CN109404233A - A kind of Drive And Its Driving Method suitable for adverse circumstances - Google Patents
A kind of Drive And Its Driving Method suitable for adverse circumstances Download PDFInfo
- Publication number
- CN109404233A CN109404233A CN201811522005.5A CN201811522005A CN109404233A CN 109404233 A CN109404233 A CN 109404233A CN 201811522005 A CN201811522005 A CN 201811522005A CN 109404233 A CN109404233 A CN 109404233A
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- Prior art keywords
- shell
- mounting rod
- power mechanism
- adverse circumstances
- driving device
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- 230000002411 adverse Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 238000009434 installation Methods 0.000 claims 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000003513 alkali Substances 0.000 description 1
- 239000002585 base Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G3/00—Other motors, e.g. gravity or inertia motors
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of Drive And Its Driving Methods suitable for adverse circumstances, it include: shell, power mechanism, rotating arm and counterweight, shell is completely enclosed, power mechanism, rotating arm and counterweight are all set in shell, one end of rotating arm and power mechanism are sequentially connected, the other end with reconnection, rotating arm can be freely rotated inside the housing under the drive of power mechanism, the beneficial effects of the present invention are: the principle by utilizing the conservation of angular momentum, while so that power mechanism drives counterweight to be rotated inside the shell by rotating arm, so that shell rotates, realize that shell moves on the ground, it can be more resistant to rugged environment using the form of enclosed shell mechanism and internal drive, so that in the presence of a harsh environment operation when it is safer, and it being capable of save the cost.
Description
Technical field
The present invention relates to a kind of mechanical actuation device more particularly to a kind of driving devices and its drive suitable for adverse circumstances
Dynamic method.
Background technique
Driving device is a kind of mechanical structure for being able to drive object operation, and it is dynamic that operating, walking of object etc. may be implemented
Make, driving device needs are run under a variety of different environment, and driving device in the prior art is generally driven using external
Dynamic form will receive external erosion, especially on desert, salt alkali pool, winding road when moving under more rugged environment
Or when tractor-ploughing walking on the ground, since driving device is non-enclosed structure, dust, gravel in environment etc. can be with drivings
Device moves into driving device, so that abrasion, corrosion equivalent damage are caused to driving device, so that driving device is being disliked
Tolerance under bad environment is poor, there are security risk when operation, while higher cost.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of suitable for the driving device of adverse circumstances and its driving side
Method, the purpose is to enable driving device more resistant to rugged environment, while operation is safer, and can save into
This.
To achieve the goals above, the present invention the following technical schemes are provided:
A kind of driving device suitable for adverse circumstances, comprising: shell, power mechanism, rotating arm and counterweight, the shell
Completely enclosed, the power mechanism, the rotating arm and the counterweight are all set in the shell, one end of the rotating arm
It is sequentially connected with the power mechanism, for the other end with described with reconnection, the rotating arm can be in the band of the power mechanism
It is freely rotated under dynamic in the interior of shell.
Further, the shell is sphere, and the counterweight can be along the full freedom degree rotation of the centre of sphere of the shell.
Further, the shell is cylindrical the structure, the counterweight can be rotated along the circumference of the shell.
Further, a kind of driving device suitable for adverse circumstances further includes mounting rod, the both ends point of the mounting rod
It is not fixedly connected with the inner wall of the shell, the mounting rod passes through the centre of sphere of the shell, and the power mechanism is set to institute
It states on mounting rod and can be free to slide on the mounting rod.
Further, the mounting rod is equipped with two blocks for limiting to the power mechanism, two gears
The distance between block is greater than projected length of the power mechanism on the mounting rod.
Further, a kind of driving device suitable for adverse circumstances further includes mounting rod, the both ends point of the mounting rod
Be not flexibly connected with the inner wall of the shell, the mounting rod by the centre of sphere of the shell, and the length of the mounting rod with
The diameter of the shell is equal, and the power mechanism is set on the mounting rod and being capable of the free skating on the mounting rod
It is dynamic.
Further, the both ends of the mounting rod are respectively equipped with scroll wheel, each scroll wheel with the mounting rod
The structure of spherical pair is constituted, the scroll wheel can move freely on the inner wall of the shell.
