through axis hole (16a) formation of the 5th contiguous block (16), carry out axial restraint with jump ring, the top of the first platform push rod (3) is inserted in the bottom outlet (2b) of the first contiguous block (2), be fixed connection with pin, the tail end of the first platform push rod (3) is inserted in the bottom outlet (4b) of the second contiguous block (4), be fixed connection with pin, the a end of the second turning cylinder (6) is rotationally connected through axis hole (4a) formation of the second contiguous block (4), carry out axial restraint with jump ring, the second pipe link (5) is through on the second turning cylinder (6) by axis hole (5a), formation is rotationally connected, the b end of the second turning cylinder (6) is rotationally connected through axis hole (7a) formation of the 3rd contiguous block (7), carry out axial restraint with jump ring, the top of the second platform push rod (8) is inserted in the bottom outlet (7b) of the 3rd contiguous block (7), be fixed connection with pin, the tail end of the second platform push rod (8) is inserted in the bottom outlet (9b) of the 4th contiguous block (9), be fixed connection with pin, the a end of the 3rd turning cylinder (11) is rotationally connected through axis hole (9a) formation of the 4th contiguous block (9), carry out axial restraint with jump ring, motor pipe link (10) is through on the 3rd turning cylinder (11) by axis hole (10a), with jackscrew, circumferentially fix, the b end of the 3rd turning cylinder (11) is connected with power-transfer clutch (12), motor (13) is arranged on the motor cabinet (14c) of motor contiguous block (14), be fixed connection with screw, motor shaft is connected by key with power-transfer clutch, the top of the 3rd platform push rod (15) is inserted in the bottom outlet (14b) of motor contiguous block (14), be fixed connection with pin, the tail end of the 3rd platform push rod (15) is inserted in the bottom outlet (16b) of the 5th contiguous block (16), be fixed connection with pin, by such connection, the first platform push rod (3) in upper boom group (A), the second platform push rod (8) and the 3rd platform push rod (15) simultaneous retractable, realize the whole convergent-divergent of upper boom group (A),
As Fig. 3, lower beam group (B) is by the 6th contiguous block (18), Siping City's platform push rod (19), the 7th contiguous block (20), second joint bearing rod (21), the 5th turning cylinder (22), the 8th contiguous block (23), the 5th platform push rod (24), the 9th contiguous block (25), the 6th turning cylinder (26), three-knuckle bearing bar (27), the tenth contiguous block (28), the 6th platform push rod (29), the 11 contiguous block (30), the 4th turning cylinder (31) and the first oscillating bearing bar (32) form, the 4th turning cylinder (31), the 5th turning cylinder (22) and the 6th turning cylinder (26) structure and measure-alike, the 6th contiguous block (18), the 7th contiguous block (20), the 8th contiguous block (23), the 9th contiguous block (25), the tenth contiguous block (28) and the 11 contiguous block (30) structure and measure-alike, Siping City's platform push rod (19) is the multi-stage motor push rod, the 5th platform push rod (24), the 6th platform push rod (29) is identical with Siping City's platform push rod (19) model, the first oscillating bearing bar (32), the structure of second joint bearing rod (21) and three-knuckle bearing bar (27) and measure-alike,
As Fig. 3, in lower beam group (B), a of the 4th turning cylinder (31) end is rotationally connected through axis hole (18a) formation of the 6th contiguous block (18), carry out axial restraint with jump ring, the 4th turning cylinder (31) is through the inner ring of first oscillating bearing (32b) of the first oscillating bearing bar (32), carry out axial restraint with jump ring, the first oscillating bearing bar (32) can be around the 4th turning cylinder (31) integral cycle rotating also small size left-right rotation, formation ball pair, the b end of the 4th turning cylinder (31) is rotationally connected through axis hole (18a) formation of the 6th contiguous block (18), carry out axial restraint with jump ring, the top of Siping City's platform push rod (19) is inserted in the bottom outlet (18b) of the 6th contiguous block (18), be fixed connection with pin, the tail end of Siping City's platform push rod (19) is inserted in the bottom outlet (20b) of the 7th contiguous block (20), be fixed connection with pin, the a end of the 5th turning cylinder (22) is rotationally connected through axis hole (20a) formation of the 7th contiguous block (20), carry out axial restraint with jump ring, the 5th turning cylinder (22) is through the inner ring of the second joint bearing (21b) of