CN203651954U - Wheel type driving mechanism for continuously climbing over stairs - Google Patents
Wheel type driving mechanism for continuously climbing over stairs Download PDFInfo
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- CN203651954U CN203651954U CN201320723786.0U CN201320723786U CN203651954U CN 203651954 U CN203651954 U CN 203651954U CN 201320723786 U CN201320723786 U CN 201320723786U CN 203651954 U CN203651954 U CN 203651954U
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- crossing
- driver train
- continuous step
- strut member
- step according
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Abstract
The utility model discloses a wheel type driving mechanism for climbing over continuous stairs. The wheel type driving mechanism comprises a machine body and walking mechanisms, wherein the walking mechanisms are symmetrically arranged on the left and right sides of the machine body; the walking mechanisms comprise four eccentric wheels which are identical in diameter and completely synchronous in velocity and direction; the machine body is internally provided with a power driving device; the power driving device is connected with the eccentric wheels through driving shafts; climbing support pieces are arranged at the lower front end of the machine body. The wheel type driving mechanism for climbing over continuous stairs solves the problem that a conventional walking mechanism of a robot is inconvenient to walk when climbing over stairs and the walking mechanism is complex to control, and has the characteristics of simple structure, small size, small weight and capability of continuously climbing over stairs.
Description
Technical field
The utility model relates to a kind of wheeled driver train of crossing continuous step.
Background technology
At present, the landform that robot will be crossed as stair can be taked multiple walking structure.Common are " crawler type " " wheeled " " leg formula ".Directly utilize crawler belt to rotate to reach and advance or the robot of the object of climbing is called caterpillar type robot, ground strong adaptability, stability is high, mechanism is simple, but waste of power is high, and level land efficiency is lower.The robot that imitates the mankind or other animal leg exercise is called legged mobile robot.Ground strong adaptability, stability is high, but mechanism and control are complicated, running velocity is low.Directly utilize wheel or class wheel to rotate to reach and advance or the robot of the object of climbing is called wheeled robot.Meeting under certain landform comformability prerequisite, can give full play to mobile robot and move flexibly, control the advantages such as simple.But the comformability size to landform is directly proportional to the quantity of wheel, the shortcomings such as bulky, Heavy Weight are brought again along with taking turns the increase of quantum count.
Summary of the invention
The purpose of this utility model is to provide a kind of wheeled driver train of crossing continuous step, be intended to solve inconvenience that the traveling gear of current robot brings in the time crossing stairway step and the problem of traveling gear control complexity, this wheeled driver train of crossing continuous step has simple in structure, the feature that volume is little, lightweight, can cross step continuously.
The utility model is to realize like this, a kind of wheeled driver train of crossing continuous step, comprise body and traveling gear, its special character is, described traveling gear is symmetricly set in the left and right sides of body, and described traveling gear comprises the eccentric wheel of 4 equal diameters and speed and direction Complete Synchronization; In described body, Power Drive Unit is set, described Power Drive Unit is connected with eccentric wheel by axle drive shaft; Strut member is crossed in the lower front end setting of described body.
Further, described in to cross strut member be one group of Metallic rod be arrangeding in parallel, Metallic rod arranges anti-skidding ripple in the one side contacting with stairway step.
Further, the outside face of crossing strut member described in arranges wearing layer.
Further, described wearing layer is the wherein a kind of of ceramic layer, powder metallurgy layer and modified plastics layer.
Further, the thickness of described wearing layer is 0.2～2mm.
Further, described in to cross strut member be one group of Metallic rod be arrangeding in parallel, the bottom of crossing strut member and body arranges anti-skidding adherent zone, described anti-skidding adherent zone is that one deck adheres to and crosses strut member and the underpart rubber tape with anti-slip veins.
Further, described eccentric surface uniform arranges cylindrical protrusion portion.
Further, described Power Drive Unit comprises motor and storage battery.