Further, sliding rail is equipped in the shell, the shape of the sliding rail is adapted with the inner wall of the shell, described
Counterweight is set in the sliding rail, and the counterweight can be free to slide in the sliding rail.
Further, the outer wall of the shell is equipped with wearing layer.
The present invention also provides a kind of driving method using a kind of driving device suitable for adverse circumstances described above,
Drive the rotating arm that the counterweight is driven to be freely rotated by the power mechanism, so that the shell is as driving source.
The present invention provides a kind of Drive And Its Driving Methods suitable for adverse circumstances, the beneficial effect is that:
By the principle using the conservation of angular momentum, so that power mechanism drives counterweight to be rotated inside the shell by rotating arm
Meanwhile so that shell rotates, realization shell moves on the ground, using the shape of enclosed shell mechanism and internal drive
Formula can more resistant to rugged environment so that in the presence of a harsh environment operation when it is safer, and being capable of save the cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of the embodiment one of driving device suitable for adverse circumstances provided by the invention;
Fig. 2 is a kind of structural schematic diagram of the embodiment two of driving device suitable for adverse circumstances provided by the invention;
Fig. 3 is a kind of a kind of structural representation of the embodiment three of driving device suitable for adverse circumstances provided by the invention
Figure;
Fig. 4 is that a kind of another structure of the embodiment three of driving device suitable for adverse circumstances provided by the invention is shown
It is intended to;
Fig. 5 is a kind of structural schematic diagram of the example IV of driving device suitable for adverse circumstances provided by the invention;
Fig. 6 is a kind of structural schematic diagram of the embodiment five of driving device suitable for adverse circumstances provided by the invention;
Fig. 7 is a kind of structural schematic diagram of the embodiment six of driving device suitable for adverse circumstances provided by the invention;
Fig. 8 is a kind of structural schematic diagram of the embodiment seven of driving device suitable for adverse circumstances provided by the invention;
1- shell in figure;2- motor;3- rotating arm;4- counterweight;5- battery;6- balance weight;7- mounting rod;8- block;
9- displacement sensor;10- pushing meanss;11- scroll wheel;12- sliding rail;13- motor;14- transmission device;15- idler wheel.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Embodiment one
As shown in Figure 1, the present invention provides a kind of driving devices suitable for adverse circumstances, comprising: shell 1, engine
Structure, rotating arm 3 and counterweight 4, the shell 1 is completely enclosed, and the power mechanism, the rotating arm 3 and the counterweight 4 are respectively provided with
In in the shell 1, one end of the rotating arm 3 and the power mechanism are sequentially connected, and the other end is connect with the counterweight 4,
The rotating arm 3 can be freely rotated inside the shell 1 under the drive of the power mechanism, pass through setting for above structure
Meter, so that the principle by utilizing the conservation of angular momentum, so that power mechanism drives the counterweight 4 described outer by rotating arm 3
It while being rotated in shell 1, so that the shell 1 rotates, realizes that the shell 1 moves on the ground, uses
The form of enclosed shell mechanism and internal drive can more resistant to rugged environment so that in the presence of a harsh environment operation when
It is safer, and being capable of save the cost.
In above structure, structure that the power mechanism can be matched using motor 2 and battery 5, wherein the electricity
Pond 5 is set on the motor 2, and the battery 5 is electrically connected for powering to the motor 2 with the motor 2, institute
Lithium battery group can be used by stating battery 5, to realize the continued power to the motor 2.
Preferably, the shape of the shell 1 be sphere or cylindrical structure, when the shell 1 be sphere when, it is described to match
Weighing 4 can be along the full freedom degree rotation of the centre of sphere of the shell 1;When the shell 1 is cylindrical structure, the counterweight 4 can
Circumference along the shell 1 moves.
Embodiment two
As a kind of improvement of above-described embodiment one, as shown in Fig. 2, a kind of driving device suitable for adverse circumstances is also wrapped
Include the balance weight 6 for balancing the power mechanism weight, the power mechanism and the balance weight 6 respectively with the shell 1
Inner wall be fixedly connected, and the line of the center of gravity of the power mechanism and the center of gravity of the balance weight 6 passes through the ball of the shell 1
The heart, by the design of above structure, when so that the power mechanism driving the counterweight 4 to be rotated by the rotating arm 3,
The balance weight 6 can balance the weight of the power mechanism.