second joint bearing rod (21), carry out axial restraint with jump ring, second joint bearing rod (21) can be around the 5th turning cylinder (22) integral cycle rotating also small size left-right rotation, formation ball pair, the b end of the 5th turning cylinder (22) is rotationally connected through axis hole (23a) formation of the 8th contiguous block (23), carry out axial restraint with jump ring, the top of the 5th platform push rod (24) is inserted in the bottom outlet (23b) of the 8th contiguous block (23), be fixed connection with pin, the tail end of the 5th platform push rod (24) is inserted in the bottom outlet (25b) of the 9th contiguous block (25), be fixed connection with pin, the a end of the 6th turning cylinder (26) is rotationally connected through axis hole (25a) formation of the 9th contiguous block (25), carry out axial restraint with jump ring, the 6th turning cylinder (26) is through the inner ring of the three-knuckle bearing (27b) of three-knuckle bearing bar (27), carry out axial restraint with jump ring, three-knuckle bearing bar (27) can be around the 6th turning cylinder (26) integral cycle rotating also small size left-right rotation, formation ball pair, the b end of the 6th turning cylinder (26) is rotationally connected through axis hole (28a) formation of the tenth contiguous block (28), carry out axial restraint with jump ring, the top of the 6th platform push rod (29) is inserted in the bottom outlet (28b) of the tenth contiguous block (28), be fixed connection with pin, the tail end of the 6th platform push rod (29) is inserted in the bottom outlet (30b) of the 11 contiguous block (30), be fixed connection with pin, by such connection, Siping City's platform push rod (19) in lower beam group (B), the 5th platform push rod (24) and the 6th platform push rod (29) simultaneous retractable, realize the whole convergent-divergent of lower beam group (B),
Described the first side chain push rod (33) is the multi-stage motor push rod, and the second side chain push rod (34), the 3rd side chain push rod (35) are identical with the first side chain push rod (33) model;
As Fig. 1, the top of the first side chain push rod (33) is inserted in the bottom outlet (17b) of first connecting rod (17) of upper boom group (A), be fixed connection with pin, the top of the second side chain push rod (34) is inserted in the bottom outlet (10b) of motor connection lever (10) of upper boom group (A), be fixed connection with pin, the top of the 3rd side chain push rod (35) is inserted in the bottom outlet (5b) of second connecting rod (5) of upper boom group (A), with pin, is fixed connection;
As Fig. 1, the tail end of the first side chain push rod (33) is inserted in the apical pore (32a) of the first oscillating bearing bar (32) of lower beam group (B), be fixed connection with pin, the tail end of the second side chain push rod (34) is inserted in the apical pore (27a) of three-knuckle bearing bar (27) of lower beam group (B), be fixed connection with pin, the tail end of the 3rd side chain push rod (35) is inserted in the apical pore (21a) of second joint bearing rod (21) of lower beam group (B), be fixed connection with pin, by such connection, construct the interspersed travel mechanism of a kind of convergent-divergent.
Concrete using method:
It is mobile that the interspersed travel mechanism of a kind of convergent-divergent can realize that convergent-divergent interts.At first the initial attitude of mobile gait interts in the convergent-divergent as shown in Figure 13 (a) in this mechanism, and upper boom group (A) is identical with lower beam group (B) oad; When carrying out convergent-divergent, intert when mobile, upper boom group (A) is whole amplifies, and lower beam group (B) overall shrinkage, realize the attitude as shown in Figure 13 (b); Motor drive motor pipe link (10) rotates around the 3rd turning cylinder (11), lower beam group (B) is upwards lifted under the drive of three side chain push rods, realizes that lower beam group (B) plane as shown in Figure 13 (c) and upper boom group (A) plane are in conplane attitude; Motor continues drive motor pipe link (10) and rotates, and lower beam group (B) through upper boom group (A), realizes the attitude as shown in Figure 13 (d) under the drive of three side chain push rods; Upper boom group (A) overall shrinkage, lower beam group (B) is whole amplifies, and realizes the attitude as shown in Figure 13 (e).So just realized the interspersed mobile gait of a complete convergent-divergent of this mechanism, Figure 13 (a), Figure 13 (b), Figure 13 (c), Figure 13 (d), Figure 13 (e) are the exploded drawingss of the interspersed mobile gait of the interspersed travel mechanism's convergent-divergent of a kind of convergent-divergent.
