CN106114596A - Track type climbing-building floor truck stabilized walking mechanism - Google Patents
Track type climbing-building floor truck stabilized walking mechanism Download PDFInfo
- Publication number
- CN106114596A CN106114596A CN201610654420.0A CN201610654420A CN106114596A CN 106114596 A CN106114596 A CN 106114596A CN 201610654420 A CN201610654420 A CN 201610654420A CN 106114596 A CN106114596 A CN 106114596A
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- driven wheel
- front driven
- drivewheel
- expansion link
- walking mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 230000009194 climbing Effects 0.000 abstract description 8
- 241000219098 Parthenocissus Species 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of track type climbing-building floor truck stabilized walking mechanism, the centre of gyration of its drivewheel, front driven wheel and back front driven wheel constitutes triangular shape and the middle driven pulley centre of gyration be positioned at front driven wheel with on the line of the back front driven wheel centre of gyration；Drivewheel, front driven wheel, middle driven pulley, back front driven wheel are wound around crawler belt；In fix the upper and lower two ends of bar and be rotatably assorted respectively drivewheel, middle driven pulley；The two ends of upper expansion link are rotatably assorted drivewheel, front driven wheel respectively；The two ends of upper fixing bar are rotatably assorted drivewheel, back front driven wheel respectively；The two ends of lower expansion link are rotatably assorted front driven wheel, middle driven pulley respectively；The two ends of the most fixing bar are rotatably assorted back front driven wheel, middle driven pulley respectively.Before and after the present invention makes crawler belt by regulation front driven wheel height, two parts relatively rotate and form certain angle, can eliminate creeper undercarriage crawler belt and impact of stair when climbing building and starting, improve stability and the safety climbing building floor truck walking mechanism motion.
Description
Technical field
The invention belongs to track type climbing-building floor truck technical field, be specifically related to a kind of low impact, the shoe of high stability
Belt climbs building floor truck walking mechanism.
Background technology
Crawler type walking mechanism is that one is relatively conventional climbs building or barrier-crossing traveling mechanism, is climbing building dolly, robot and work
The fields such as journey machinery have and are extremely widely applied, and compared with wheeled and legged walking mechanism, it is good that it has cross-country ability, climbs
Slope, climb building, obstacle detouring, across advantages such as ditches, non-structure environment is had stronger adaptability.But, existing crawler type walking mechanism
Based on monoblock type, in terms of climbing the stability during building, it is primarily present problems with: when starting stairs, crawler belt and building
Side of the ladder face is easily generated shock and impact is relatively big, and when leaving stair, crawler belt first half does not contacts with stair, when whole dolly center of gravity
When crossing dolly with stair edge supports point, dolly first half crawler belt also can produce impact with ground；In like manner, crawler-type traveling
Also can produce greater impact when mechanism starts downstairs during climbing down building and leaves stair, drastically influence and climb building walking mechanism
Stability.
Summary of the invention
For solving the problems referred to above that prior art exists, the invention discloses a kind of track type climbing-building floor truck and stablize row
Walk mechanism.
For reaching above-mentioned purpose, the present invention adopts the following technical scheme that: track type climbing-building floor truck stabilized walking mechanism,
Including crawler belt, upper fixing bar, drivewheel, in fix bar, upper expansion link, front driven wheel, lower expansion link, middle driven pulley, lower fixing
Bar and back front driven wheel, the centre of gyration of drivewheel, front driven wheel and back front driven wheel constitutes triangular shape and the middle driven pulley centre of gyration
It is positioned on the line of front driven wheel and the back front driven wheel centre of gyration；Drivewheel, front driven wheel, middle driven pulley, back front driven wheel are wound around
Crawler belt；In fix the upper and lower two ends of bar and be rotatably assorted respectively drivewheel, middle driven pulley；The two ends of upper expansion link are rotatably assorted master respectively
Driving wheel, front driven wheel；The two ends of upper fixing bar are rotatably assorted drivewheel, back front driven wheel respectively；The two ends of lower expansion link turn respectively
Dynamic cooperation front driven wheel, middle driven pulley；The two ends of the most fixing bar are rotatably assorted back front driven wheel, middle driven pulley respectively.
