CN107757741A - Laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism - Google Patents
Laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism Download PDFInfo
- Publication number
- CN107757741A CN107757741A CN201710941566.8A CN201710941566A CN107757741A CN 107757741 A CN107757741 A CN 107757741A CN 201710941566 A CN201710941566 A CN 201710941566A CN 107757741 A CN107757741 A CN 107757741A
- Authority
- CN
- China
- Prior art keywords
- swivelling arm
- type robot
- electrical retractor
- caterpillar type
- mounting seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005119 centrifugation Methods 0.000 description 1
- 230000019643 circumnutation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
Classifications
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
-
- 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)
- Manipulator (AREA)
Abstract
Laterally toppled correcting device the invention discloses a kind of caterpillar type robot chassis with cantilever-rotating mechanism, correcting device left and right sides on caterpillar type robot chassis of laterally toppling, the lateral correcting device that topples includes self-leveling support foot pad, swivelling arm, swivelling arm mounting seat, electrical retractor and electrical retractor mounting seat, the swivelling arm mounting seat, electrical retractor mounting seat is fixed on caterpillar type robot chassis, self-leveling support foot pad is arranged on one end of swivelling arm, the other end of swivelling arm is hinged by bearing pin and swivelling arm mounting seat, electrical retractor one end is arranged in electrical retractor mounting seat, the other end is hinged with swivelling arm end, electrical retractor can drive swivelling arm to be rotated to an angle around bearing pin.The present invention can correct caterpillar type robot posture in time when trend occurs laterally to topple for caterpillar type robot, prevent because lateral tilting moment causes caterpillar type robot to topple.
Description
Technical field
The invention belongs to caterpillar type robot technical field, more particularly, to a kind of crawler type machine with cantilever-rotating mechanism
Device people laterally topples on chassis correcting device.
Background technology
Caterpillar type robot is typically all designed into having certain length-width ratio due to being influenceed by its work geographical environment
The architectural feature of example, and the above-mentioned architectural feature is when caterpillar type robot works, particularly with certain slope road surface
Under geographical environment（See Fig. 1）, due to the architectural feature of caterpillar type robot itself, it will produce and carried out around caterpillar type robot side
Lateral trend of toppling with O points, when further installing the structure with cantilever-rotating mechanism on the caterpillar type robot top, when outstanding
When arm rotating mechanism works, with the rotary motion of cantilever, it is further exacerbated by around the lateral of caterpillar type robot left track O points
Topple trend, when lateral trend of toppling is more than caterpillar type robot balance critical point, caterpillar type robot will occur lateral
Capsizing case, so as to cause the damage of caterpillar type robot and its upper cantilever arm rotating mechanism.
The content of the invention
Laterally topple correcting device on a kind of present invention offer caterpillar type robot chassis with cantilever-rotating mechanism, Neng Gouyou
Effect solves lateral topple problem of the caterpillar type robot with cantilever-rotating mechanism when being worked with certain slope road surface.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of crawler type with cantilever-rotating mechanism
Robot laterally topples on chassis correcting device, correcting device left and right two on caterpillar type robot chassis of laterally toppling
Side, the lateral correcting device that topples include self-leveling support foot pad, swivelling arm, swivelling arm mounting seat, electrical retractor and
Electrical retractor mounting seat, the swivelling arm mounting seat, electrical retractor mounting seat are fixed on caterpillar type robot chassis
On, self-leveling support foot pad is arranged on one end of swivelling arm, and the other end of swivelling arm is hinged by bearing pin and swivelling arm mounting seat,
Electrical retractor one end is arranged in electrical retractor mounting seat, and the other end is hinged with swivelling arm end, electric expansion dress
Putting can drive swivelling arm to be rotated to an angle around bearing pin.
Further, manual regulating device, the regulation manually are additionally provided between the electrical retractor and swivelling arm
Device includes the joint I being connected with swivelling arm, the joint II, the coupling sleeve that are connected with electrical retractor, and the both ends of coupling sleeve are set
There is internal thread in opposite direction, joint I, joint II are provided with the external screw thread matched with coupling sleeve internal thread, and coupling sleeve connects
First I and joint II.
Further, the electrical retractor is the electric expansion bar with position sensor.
