CN107804383A - A kind of accessible dolly based under hazardous environment - Google Patents
A kind of accessible dolly based under hazardous environment Download PDFInfo
- Publication number
- CN107804383A CN107804383A CN201711235296.5A CN201711235296A CN107804383A CN 107804383 A CN107804383 A CN 107804383A CN 201711235296 A CN201711235296 A CN 201711235296A CN 107804383 A CN107804383 A CN 107804383A
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- China
- Prior art keywords
- accessible
- motor
- control module
- fuselage
- block
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- 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
- B62D55/30—Track-tensioning means
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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 provides a kind of accessible dolly based under hazardous environment, including fuselage, four flexible linking arms, four motor mounting blocks, four support arms and two crawler belts, the both ends of four flexible linking arms are separately mounted on fuselage and motor mounting block, motor is installed in the motor mounting block, two crawler belts are separately mounted on four support arms, and the support arm includes tensioning wheel, adjusting rod, main frame body and adjusting bracket；The present invention realizes the function that land, water and air three are dwelt, suitable for different working environments, meanwhile, by the height and width of stretch linking arm and the adjustable vehicle body of support arm, accessible dolly is worked under various complex environments.
Description
Technical field
The present invention relates to relief car technical field, specially a kind of accessible dolly based under hazardous environment.
Background technology
In fire-fighting accident, earthquake, high-risk section traffic accident rescue operations, many difficulties, particularly ordinary person can be run into unavoidably
Unapproachable high-risk environment, scene of the accident landform is typically intricate, now needs accessible dolly to enter prospecting, in incident
Reconnoitred, the field data very first time is transferred to relevant instead of being manually entered scene when danger does not artificially know about inner case
Department.
It is described such as a kind of fort formula crawler belt quadrotor that China Patent Publication No. is " CN106696619A " offer
Fort formula crawler belt quadrotor is integrated symmetric structure, and two compound rest structures are identical and symmetrical, and two compound
It is connected between support by four connecting brackets, carrying capsule is in four connecting brackets.Each compound rest includes two
Drift angle and two footing, the first crawler haulage wheel and the second crawler haulage wheel, one of footing are set on two of which drift angle
Upper setting crawler belt driving wheel, sets the 3rd crawler haulage wheel on another footing, on crawler belt driving wheel and three crawler haulage wheels
Crawler belt is wound, reducing motor is also set up on compound rest, reducing motor drives driving wheel to rotate by transmission belt, and final drive is carried out
Band motion；Two rotors are respectively provided with each compound rest；Two connecting brackets are set on each compound rest.
The compound rest of above-mentioned application is integral type structure, and shape size can not change, and pass through between two compound rests
Four connecting brackets are connected, and connecting bracket is fixed on carrying capsule, can not equally be adjusted, but in the scene of the accident, landform
It is intricate, shape size fix aircraft be difficult to enter more complicated landform among, it is impossible to detect more comprehensively, it is more accurate
Field data.
The content of the invention
It is an object of the invention to provide a kind of accessible dolly based under hazardous environment, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides following technical scheme：
A kind of accessible dolly based under hazardous environment, including fuselage, four flexible linking arms, four motor installations
Block, four support arms and two crawler belts：
Main control module is installed in the fuselage, its lower end is provided with inflatable packer；
The flexible linking arm both ends are connected to the first contiguous block and installation ball, and four flexible linking arms pass through
Installation ball is symmetrically mounted on the both sides of fuselage, and the other end of the flexible linking arm is installed by the first contiguous block installed in motor
On block, motor is installed in the motor mounting block, the output end of the motor is fixed with propeller, and itself and electron speed regulator are electric
Property connection, the output of the electron speed regulator and main control module connects；
Two crawler belts are separately mounted on four support arms, and the support arm includes tensioning wheel, adjusting rod, master
Support body and adjusting bracket, one end of the adjusting rod are movably arranged on main frame body, and the other end is provided with tensioning wheel by bearing pin, institute
The upper end for stating main frame body is movably installed with adjusting bracket, and the adjusting bracket upper end is movably installed with the first Athey wheel, the main frame body
Lower end is also movably installed with the second Athey wheel and the 3rd Athey wheel, and its rear end is fixed with expansion link, and described expansion link one end is fixed
There is the second contiguous block, second contiguous block is arranged in motor mounting block, and crawler belt turbin generator, institute are fixed with the support arm
Crawler belt turbin generator is stated to connect with main control module input.