Preferably, the weight of the power mechanism and the balance weight 6 are equal in weight, and the power mechanism is to described
The centre of sphere of the distance of the centre of sphere of shell 1 and the balance weight 6 to the shell 1 is equidistant, the output of the power mechanism
End is overlapped with the tie point of the rotating arm 3 with the centre of sphere of the shell 1, by the arrangement of above structure, so that the power
Mechanism and the balance weight 6 are equal relative to the torque of the centre of sphere of the shell 1, to guarantee that the shell 1 rolls on the ground
It can only be rolled toward the direction when dynamic, i.e., the described shell 1 is rolled along rectilinear direction on the ground, certainly, when described dynamic
The weight of force mechanisms and when varying in weight of the balance weight 6, can be by adjusting the center of gravity of the power mechanism and described outer
The distance between the center of gravity of the distance between centre of sphere of shell 1 or the adjusting balance weight 6 and the centre of sphere of the shell 1 can be real
It is identical now to adjust the torque that the power mechanism and the balance weight 6 are generated relative to the centre of sphere of the shell 1, to realize institute
The straight line of shell 1 on the ground is stated to roll.
Embodiment three
Another kind as above-described embodiment one improves, as shown in figure 3, a kind of driving device suitable for adverse circumstances is also
Including mounting rod 7, the both ends of the mounting rod 7 are fixedly connected with the inner wall of the shell 1 respectively, and the mounting rod 7 passes through institute
The centre of sphere of shell 1 is stated, the power mechanism is set on the mounting rod 7 and can be free to slide on the mounting rod 7, leads to
Cross the design of above structure, the mounting rod 7 is needed across the power mechanism, to guarantee the rotating arm 3 in rotation
It will not be interfered simultaneously with the mounting rod 7, so that the tie point of the power mechanism and the rotating arm 3 is located at outside described
When the centre of sphere of shell 1, the track that the shell 1 moves on the ground is straight line, when the company of the power mechanism and the rotating arm 3
When contact deviates the centre of sphere of the shell 1, the track that the shell 1 can move on the ground is curve.
Preferably, the mounting rod 7 is equipped with two blocks 8 for limiting to the power mechanism, two gears
The distance between block 8 is greater than projected length of the power mechanism on the mounting rod 7, and the power mechanism exists in order to prevent
Biggish offset occurs on the mounting rod 7, and due to the length limitation of the rotating arm 3, is arranged two on the mounting rod 7
A block 8 can be realized the power mechanism and occur when driving the rotating arm 3 rotation with the inner wall of the shell 1
Collision.
Certainly, in above structure, as shown in figure 4, can also be by the Design of length of the mounting rod 7 at less than the shell
1 diameter, so that the mounting rod 7 does not pass through the centre of sphere of the shell 1, to realize the power mechanism and the rotating arm
3 tie point deviates the centre of sphere of the shell 1, is eccentrically rotated to realize.
Example IV
As a kind of improvement of above-described embodiment three, as shown in figure 5, displacement sensor 9 is installed on the power mechanism,
The mounting rod 7 is equipped with the pushing meanss 10 for pushing the power mechanism to move on the mounting rod 7, the promotion
The structure type that device 10 can use stepper motor 13 and lead screw pair to cooperate can be described by the design of above structure
The outside of shell 1 controls all parts in the shell 1, specifically, controller is set outside the shell 1,
Institute's displacement sensors 9 and the stepper motor 13 are connected with the controller in a signal way. respectively, and the controller can pass through institute
The position signal that displacement sensors 9 are fed back controls the stepper motor 13, and the stepper motor 13 passes through the silk
Thick stick pair can push the power mechanism to move on the mounting rod 7, to realize described in the external control from the shell 1
The movement of shell 1 on the ground.