Preferably, drivewheel is driven by power source and rotates.
Preferably, power source drives drivewheel to rotate by Chain conveyer, gear drive or V belt translation.
Preferably, drivewheel, front driven wheel, back front driven wheel are isosceles triangle shape, described middle driven pulley be positioned at before from
Driving wheel and the central point of back front driven wheel centre of gyration line.
Preferably, upper expansion link is or/and lower expansion link uses screw-nut body, cylinder or Driven by Hydraulic Cylinder to stretch
Motion.
Preferably, upper expansion link or lower expansion link include the first connector, slide bar, sleeve, leading screw, the second connector, tooth
Wheel decelerator, motor, the first connector is connected with drivewheel and can rotate around the axis of rotation of drivewheel, and slide bar is by first even
Fitting is connected with front driven wheel, and the first connector can rotate around the axis of rotation of front driven wheel；Motor passes through gear reduction unit
Driving leading screw to rotate along its axis, slide bar spins with threads of lead screw, and slide bar coordinates with sleeve slidingtype, and sleeve is slowed down by gear
The casing of device is fixed on the second connector.
Before and after the present invention makes crawler belt by regulation front driven wheel height, two parts relatively rotate and form certain angle, can disappear
Except creeper undercarriage crawler belt and impact of stair when climbing building and starting, improve and climb stablizing of building floor truck walking mechanism motion
Property and safety.
Accompanying drawing explanation
Fig. 1 is present invention one preferably track type climbing-building floor truck stabilized walking mechanism overall structure schematic diagram.
Fig. 2 is the present invention upper and lower Telescopic rod structure schematic diagram.
Fig. 3 is that present invention one preferably track type climbing-building floor truck stabilized walking mechanism climbs down building process schematic.
Fig. 4 is that building process schematic is climbed up by present invention one preferably track type climbing-building floor truck stabilized walking mechanism.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated, it will be appreciated that specific embodiment described herein only in order to explain the present invention, and
Do not limit the present invention.
As it is shown in figure 1, the present embodiment track type climbing-building floor truck stabilized walking mechanism, including crawler belt 1, upper fixing bar 2,
Drivewheel 3, in fix bar 4, upper expansion link 5, front driven wheel 6, lower expansion link 7, middle driven pulley 8, lower fixing bar 9 and back front driven wheel
10, drivewheel 3 can pass through the drive mechanisms such as Chain conveyer, gear drive or V belt translation and be connected with power source motor.
In fix bar 4 in vertically arranged, its upper end is rotatably assorted drivewheel 3, and lower end is rotatably assorted middle driven pulley 8.Walking
During mechanism's original state, drivewheel 3, front driven wheel 6 and back front driven wheel 10 centre of gyration constitute common triangle and middle driven pulley 8
The centre of gyration is positioned on the line of front driven wheel 6 and back front driven wheel 10 centre of gyration.In the present embodiment, drivewheel 3, front driven wheel
6, back front driven wheel 10 is in isosceles triangle shape.Drivewheel 3, front driven wheel 6, middle driven pulley 8, back front driven wheel 10 are wound around crawler belt 1.
The two ends of the most fixing bar 9 are rotatably assorted middle driven pulley 8, back front driven wheel 10 respectively, and the two ends of upper fixing bar 2 turn respectively
Dynamic cooperation drivewheel 3, back front driven wheel 10, two fix bar can rotate along back front driven wheel 10 axis of rotation.Upper fixing bar 2, in fixing
Bar 4 and lower fixing bar 9 length during walking mechanism is advanced is fixed.