Preferably, video camera and infrared sensor, video camera and the infrared sensor difference are installed on the fuselage
It is electrical connected with main control module.
Preferably, the main control module connects with Servo-controller output, and the Servo-controller connects with video camera output, institute
State main control module to connect with receiver input, the receiver connects with remote control communication, and the remote control uses FOX i6 types
Remote control.
The main control module uses STM32F4 chips.
Compared with prior art, the beneficial effects of the invention are as follows：
Accessible dolly provided by the invention based under hazardous environment can be walked on land by crawler belt, pass through inflation
Aquatic function can be achieved in pad, dolly is had the ability flown by propeller, realizes the function that land, water and air three are dwelt, is applicable
In different working environments；
The both ends of motor mounting block of the present invention are separately installed with the expansion link of flexible linking arm and support arm, and stretch linking arm
Be connected to by installing ball on fuselage, flexible linking arm can rotate around installation ball, meanwhile, stretch linking arm and expansion link it is flexible from
And the width of accessible dolly vehicle body is adjusted, the adjusting bracket of support arm can rotate the height for adjusting vehicle body around main frame body, together
When adjusting rod and tensioning wheel the securable crawler belt of setting, prevent adjust vehicle body height and width when there are the feelings that crawler belt releases
Condition, accessible dolly is set to be worked under various complex environments.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the system structure diagram of the present invention；
Fig. 3 is the structure front view of the present invention；
Fig. 4 is the structural side view of embodiments of the invention one；
Fig. 5 is the structural side view of embodiments of the invention two；
Fig. 6 is the support arm structural representation of the present invention；
Fig. 7 is the working state structure front view of the present invention；
Fig. 8 is the working state structure side view of the present invention.
In figure：1 fuselage, 11 inflatable packers, 12 video cameras, 2 flexible linking arms, 21 first contiguous blocks, 22 installation balls, 3 motors
Mounting blocks, 31 propellers, 4 support arms, 41 tensioning wheels, 42 adjusting rods, 43 main frame bodies, 44 adjusting brackets, 45 first Athey wheels, 46
Two Athey wheels, 47 the 3rd Athey wheels, 48 expansion links, 49 second contiguous blocks, 5 crawler belts and 6 crawler belt turbin generators.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-8 are referred to, the present invention provides a kind of technical scheme：
A kind of accessible dolly based under hazardous environment, including the installation of 1, four, fuselage flexible linking arm 2, four motor
3, four support arms 4 of block and two crawler belts 5.
Main control module is installed in fuselage 1, its lower end is provided with inflatable packer 11, dolly is realized aquatic function, its
Upper end is provided with video camera 12 and infrared sensor, and video camera 12 and infrared sensor are electrical connected with main control module, taken the photograph respectively
The rescue work that is arranged to of camera 12 and infrared sensor provides more accurately field data, be easy to discovery need rescue personnel and
Get around complicated landform.Main control module connects with receiver input, and receiver connects with remote control communication, and main control module uses
STM32F4 chips, remote control use FOX i6 type remote controls, operational configuration and the land of accessible dolly are can control by remote control
Ground walking path.Main control module connects with Servo-controller output, and Servo-controller connects with the output of video camera 12, and video camera 12 uses
5.8G, 25MW figure pass camera integrated, and it is 16 passages that figure, which passes passage, and video camera 12 is controlled by Servo-controller, is easy to control to take the photograph
The shooting picture and shooting angle of camera 12, because of the influence of adverse circumstances picture transmission will not be caused to go wrong, keep picture
The stationarity and continuity in face.
The flexible both ends of linking arm 2 are connected to the first contiguous block 21 and installation ball 22, and four flexible linking arms 2 pass through peace
Dress ball 22 is symmetrically mounted on the both sides of fuselage 1, and the other end for the linking arm 2 that stretches is installed by the first contiguous block 21 installed in motor
On block 3, motor is installed in motor mounting block 3, the output end of motor is fixed with propeller 31, and it electrically connects with electron speed regulator
Connect, electron speed regulator connects with main control module output.Due to four axial symmetry mechanical realizations of the linking arm 2 that stretches, i.e. four axles flight
Vector of the device by the resultant moment of four motor helical oars 31.In state of flight of the present invention, four-axle aircraft is in the angle of pitch
Control with roll angle is almost consistent, cuts both independently of each other, does not interfere with each other, relative equilibrium, can be controlled by remote control
Electron speed regulator so as to come control the present invention pitching, roll, driftage and lifting operational configuration.