The caterpillar type robot chassis with cantilever-rotating mechanism of the invention laterally topple correcting device can effectively solve the problem that because
Lateral tilting moment of the caterpillar type robot chassis with cantilever-rotating mechanism in the work with cantilever-rotating mechanism causes to carry out
Belt machine human hair is given birth to and corrects caterpillar type robot posture in time when laterally toppling trend, is prevented because lateral tilting moment causes to carry out
The problem of life of belt machine human hair is toppled.
Brief description of the drawings
Fig. 1 is state diagram of the existing caterpillar type robot when being worked with certain slope road surface.
State diagram when Fig. 2 is the caterpillar type robot work using the lateral correcting device that topples of the present invention.
Fig. 3 is the structural representation of the lateral correcting device that topples of the present invention.
Fig. 4 is the structural representation of the manual regulating device of the present invention.
Embodiment
For the ease of understanding the present invention, the present invention is made below in conjunction with Figure of description and preferred embodiment more complete
Face, meticulously describe, but protection scope of the present invention is not limited to embodiment in detail below.
As shown in figs 2-4, a kind of caterpillar type robot chassis with cantilever-rotating mechanism of the invention, which is laterally toppled, repaiies
Equipment 2 is arranged on the left and right sides on the chassis of caterpillar type robot 1, and the lateral correcting device 2 that topples supports including self-leveling
Foot pad 21, swivelling arm 22, swivelling arm mounting seat 23, manual regulating device 24, electrical retractor 25 and electrical retractor peace
Seat 26 is filled, the swivelling arm mounting seat 23, electrical retractor mounting seat 26 are fixed on caterpillar type robot chassis, self-leveling
Foot pad 21 is supported to be arranged on one end of swivelling arm 22, the other end of swivelling arm 22 is be hinged by bearing pin and swivelling arm mounting seat 23,
The one end of electrical retractor 25 is arranged in electrical retractor mounting seat 26, the other end manually adjusting means 24 and convolution
The end of arm 22 is hinged, and electrical retractor can drive swivelling arm to be rotated to an angle around bearing pin.
The manual regulating device 24 includes the joint I 241 being connected with swivelling arm, the joint being connected with electrical retractor
II 242, coupling sleeve 243, the both ends of coupling sleeve 243 are provided with internal thread in opposite direction, and joint I 241, joint II 242 are provided with
The external screw thread matched with the internal thread of coupling sleeve 243, the jointing I 241 of coupling sleeve 243 and joint II 242.Further, it is described
Electrical retractor 25 is the electric expansion bar with position sensor., can be by with position sensor according to different terrain
Electric expansion bar and the angle of manual regulating device regulation swivelling arm rotation.
When cantilever-rotating mechanism carries out rotary work, the centrifugal moment around cantilever-rotating center will be produced.In the centrifugation
Under the collective effect of torque and lateral tilting moment, caterpillar type robot laterally topples trend more than caterpillar type robot balance
Critical point, it will now start the electric expansion bar with position sensor of the lateral correcting device that topples, by with position sensor
Electric expansion bar promotes manual regulating device, drives the swivelling arm by bearing pin connection to make circumnutation around swivelling arm mounting seat, by
Self-leveling support foot pad installed in swivelling arm one end plays a supportive role on gradient road surface, by original around caused by the crawler belt O points of side
Tilting moment, the tilting moment around self-leveling support foot pad center P points is changed to, is prevented because lateral tilting moment causes crawler type machine
Device people topples.
With the help of being instructed present in aforementioned specification and relevant drawings, those skilled in the art in the invention will
It will recognize that many modifications of the present invention and other embodiments.It will consequently be understood that the invention is not restricted to disclosed specific real
Scheme is applied, modification and other embodiments are to be considered as included in scope of the following claims.Although spy is used herein
Determine term, they are only used with generic and descriptive sense, rather than limitation.