Embodiment five
Another kind as above-described embodiment one improves, as shown in fig. 6, a kind of driving device suitable for adverse circumstances is also
Including mounting rod 7, the both ends of the mounting rod 7 are flexibly connected with the inner wall of the shell 1 respectively, and the mounting rod 7 passes through institute
The centre of sphere of shell 1 is stated, and the length of the mounting rod 7 is equal with the diameter of the shell 1, the power mechanism is set to described
And can be free to slide on the mounting rod 7 on mounting rod 7, by the design of above structure, the mounting rod 7 need across
The power mechanism, thus guarantee that the rotating arm 3 will not interfere while rotating with the mounting rod 7, it will be described
The both ends of mounting rod 7 are respectively with the inner wall of the shell 1 using being flexibly connected, so that the mounting rod 7 can in the shell 1
It is arbitrarily rotated with the axis along itself, can also arbitrarily be rotated around the centre of sphere of the shell 1, further improve the mounting rod
7 freedom degree, to realize that the shell 1 can be on the ground along arbitrary directional rolling.
Specifically, in order to realize the movement effects of mounting rod 7 described above, the both ends of the mounting rod 7 are respectively equipped with rolling
Driving wheel 11, each scroll wheel 11 constitute the structure of spherical pair with the mounting rod 7, and the scroll wheel 11 can be described
It is moved freely on the inner wall of shell 1, design using the above structure, allows each scroll wheel 11 in the shell 1
It is arbitrarily rolled on the inner wall of the inherent shell 1, the activity of the inner wall at the both ends and shell 1 of certain mounting rod 7 is even
The mode of connecing can also be the structure of other forms, just not repeat one by one herein.
Embodiment six
Another kind as above-described embodiment one improves, as shown in fig. 7, being equipped with sliding rail 12, the sliding rail in the shell 1
12 shape is adapted with the inner wall of the shell 1, and the counterweight 4 is set in the sliding rail 12, and the counterweight 4 can be
It is free to slide in the sliding rail 12, by the design of above structure, the counterweight 4 can be limited by the sliding rail 12
System, moves the counterweight 4 along the track of the track of the sliding rail 12, described dynamic when mode using the above structure
Force mechanisms can also be connected with the connection type of the rotating arm 3 using being fixedly connected using the activity of such as articulated manner
Form is connect, the power mechanism is made only to provide the driving that the rotating arm 3 is rotated by the way of flexible connection
Power, the sliding rail 12 play the role of limiting the counterweight 4.
Embodiment seven
Another kind as above-described embodiment one improves, as shown in figure 8, can be by the engine in the shell 1
Structure, the rotating arm 3, the counterweight 4 and the battery 5 structure replace with motor 13, transmission device 14, idler wheel 15 and battery
5 structure, the motor 13 is sequentially connected by transmission device 14 and the idler wheel 15 and the idler wheel 15 is driven to rotate, described
Battery 5 is electrically connected with the motor 13 and for powering to the motor 13, and the inner wall of the shell 1 is equipped with magnetic suck layer,
The idler wheel 15 is using metal material and can be adsorbed on the inner wall of the shell 1 by the magnetic suck layer, by above-mentioned
The design of structure, the motor 13 drive the idler wheel 15 to move on the inner wall of the shell 1 by the transmission device 14,
Using the principle of the conservation of angular momentum, internal trolley can be arranged to realize with rolling in the shell 1 in the shell 1
And the rolling of the mobile realization shell 1 using internal trolley.
In above-described embodiment one into embodiment seven, the rotating arm 3 is when rotating and described outer in order to prevent
The inner wall of shell 1 is collided, and the length of the rotating arm 3 should be not more than the radius of the shell 1.
Embodiment eight
Another kind as above-described embodiment one to embodiment seven improves, in order to reinforce the shell 1 in the presence of a harsh environment
Abrasive resistance when movement can be equipped with wearing layer, to improve driving device in adverse circumstances on the outer wall of the shell 1
Abrasive resistance when lower movement can also carry out coarse processing on the surface of the shell 1, so that the shell 1 and ground
Frictional force increases, and is more conducive to the movement of driving device on the ground.