Front driven wheel 6 is rotatably assorted can be along front driven wheel 6 times in upper expansion link 5, one end of lower expansion link 7 and two expansion links
Shaft axis rotates.The other end of upper expansion link 5 is rotatably assorted drivewheel 3, and upper expansion link 5 can rotate along drivewheel 3 axis of rotation.
Middle driven pulley 8 is rotatably assorted lower expansion link 7, lower expansion link 7, in fix bar 4 and lower fixing bar 9 can along in driven pulley
8 axiss of rotation rotate.
During upstairs and downstairs, front driven wheel 6 is at forward and backward driven pulley 10 rear, i.e. front driven wheel 6 is driven prior to rear
Wheel 10 contacts with stair.
Upper expansion link 5 and lower expansion link 7 adjustable length during walking mechanism is advanced, according to floor truck different loads
Requirement can use the drive mechanisms such as screw-nut body, cylinder or hydraulic cylinder.The present embodiment as a example by screw-nut body to upper
Expansion link 5 and lower expansion link 7 elaborate.
As in figure 2 it is shown, expansion link 5 is similar with the structure of expansion link 7, by connector 11, slide bar 12, sleeve 13, silk
The parts compositions such as thick stick 14, connector 15, gear reduction unit 16 and motor 17, the connector 15 of expansion link 5 is connected also with drivewheel 3
Can rotate around drivewheel 3 axis of rotation, the connector 15 of expansion link 7 is connected with middle driven pulley 8 and can be around middle driven pulley 8 gyroaxis
Line rotates.The slide bar 12 of expansion link 5 and expansion link 7 is respectively connected with front driven wheel 6 by a connection piece 11, and two connectors 11 can be around
Front driven wheel 6 axis of rotation rotates.Motor 17 can be selected for motor (in the case of low-load) or DC servo motor (high capacity
In the case of) and drive leading screw 14 to rotate along its axis by gear reduction unit 16, slide bar 12 spins with leading screw 14 screw thread, slide bar 12
Coordinate with sleeve 13 slidingtype, owing to sleeve 13 is fixed on connector 15 by the casing of gear reduction unit 16, therefore, slide bar
12 are promoted can be made to advance or setback along axis by the screw threads of leading screw 14 under the driving of motor 17.
Walking mechanism is climbed building process and can be divided into and climb up building and climb down two, building basic process, and the present embodiment track type climbing-building is removed
Fortune running gear for trolley all can improve in above-mentioned two basic process climbs building stability, and its ultimate principle is respectively such as Fig. 3 and Fig. 4 institute
Show, be described below and (in the present embodiment, climb building floor truck and can climb up building by infrared distance sensor detection dolly by carry out
Process still climbs down building process):
Walking mechanism climbs up building process as it is shown on figure 3, under original state, the length phase of upper expansion link 5 and upper fixing bar 2
With, lower expansion link 7 is identical with the length of lower fixing bar 9, in i.e. being turned round by drivewheel 3, front driven wheel 6 and back front driven wheel 10 three
The triangle that the heart is constituted is isosceles triangle, and middle driven pulley 8 is positioned at front driven wheel 6 and the line of back front driven wheel 10 centre of gyration
Upper (Fig. 3 (a))；When walking mechanism comes into contact with first segment step, upper expansion link 5 shortens and lower expansion link 7 extends, both
Elongation and shortening ratio can be calculated by the length dimension of each geometric features under the constant restrictive condition of track length, this
Time, front driven wheel 6 will be lifted up certain altitude, and the big I of raising height determines according to the height of detected single-unit stair
(Fig. 3 (b))；When central driven pulley 8 comes into contact with first segment step, upper expansion link 5 extends and lower expansion link 7 shortens, vehicle with walking machine
The structure shape that restPoses walks (Fig. 3 (c)) on stair；When front driven wheel 6 crosses final section step, upper expansion link
5 elongation and lower expansion link 7 shortens, now, front driven wheel 6 will downward-sloping until its touch final section ledge surface (Fig. 3
(d))；When back front driven wheel 10 crosses final section step, upper expansion link 5 shortens, lower expansion link 7 extends, and walking mechanism is recovered
Original state shape is walked on level land.