The interspersed travel mechanism of a kind of convergent-divergent also can realize climbing wall and turn mobile.At first this mechanism in climbing the turn initial attitude of mobile gait of wall as shown in Figure 14 (a), and upper boom group (A) is identical with lower beam group (B) oad; In the time will being climbed wall turning movement, upper boom group (A) overall shrinkage, realize the attitude as shown in Figure 14 (b); The side chain push rod all extends, and the length of extending rear three side chain push rods increases progressively successively, makes upper boom group (A) plane, place and lower beam group (B) place planar shaped angled, realizes the attitude as shown in Figure 14 (c); Upper boom group (A) is whole amplifies, and realizes the attitude as shown in Figure 14 (d); Lower beam group (B) overall shrinkage, realize the attitude as shown in Figure 14 (e); The side chain push rod all is contracted to equal length, makes upper boom group (A) plane, place and lower beam group (B) place plane parallel, realizes the attitude as shown in Figure 14 (f); Lower beam group (B) is whole amplifies, and realizes the attitude as shown in Figure 14 (g).So just realized of this mechanism complete climb the wall mobile gait of turning, Figure 14 (a), Figure 14 (b), Figure 14 (c), Figure 14 (d), Figure 14 (e), Figure 14 (f), Figure 14 (g) are that the turn exploded drawings of mobile gait of wall is climbed by the interspersed travel mechanism of a kind of convergent-divergent.
Claims (1)
1. the travel mechanism that convergent-divergent is interspersed, it is characterized in that: this mechanism comprises upper boom group (A), lower beam group (B), the first side chain push rod (33), the second side chain push rod (34), the 3rd side chain push rod (35) and the connection between them;
Upper boom group (A) is comprised of the first turning cylinder (1), the first contiguous block (2), the first platform push rod (3), the second contiguous block (4), the second pipe link (5), the second turning cylinder (6), the 3rd contiguous block (7), the second platform push rod (8), the 4th contiguous block (9), motor pipe link (10), the 3rd turning cylinder (11), power-transfer clutch (12), motor (13), motor contiguous block (14), the 3rd platform push rod (15), the 5th contiguous block (16) and head rod (17)
The first contiguous block (2), the second contiguous block (4), the 3rd contiguous block (7), the 4th contiguous block (9) and the 5th contiguous block (16) structure and measure-alike, head rod (17) and the second pipe link (5) structure and measure-alike, the first turning cylinder (1) and the second turning cylinder (6) structure and measure-alike, the first platform push rod (3) is the multi-stage motor push rod, and the second platform push rod (8), the 3rd platform push rod (15) are identical with the first platform push rod (3) model;
Upper boom group (A) comprises the first to the 3rd turning cylinder (1,6,11), the first to the 5th contiguous block (2,4,7,9,16), the first to the 3rd platform push rod (3,8,15), first, second pipe link (17,15), motor pipe link (10), power-transfer clutch (12), motor (13), motor contiguous block (14), its annexation is as follows:
In upper boom group (A), a of the first turning cylinder (1) end is rotationally connected through axis hole (2a) formation of the first contiguous block (2), carry out axial restraint with jump ring, head rod (17) is through on the first turning cylinder (1) by axis hole (17a), formation is rotationally connected, the b end of the first turning cylinder (1) is rotationally connected through axis hole (16a) formation of the 5th contiguous block (16), carry out axial restraint with jump ring, the top of the first platform push rod (3) is inserted in the bottom outlet (2b) of the first contiguous block (2), be fixed connection with pin, the tail end of the first platform push rod (3) is inserted in the bottom outlet (4b) of the second contiguous block (4), be fixed connection with pin, the a end of the second turning cylinder (6) is rotationally connected through axis hole (4a) formation of the second contiguous block (4), carry out axial restraint with jump ring, the second pipe link (5) is through on the second turning cylinder (6) by axis hole (5a), formation is rotationally connected, the b end of the second turning cylinder (6) is rotationally connected through axis hole (7a) formation of the 3rd contiguous block (7), carry out axial restraint with jump ring, the top of the second platform push rod (8) is inserted in the bottom outlet (7b) of the 3rd contiguous block (7), be fixed connection with pin, the tail end of the second platform push rod (8) is inserted in the bottom outlet (9b) of the 4th contiguous block (9), be fixed connection with pin, the a end of the 3rd turning cylinder (11) is rotationally connected through axis hole (9a) formation of the 4th contiguous block (9), carry out axial restraint with jump ring, motor pipe link (10) is through on the 3rd turning cylinder (11) by axis hole (10a), with jackscrew, circumferentially fix, the b end of the 3rd turning cylinder (11) is connected with power-transfer clutch (12), motor (13) is arranged on the motor cabinet (14c) of motor contiguous block (14), be fixed connection with screw, motor shaft is connected by key with power-transfer clutch, the top of the 3rd platform push rod (15) is inserted in the bottom outlet (14b) of motor contiguous block (14), be fixed connection with pin, the tail end of the 3rd platform push rod (15) is inserted in the bottom outlet (16b) of the 5th contiguous block (16), be fixed connection with pin, by such connection, the first platform push rod (3) in upper boom group (A), the second platform push rod (8) and the 3rd platform push rod (15) simultaneous retractable, realize the whole convergent-divergent of upper boom group (A),
Lower beam group (B) is by the 6th contiguous block (18), Siping City's platform push rod (19), the 7th contiguous block (20), second joint bearing rod (21), the 5th turning cylinder (22), the 8th contiguous block (23), the 5th platform push rod (24), the 9th contiguous block (25), the 6th turning cylinder (26), three-knuckle bearing bar (27), the tenth contiguous block (28), the 6th platform push rod (29), the 11 contiguous block (30), the 4th turning cylinder (31) and the first oscillating bearing bar (32) form, the 4th turning cylinder (31), the 5th turning cylinder (22) and the 6th turning cylinder (26) structure and measure-alike, the 6th contiguous block (18), the 7th contiguous block (20), the 8th contiguous block (23), the 9th contiguous block (25), the tenth contiguous block (28) and the 11 contiguous block (30) structure and measure-alike, Siping City's platform push rod (19) is the multi-stage motor push rod, the 5th platform push rod (24), the 6th platform push rod (29) is identical with Siping City's platform push rod (19) model, the first oscillating bearing bar (32), the structure of second joint bearing rod (21) and three-knuckle bearing bar (27) and measure-alike,
In lower beam group (B), a of the 4th turning cylinder (31) end is rotationally connected through axis hole (18a) formation of the 6th contiguous block (18), carry out axial restraint with jump ring, the 4th turning cylinder (31) is through the inner ring of first oscillating bearing (32b) of the first oscillating bearing bar (32), carry out axial restraint with jump ring, the first oscillating bearing bar (32) can be around the 4th turning cylinder (31) integral cycle rotating also small size left-right rotation, formation ball pair, the b end of the 4th turning cylinder (31) is rotationally connected through axis hole (18a) formation of the 6th contiguous block (18), carry out axial restraint with jump ring, the top of Siping City's platform push rod (19) is inserted in the bottom outlet (18b) of the 6th contiguous block (18), be fixed connection with pin, the tail end of Siping City's platform push rod (19) is inserted in the bottom outlet (20b) of the 7th contiguous block (20), be fixed connection with pin, the a end of the 5th turning cylinder (22) is rotationally connected through axis hole (20a) formation of the 7th contiguous block (20), carry out axial restraint with jump ring, the 5th turning cylinder (22) is through the inner ring of the second joint bearing (21b) of second joint bearing rod (21), carry out axial restraint with jump ring, second joint bearing rod (21) can be around the 5th turning cylinder (22) integral cycle rotating also small size left-right rotation, formation ball pair, the b end of the 5th turning cylinder (22) is rotationally connected through axis hole (23a) formation of the 8th contiguous block (23), carry out axial restraint with jump ring, the top of the 5th platform push rod (24) is