Two crawler belts 5 are separately mounted on four support arms 4, and support arm 4 includes tensioning wheel 41, adjusting rod 42, main frame body
43 and adjusting bracket 44, one end of adjusting rod 42 be movably arranged on main frame body 43, the other end is provided with tensioning wheel 41 by bearing pin,
As shown in Figure 4 and Figure 5, in the embodiment of the present invention one, tensioning wheel 41 is arranged on the left and right sides of crawler belt 5, implements in the present invention
Tensioning wheel 41 is arranged on the upper end of crawler belt 5 in example two, and simply the installation site of tensioning wheel 41 is different in both embodiments, regulation
Mode is identical, and adjusting rod 42 can rotate the rate of tension of regulation crawler belt 5 around main frame body 43.The upper end of main frame body 43 is movably installed with tune
Frame 44 is saved, the upper end of adjusting bracket 44 is movably installed with the first Athey wheel 45, and adjusting bracket 44 rotates around main frame body 43, is easy to adjust vehicle body
Height.The lower end of main frame body 43 is also movably installed with the second Athey wheel 46 and the 3rd Athey wheel 47, its rear end are fixed with expansion link
48, the one end of expansion link 48 is fixed with the second contiguous block 49, and the second contiguous block 49 is arranged in motor mounting block 3, solid on support arm 4
Surely there is crawler belt turbin generator 6, crawler belt turbin generator 6 connects with main control module input.
In land walking state, the both ends of motor mounting block 3 are separately installed with stretching for flexible linking arm 2 and support arm 4
Contracting bar 48, flexible linking arm 2 are connected on fuselage by installing ball 22, and flexible linking arm 2 can rotate around installation ball 22.Such as Fig. 7
Shown in Fig. 8, the corner different by adjusting flexible linking arm 2, stretch linking arm 2 and expansion link 48 it is flexible, the two work simultaneously
Make, realize the width for adjusting accessible dolly vehicle body, adjusting bracket 44 rotates the height for realizing regulation vehicle body around main frame body 43.Together
When, the securable crawler belt of setting of adjusting rod 42 and tensioning wheel 41, prevent that crawler belt occur when adjusting the height and width of vehicle body releases
Situation, accessible dolly is worked under various complex environments.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of accessible dolly based under hazardous environment, including fuselage (1), four flexible linking arms (2), four motor peaces
Fill block (3), four support arms (4) and two crawler belts (5), it is characterised in that：
Main control module is installed in the fuselage (1), its lower end is provided with inflatable packer (11)；
Flexible linking arm (2) both ends are connected to the first contiguous block (21) and installation ball (22), four flexible companies
The both sides that arm (2) is symmetrically mounted on fuselage (1) by installing ball (22) are connect, the other end of the flexible linking arm (2) passes through
One contiguous block (21) is arranged in motor mounting block (3), is provided with motor in the motor mounting block (3), the motor it is defeated
Go out end and be fixed with propeller (31), it is electrically connected with electron speed regulator, and the electron speed regulator connects with main control module output；
Two crawler belts (5) are separately mounted on four support arms (4), the support arm (4) include tensioning wheel (41),
Adjusting rod (42), main frame body (43) and adjusting bracket (44), one end of the adjusting rod (42) are movably arranged on main frame body (43),
The other end is provided with tensioning wheel (41) by bearing pin, and the upper end of the main frame body (43) is movably installed with adjusting bracket (44), described
Adjusting bracket (44) upper end is movably installed with the first Athey wheel (45), and main frame body (43) lower end is also movably installed with the second crawler belt
Wheel (46) and the 3rd Athey wheel (47), its rear end are fixed with expansion link (48), and described expansion link (48) one end is fixed with the second company
Block (49) is connect, second contiguous block (49) is arranged in motor mounting block (3), and Athey wheel is fixed with the support arm (4)
Motor (6), the crawler belt turbin generator (6) connect with main control module input.