Embodiment nine
The present invention also provides a kind of driving sides using a kind of driving device suitable for adverse circumstances described above
Method drives the rotating arm 3 that the counterweight 4 is driven to be freely rotated by the power mechanism, so that the shell 1 is as driving
Source.
When the shape of shell 1 described above is spherical, 360 ° omni-directional rolling on the ground may be implemented, thus as drive
Dynamic source band animal body moves freely, and is particularly applicable in the equipment such as automobile, aircraft, thus instead of automotive wheels, aircraft wheel etc., and
Driving and the drive mechanism that the equipment such as automobile, aircraft can be omitted achieve the purpose that simplified equipment, while can also save
Space.
When the shape of shell 1 described above is cylindric, scroll forward and backward on the ground may be implemented, thus as driving source
Band animal body moves freely, and is particularly applicable in the equipment such as train, steamer, thus instead of train wheel, wheel paddle etc., and can save
The slightly driving of the equipment such as train, steamer and drive mechanism achieve the purpose that simplified equipment, while can also save space.
It can also be applied on the operating platforms such as building, teaching experiment when the above-mentioned application shell 1 is as driving source, make
It is wider with range and purposes.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of driving device suitable for adverse circumstances characterized by comprising shell, power mechanism, rotating arm and match
Weight, the shell is completely enclosed, and the power mechanism, the rotating arm and the counterweight are all set in the shell, described
One end of rotating arm and the power mechanism are sequentially connected, and for the other end with described with reconnection, the rotating arm can be described
It is freely rotated under the drive of power mechanism in the interior of shell.
2. a kind of driving device suitable for adverse circumstances according to claim 1, which is characterized in that the shell is ball
Body, the counterweight can be along the full freedom degree rotations of the centre of sphere of the shell.
3. a kind of driving device suitable for adverse circumstances according to claim 1, which is characterized in that the shell is circle
Column structure, the counterweight can be rotated along the circumference of the shell.
4. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that further include installation
Bar, the both ends of the mounting rod are fixedly connected with the inner wall of the shell respectively, and the mounting rod passes through the centre of sphere of the shell,
The power mechanism is set on the mounting rod and can be free to slide on the mounting rod.
5. a kind of driving device suitable for adverse circumstances according to claim 4, which is characterized in that on the mounting rod
Equipped with two blocks for limiting to the power mechanism, the distance between two described blocks are greater than the power mechanism and exist
Projected length on the mounting rod.
6. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that further include installation
Bar, the both ends of the mounting rod are flexibly connected with the inner wall of the shell respectively, and the mounting rod passes through the centre of sphere of the shell,
And the length of the mounting rod is equal with the diameter of the shell, the power mechanism is set on the mounting rod and can be
It is free to slide on the mounting rod.
7. a kind of driving device suitable for adverse circumstances according to claim 6, which is characterized in that the mounting rod
Both ends are respectively equipped with scroll wheel, and each scroll wheel constitutes the structure of spherical pair, the scroll wheel energy with the mounting rod
It is enough to be moved freely on the inner wall of the shell.
8. a kind of driving device suitable for adverse circumstances according to claim 2, which is characterized in that set in the shell
There is sliding rail, the shape of the sliding rail is adapted with the inner wall of the shell, and the counterweight is set in the sliding rail, and described is matched
Beijing South Maxpower Technology Co. Ltd is enough free to slide in the sliding rail.
9. a kind of driving device suitable for adverse circumstances according to claim 1, which is characterized in that outside the shell
Wall is equipped with wearing layer.
10. it is a kind of using a kind of described in any item driving methods of the driving device suitable for adverse circumstances of claim 1-9,
It is characterized in that, driving the rotating arm that the counterweight is driven to be freely rotated by the power mechanism, so that the shell is made
For driving source.
Priority Applications (1)
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CN201811522005.5A CN109404233A (en) | 2018-12-12 | 2018-12-12 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
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CN201811522005.5A CN109404233A (en) | 2018-12-12 | 2018-12-12 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
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Family
ID=65458807
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CN201811522005.5A Pending CN109404233A (en) | 2018-12-12 | 2018-12-12 | A kind of Drive And Its Driving Method suitable for adverse circumstances |
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