In like manner, walking mechanism climbs down building process as shown in Figure 4, at the beginning of Fig. 4 (a) is in before showing walking mechanism contact stair
Beginning state；When front driven wheel 6 initially moves off first segment step, upper expansion link 5 extends, lower expansion link 7 shortens, now, front from
Driving wheel 6 by downward-sloping until its touching second section ledge surface (Fig. 4 (b))；Central driven pulley 8 leaves first segment step edge
Time, upper expansion link 5 shortens, lower expansion link 7 extends, and the walking mechanism shape that restPoses walks (Fig. 4 (c)) on stair；
When front driven wheel 6 starts to touch final section step (level land), upper expansion link 5 shortens, lower expansion link 7 extends, now, front from
Driving wheel 6 will be lifted up certain altitude, and the big I of raising height determines (Fig. 4 (d)) according to the height of detected single-unit stair；
When back front driven wheel 10 fully out stair, upper expansion link 5 extends, lower expansion link 7 shortens, and walking mechanism restPoses shape
Shape walks (Fig. 4 (e)) on level land.
Track type climbing-building of the present invention floor truck stabilized walking mechanism in the process of walking, lifts by controlling front driven wheel
Before and after certain altitude makes crawler belt, two parts relatively rotate and form certain angle, can eliminate creeper undercarriage when climbing building and starting
Crawler belt and the impact of stair, improve walking stability and the safety climbing building floor truck.
Claims (6)
1. track type climbing-building floor truck stabilized walking mechanism, it is characterized in that including crawler belt, upper fixing bar, drivewheel, in fixing
Bar, upper expansion link, front driven wheel, lower expansion link, middle driven pulley, lower fixing bar and back front driven wheel, drivewheel, front driven wheel and after
The centre of gyration of driven pulley constitutes triangular shape and the middle driven pulley centre of gyration is positioned at front driven wheel and the back front driven wheel centre of gyration
On line；Drivewheel, front driven wheel, middle driven pulley, back front driven wheel are wound around crawler belt；In fix the upper and lower two ends of bar and be rotatably assorted respectively
Drivewheel, middle driven pulley；The two ends of upper expansion link are rotatably assorted drivewheel, front driven wheel respectively；The two ends of upper fixing bar are respectively
Be rotatably assorted drivewheel, back front driven wheel；The two ends of lower expansion link are rotatably assorted front driven wheel, middle driven pulley respectively；The most fixing bar
Two ends be rotatably assorted respectively back front driven wheel, middle driven pulley.
2. as claimed in claim 1 track type climbing-building floor truck stabilized walking mechanism, is characterized in that: described drivewheel by
Power source drives and rotates.
3. as claimed in claim 2 track type climbing-building floor truck stabilized walking mechanism, is characterized in that: described power source leads to
Crossing Chain conveyer, gear drive or V belt translation drives drivewheel to rotate.
4. the track type climbing-building floor truck stabilized walking mechanism as described in any one of claim 1-3, is characterized in that: described
Drivewheel, front driven wheel, back front driven wheel are isosceles triangle shape, and described middle driven pulley is positioned at front driven wheel and returns with back front driven wheel
Turn the central point of the line of centres.
5. as claimed in claim 1 track type climbing-building floor truck stabilized walking mechanism, is characterized in that: described upper expansion link
Or/and lower expansion link uses screw-nut body, cylinder or Driven by Hydraulic Cylinder to make stretching motion.