The utility model provides a kind of wheeled driver train of crossing continuous step, inconvenience that the traveling gear of current robot brings in the time crossing stairway step and the problem of traveling gear control complexity are solved, this wheeled driving mechanism structure of crossing continuous step is simple, volume is little, lightweight, can cross continuously step, in the time of the action of crossing step, eccentric wheel and body independently switch, without manual control, eccentric wheel rotates a circle, body can be walked to step to a new level, and the efficiency of therefore going upstairs is higher.
Brief description of the drawings
Fig. 1 is block diagram of the present utility model;
Fig. 2 is the structural representation of the utility model embodiment 1;
Fig. 3 is the structural representation of the utility model embodiment 2;
Fig. 4 (a)-Fig. 4 (g) is the schematic diagram of the utility model in the time crossing continuous step;
Wherein, 1-body; 2-eccentric wheel; 3-axle drive shaft; 4-crosses strut member; 5-knock hole; 6-cylindrical protrusion portion; The anti-skidding adherent zone of 7-.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with embodiment, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
Fig. 1 shows the structure of the wheeled driver train of crossing continuous step that the utility model embodiment provides.For convenience of explanation, only show the part relevant to the utility model.
The wheeled driver train that this crosses continuous step, comprises body 1 and traveling gear, and traveling gear is symmetricly set in the left and right sides of body 1, and traveling gear comprises the eccentric wheel 2 of 4 equal diameters and speed and direction Complete Synchronization; The interior Power Drive Unit that arranges of body 1, described Power Drive Unit is connected with eccentric wheel 2 by axle drive shaft 3; Strut member 4 is crossed in the lower front end setting of body 1.
Below in conjunction with drawings and the specific embodiments, application principle of the present utility model is further described.
Embodiment 1
As shown in Figure 2, a kind of wheeled driver train of crossing continuous step that the utility model embodiment provides, this wheeled driver train of crossing continuous step comprises: comprise body 1 and traveling gear, traveling gear is symmetricly set in the left and right sides of body 1, and traveling gear comprises the eccentric wheel 2 of 4 equal diameters and speed and direction Complete Synchronization; The interior Power Drive Unit that arranges of body 1, Power Drive Unit is connected with eccentric wheel 2 by axle drive shaft 3, and eccentric wheel 2 is equipped with knock hole 5, and each eccentric knock hole 5 is consistent to the distance in the axle center of axle drive shaft 3; Strut member 4 is crossed in the lower front end setting of body 1.
The outside face of crossing strut member 4 arranges wearing layer.
Wearing layer is the wherein a kind of of ceramic layer, powder metallurgy layer and modified plastics layer.
The thickness of wearing layer is 0.2～2mm.
The surface uniform of eccentric wheel 2 arranges cylindrical protrusion portion 6, and the quantity of the elongated protrusion portion 6 that each eccentric wheel 2 arranges is 3.
Power Drive Unit comprises motor and storage battery.
As shown in Figure 3, a kind of wheeled driver train of crossing continuous step that the utility model embodiment provides, this wheeled driver train of crossing continuous step comprises: comprise body 1 and traveling gear, traveling gear is symmetricly set in the left and right sides of body 1, and traveling gear comprises the eccentric wheel 2 of 4 equal diameters and speed and direction Complete Synchronization; The interior Power Drive Unit that arranges of body 1, Power Drive Unit is connected with eccentric wheel 2 by axle drive shaft 3, and eccentric wheel 2 is equipped with knock hole 5, and each eccentric knock hole 5 is consistent to the distance in the axle center of axle drive shaft 3; Strut member 4 is crossed in the lower front end setting of body 1.
The surface uniform of eccentric wheel 2 arranges cylindrical protrusion portion 6, and the quantity of the elongated protrusion portion 6 that each eccentric wheel 2 arranges is 3.
Power Drive Unit comprises motor and storage battery.
The wheeled driver train of what the utility model embodiment provided cross continuous step, simple in structure, volume is little, lightweight, can cross continuously step, in the time of the action of crossing step, eccentric wheel and body independently switch, and without manual control, eccentric wheel rotates a circle, body can be walked to step to a new level, the cylindrical protrusion portion that eccentric wheel is set, contributes to cross continuous step, has avoided in the time crossing step, the generation of the skidding of wheel and step, the efficiency of therefore going upstairs is higher.