inserted in the bottom outlet (23b) of the 8th contiguous block (23), be fixed connection with pin, the tail end of the 5th platform push rod (24) is inserted in the bottom outlet (25b) of the 9th contiguous block (25), be fixed connection with pin, the a end of the 6th turning cylinder (26) is rotationally connected through axis hole (25a) formation of the 9th contiguous block (25), carry out axial restraint with jump ring, the 6th turning cylinder (26) is through the inner ring of the three-knuckle bearing (27b) of three-knuckle bearing bar (27), carry out axial restraint with jump ring, three-knuckle bearing bar (27) can be around the 6th turning cylinder (26) integral cycle rotating also small size left-right rotation, formation ball pair, the b end of the 6th turning cylinder (26) is rotationally connected through axis hole (28a) formation of the tenth contiguous block (28), carry out axial restraint with jump ring, the top of the 6th platform push rod (29) is inserted in the bottom outlet (28b) of the tenth contiguous block (28), be fixed connection with pin, the tail end of the 6th platform push rod (29) is inserted in the bottom outlet (30b) of the 11 contiguous block (30), be fixed connection with pin, by such connection, Siping City's platform push rod (19) in lower beam group (B), the 5th platform push rod (24) and the 6th platform push rod (29) simultaneous retractable, realize the whole convergent-divergent of lower beam group (B),
The described first to the 3rd side chain push rod (33,34,35) is the multi-stage motor push rod that model is identical, and the connection between upper boom group (A) and lower beam group (B) is as follows:
The top of the first side chain push rod (33) is inserted in the bottom outlet (17b) of head rod (17) of upper boom group (A), be fixed connection with pin, the top of the second side chain push rod (34) is inserted in the bottom outlet (10b) of motor pipe link (10) of upper boom group (A), be fixed connection with pin, the top of the 3rd side chain push rod (35) is inserted in the bottom outlet (5b) of the second pipe link (5) of upper boom group (A), with pin, is fixed connection;
The tail end of the first side chain push rod (33) is inserted in the apical pore (32a) of the first oscillating bearing bar (32) of lower beam group (B), be fixed connection with pin, the tail end of the second side chain push rod (34) is inserted in the apical pore (27a) of three-knuckle bearing bar (27) of lower beam group (B), be fixed connection with pin, the tail end of the 3rd side chain push rod (35) is inserted in the apical pore (21a) of second joint bearing rod (21) of lower beam group (B), be fixed connection with pin, by such connection, construct the interspersed travel mechanism of a kind of convergent-divergent.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106402575A (en) * | 2016-05-20 | 2017-02-15 | 北京交通大学 | Surging movement mechanism |
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| CN103133818A (en) * | 2013-02-27 | 2013-06-05 | 北京交通大学 | Pipeline robot |
| CN103144099A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Foldable, scalable and multifunctional operation platform |
| CN103213130A (en) * | 2013-04-09 | 2013-07-24 | 北京交通大学 | Folding mobile robot |
| CN203192368U (en) * | 2012-11-29 | 2013-09-11 | 利亚德光电股份有限公司 | Led display |
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| FR2607093A1 (en) * | 1986-11-21 | 1988-05-27 | Commissariat Energie Atomique | Vehicle capable of moving over a surface of any orientation |
| GB2292355A (en) * | 1994-08-06 | 1996-02-21 | Thomas Leith Taig | A machine for moving over vertical and horizontal surfaces |
| CN203192368U (en) * | 2012-11-29 | 2013-09-11 | 利亚德光电股份有限公司 | Led display |
| CN103133818A (en) * | 2013-02-27 | 2013-06-05 | 北京交通大学 | Pipeline robot |
| CN103144099A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Foldable, scalable and multifunctional operation platform |
| CN103213130A (en) * | 2013-04-09 | 2013-07-24 | 北京交通大学 | Folding mobile robot |
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| CN106402575A (en) * | 2016-05-20 | 2017-02-15 | 北京交通大学 | Surging movement mechanism |
| CN106402575B (en) * | 2016-05-20 | 2018-05-04 | 北京交通大学 | One kind, which is turned over, gushes motion |
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| CN103448825B (en) | 2015-11-18 |
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