6. as claimed in claim 5 track type climbing-building floor truck stabilized walking mechanism, is characterized in that: described upper expansion link
Or lower expansion link includes the first connector, slide bar, sleeve, leading screw, the second connector, gear reduction unit, motor, the first connector
Being connected with drivewheel and can rotate around the axis of rotation of drivewheel, slide bar is connected with front driven wheel by the first connector, and the
A connection piece can rotate around the axis of rotation of front driven wheel；Motor drives leading screw to rotate along its axis by gear reduction unit, sliding
Bar spins with threads of lead screw, and slide bar coordinates with sleeve slidingtype, and sleeve is fixed on the second connection by the casing of gear reduction unit
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610654420.0A CN106114596B (en) | 2016-08-10 | 2016-08-10 | Track type climbing-building floor truck stabilized walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610654420.0A CN106114596B (en) | 2016-08-10 | 2016-08-10 | Track type climbing-building floor truck stabilized walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114596A true CN106114596A (en) | 2016-11-16 |
| CN106114596B CN106114596B (en) | 2018-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610654420.0A Expired - Fee Related CN106114596B (en) | 2016-08-10 | 2016-08-10 | Track type climbing-building floor truck stabilized walking mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN106114596B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994216A (en) * | 2017-05-27 | 2017-08-01 | 安徽沪宁智能科技有限公司 | A kind of efficient fire-fighting robot |
| CN113081528A (en) * | 2021-05-18 | 2021-07-09 | 江苏理工学院 | Triangular crawler type stair climbing wheelchair |
| CN113443032A (en) * | 2021-08-06 | 2021-09-28 | 中建八局第三建设有限公司 | Double-layer crawler-type carrying stair climbing device and stair climbing method |
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| JPH09109947A (en) * | 1995-10-16 | 1997-04-28 | Toyota Autom Loom Works Ltd | Triangular crawler and crawler vehicle |
| CN202130524U (en) * | 2011-06-27 | 2012-02-01 | 哈尔滨工程大学 | Obstacle crossing mechanism with retractable and structure-variable main arm |
| CN202529053U (en) * | 2012-04-25 | 2012-11-14 | 厦门大学 | Triangular track walking device adopting spring to damp |
| CN203381697U (en) * | 2013-07-10 | 2014-01-08 | 江苏省农垦农业发展股份有限公司 | Triangular crawler belt travelling mechanism for tractor |
| CN205930836U (en) * | 2016-08-10 | 2017-02-08 | 杭州电子科技大学 | Crawler -type is climbed building floor truck and is stabilized running gear |
-
2016
- 2016-08-10 CN CN201610654420.0A patent/CN106114596B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09109947A (en) * | 1995-10-16 | 1997-04-28 | Toyota Autom Loom Works Ltd | Triangular crawler and crawler vehicle |
| CN202130524U (en) * | 2011-06-27 | 2012-02-01 | 哈尔滨工程大学 | Obstacle crossing mechanism with retractable and structure-variable main arm |
| CN202529053U (en) * | 2012-04-25 | 2012-11-14 | 厦门大学 | Triangular track walking device adopting spring to damp |
| CN203381697U (en) * | 2013-07-10 | 2014-01-08 | 江苏省农垦农业发展股份有限公司 | Triangular crawler belt travelling mechanism for tractor |
| CN205930836U (en) * | 2016-08-10 | 2017-02-08 | 杭州电子科技大学 | Crawler -type is climbed building floor truck and is stabilized running gear |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994216A (en) * | 2017-05-27 | 2017-08-01 | 安徽沪宁智能科技有限公司 | A kind of efficient fire-fighting robot |
| CN113081528A (en) * | 2021-05-18 | 2021-07-09 | 江苏理工学院 | Triangular crawler type stair climbing wheelchair |
| CN113443032A (en) * | 2021-08-06 | 2021-09-28 | 中建八局第三建设有限公司 | Double-layer crawler-type carrying stair climbing device and stair climbing method |
| CN113443032B (en) * | 2021-08-06 | 2022-04-12 | 中建八局第三建设有限公司 | Double-layer crawler-type carrying stair climbing device and stair climbing method |
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| Publication number | Publication date |
|---|---|
| CN106114596B (en) | 2018-12-14 |
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Granted publication date: 20181214 |