A kind of 2. accessible dolly based under hazardous environment according to claim 1, it is characterised in that：The fuselage
(1) video camera (12) and infrared sensor are installed, the video camera (12) and infrared sensor are electric with main control module respectively on
Property is connected.
A kind of 3. accessible dolly based under hazardous environment according to claim 1, it is characterised in that：The master control mould
Block connects with Servo-controller output, and the Servo-controller connects with video camera (12) output, and the main control module and receiver are defeated
Enter connection, the receiver connects with remote control communication, and the remote control uses FOX i6 type remote controls.
A kind of 4. accessible dolly based under hazardous environment according to claim 1, it is characterised in that：The master control mould
Block uses STM32F4 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235296.5A CN107804383B (en) | 2017-11-30 | 2017-11-30 | Barrier-free trolley based on dangerous environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235296.5A CN107804383B (en) | 2017-11-30 | 2017-11-30 | Barrier-free trolley based on dangerous environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107804383A true CN107804383A (en) | 2018-03-16 |
| CN107804383B CN107804383B (en) | 2023-05-30 |
Family
ID=61582329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711235296.5A Active CN107804383B (en) | 2017-11-30 | 2017-11-30 | Barrier-free trolley based on dangerous environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107804383B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398514A (en) * | 2018-10-26 | 2019-03-01 | 徐州木牛流马机器人科技有限公司 | A kind of deformable machinery bed device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2296781A1 (en) * | 2000-01-21 | 2001-07-21 | Denis P. Hugron | Rear track system for four-wheel drive motorcycle-type all terrain vehicle |
| JP2006281942A (en) * | 2005-03-31 | 2006-10-19 | Mitsubishi Agricult Mach Co Ltd | Combine |
| JP2008143208A (en) * | 2006-12-06 | 2008-06-26 | Kubota Corp | Crawler traveling device |
| CN101722508A (en) * | 2008-10-10 | 2010-06-09 | 东华大学 | Robot capable of walking in vertical pipeline |
| GB201420182D0 (en) * | 2014-11-13 | 2014-12-31 | Sewell Gary | Curved surface operating unmanned vehicle and applications thereof |
| CN204667185U (en) * | 2015-05-06 | 2015-09-23 | 南昌航空大学 | A kind of chance hinders fly able intelligent pedrail |
| CN105557137A (en) * | 2015-12-11 | 2016-05-11 | 淄博大创自动化科技有限公司 | Agricultural seeder for micro-elastically installed walking mechanism |
| CN205819359U (en) * | 2016-07-31 | 2016-12-21 | 山东国兴智能科技有限公司 | A kind of co-induction wheel is from tension type crawler body mechanism |
-
2017
- 2017-11-30 CN CN201711235296.5A patent/CN107804383B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2296781A1 (en) * | 2000-01-21 | 2001-07-21 | Denis P. Hugron | Rear track system for four-wheel drive motorcycle-type all terrain vehicle |
| JP2006281942A (en) * | 2005-03-31 | 2006-10-19 | Mitsubishi Agricult Mach Co Ltd | Combine |
| JP2008143208A (en) * | 2006-12-06 | 2008-06-26 | Kubota Corp | Crawler traveling device |
| CN101722508A (en) * | 2008-10-10 | 2010-06-09 | 东华大学 | Robot capable of walking in vertical pipeline |
| GB201420182D0 (en) * | 2014-11-13 | 2014-12-31 | Sewell Gary | Curved surface operating unmanned vehicle and applications thereof |
| CN204667185U (en) * | 2015-05-06 | 2015-09-23 | 南昌航空大学 | A kind of chance hinders fly able intelligent pedrail |
| CN105557137A (en) * | 2015-12-11 | 2016-05-11 | 淄博大创自动化科技有限公司 | Agricultural seeder for micro-elastically installed walking mechanism |
| CN205819359U (en) * | 2016-07-31 | 2016-12-21 | 山东国兴智能科技有限公司 | A kind of co-induction wheel is from tension type crawler body mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398514A (en) * | 2018-10-26 | 2019-03-01 | 徐州木牛流马机器人科技有限公司 | A kind of deformable machinery bed device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107804383B (en) | 2023-05-30 |
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