Claims (3)
1. laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism, it is characterised in that：This is lateral
The correcting device that topples is arranged on the left and right sides on caterpillar type robot chassis, and the lateral correcting device that topples includes self-leveling branch
Spike pad, swivelling arm, swivelling arm mounting seat, electrical retractor and electrical retractor mounting seat, the swivelling arm mounting seat,
Electrical retractor mounting seat is fixed on caterpillar type robot chassis, and self-leveling support foot pad is arranged on one end of swivelling arm,
The other end of swivelling arm is hinged by bearing pin and swivelling arm mounting seat, and electrical retractor one end is pacified installed in electrical retractor
Fill on seat, the other end is hinged with swivelling arm end, and electrical retractor can drive swivelling arm to be rotated to an angle around bearing pin.
2. laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism as claimed in claim 1,
It is characterized in that：Manual regulating device, the manual regulating device bag are additionally provided between the electrical retractor and swivelling arm
The joint I being connected with swivelling arm, the joint being connected with electrical retractor II, coupling sleeve are included, the both ends of coupling sleeve are provided with direction
Opposite internal thread, joint I, joint II are provided with the external screw thread that match with coupling sleeve internal thread, coupling sleeve jointing I with connect
First II.
The amendment dress 3. a kind of caterpillar type robot chassis with cantilever-rotating mechanism as claimed in claim 1 or 2 is laterally toppled
Put, it is characterised in that：The electrical retractor is the electric expansion bar with position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941566.8A CN107757741A (en) | 2017-10-11 | 2017-10-11 | Laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941566.8A CN107757741A (en) | 2017-10-11 | 2017-10-11 | Laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107757741A true CN107757741A (en) | 2018-03-06 |
Family
ID=61267177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710941566.8A Pending CN107757741A (en) | 2017-10-11 | 2017-10-11 | Laterally topple correcting device on a kind of caterpillar type robot chassis with cantilever-rotating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107757741A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108645646A (en) * | 2018-07-26 | 2018-10-12 | 湖南千智机器人科技发展有限公司 | A kind of caterpillar type robot soil and liquid sampler |
| CN112356042A (en) * | 2020-10-29 | 2021-02-12 | 郑州轻工业大学 | Fire scene rescue robot |
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| CN202247967U (en) * | 2011-08-09 | 2012-05-30 | 汪福华 | Spiral connection embedded pipe |
| WO2014033025A1 (en) * | 2012-08-31 | 2014-03-06 | Putzmeister Engineering Gmbh | Locking device |
| CN203611649U (en) * | 2013-11-28 | 2014-05-28 | 嘉兴市凯力塑业有限公司 | Wheel span adjustment structure on telescopic car |
| CN104197160A (en) * | 2014-08-22 | 2014-12-10 | 深圳英飞拓科技股份有限公司 | Support mechanism |
| CN105715047A (en) * | 2016-02-03 | 2016-06-29 | 重庆工商职业学院 | Smearing machine tool for expansion link type building steel formwork release agent |
| CN205971248U (en) * | 2016-08-18 | 2017-02-22 | 浙江日地建设有限公司 | Crawler excavator |
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2017
- 2017-10-11 CN CN201710941566.8A patent/CN107757741A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003221193A (en) * | 2002-01-30 | 2003-08-05 | Aichi Corp | Jack operation control device for work vehicle |
| CN202247967U (en) * | 2011-08-09 | 2012-05-30 | 汪福华 | Spiral connection embedded pipe |
| WO2014033025A1 (en) * | 2012-08-31 | 2014-03-06 | Putzmeister Engineering Gmbh | Locking device |
| CN203611649U (en) * | 2013-11-28 | 2014-05-28 | 嘉兴市凯力塑业有限公司 | Wheel span adjustment structure on telescopic car |
| CN104197160A (en) * | 2014-08-22 | 2014-12-10 | 深圳英飞拓科技股份有限公司 | Support mechanism |
| CN105715047A (en) * | 2016-02-03 | 2016-06-29 | 重庆工商职业学院 | Smearing machine tool for expansion link type building steel formwork release agent |
| CN205971248U (en) * | 2016-08-18 | 2017-02-22 | 浙江日地建设有限公司 | Crawler excavator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108645646A (en) * | 2018-07-26 | 2018-10-12 | 湖南千智机器人科技发展有限公司 | A kind of caterpillar type robot soil and liquid sampler |
| CN112356042A (en) * | 2020-10-29 | 2021-02-12 | 郑州轻工业大学 | Fire scene rescue robot |
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Application publication date: 20180306 |