Fig. 4 (a)-Fig. 4 (g) has gone out the wheeled driver train of crossing continuous step that the utility model the provides schematic diagram in the time crossing continuous step, as shown in Fig. 4 (a)-Fig. 4 (g), this wheeled driver train advances on level road, and body can regular heave and set; In the time there is stair obstacle in front, the strut member of crossing of body lower front end can, along with body heave and set, in some moment, be crossed strut member and can ride on stairway step, now the eccentric knock hole in the front and back of body, in extreme higher position, is crossed the height of strut member a little more than single shoulder height; Along with the front and back eccentric wheel of body is synchronously rotated further, front part of a body is crossed strut member and is raised, and wheelie rotates, when eccentric distal end turns to while contacting with step, now the point of action of power drops on eccentric wheel, and front and back eccentric wheel is rotated further and will makes body move obliquely.Then crossing strut member can ride on next stage step, at a time, before and after eccentric wheel can unsettledly be rotated further, owing to there being anti-skidding design, body can steadily rest on step and not glide, until the eccentric distal end in front and back forwards the position contacting with step to, due to the variation of the point of action of power, whole body can be raised, and motion obliquely, from then on the rule that is moved into of body circulates, thereby reaches the object of crossing continuously step.
These are only preferred embodiment of the present utility model, not in order to limit the utility model, all any amendments of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (9)
1. cross the wheeled driver train of continuous step for one kind, comprise body (1) and traveling gear, it is characterized in that, described traveling gear is symmetricly set in the left and right sides of body (1), and described traveling gear comprises the eccentric wheel (2) of 4 equal diameters and speed and direction Complete Synchronization; Described body arranges Power Drive Unit in (1), and described Power Drive Unit is connected with eccentric wheel (2) by axle drive shaft (3); Strut member (4) is crossed in the lower front end setting of described body (1).
2. a kind of wheeled driver train of crossing continuous step according to claim 1, it is characterized in that, the described strut member (4) of crossing is one group of Metallic rod be arrangeding in parallel, and Metallic rod arranges anti-skidding ripple in the one side contacting with stairway step (5).
3. a kind of wheeled driver train of crossing continuous step according to claim 1 and 2, is characterized in that, described in cross strut member (4) outside face wearing layer is set.
4. a kind of wheeled driver train of crossing continuous step according to claim 3, is characterized in that, described wearing layer is the wherein a kind of of ceramic layer, powder metallurgy layer and modified plastics layer.
5. a kind of wheeled driver train of crossing continuous step according to claim 3, is characterized in that, the thickness of described wearing layer is 0.2～2mm.
6. a kind of wheeled driver train of crossing continuous step according to claim 3, is characterized in that, the surface uniform of described eccentric wheel (2) arranges cylindrical protrusion portion (6).
7. a kind of wheeled driver train of crossing continuous step according to claim 1, it is characterized in that, the described strut member (4) of crossing is one group of Metallic rod be arrangeding in parallel, the bottom of crossing strut member (4) and body (1) arranges anti-skidding adherent zone (7), and described anti-skidding adherent zone (7) is crossed strut member (4) and body (1) the bottom rubber tape with anti-slip veins for one deck adheres to.
8. a kind of wheeled driver train of crossing continuous step according to claim 7, is characterized in that, the surface uniform of described eccentric wheel (2) arranges cylindrical protrusion portion (6).
9. a kind of wheeled driver train of crossing continuous step according to claim 1, is characterized in that, described Power Drive Unit comprises motor and storage battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320723786.0U CN203651954U (en) | 2013-11-18 | 2013-11-18 | Wheel type driving mechanism for continuously climbing over stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320723786.0U CN203651954U (en) | 2013-11-18 | 2013-11-18 | Wheel type driving mechanism for continuously climbing over stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203651954U true CN203651954U (en) | 2014-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320723786.0U Expired - Fee Related CN203651954U (en) | 2013-11-18 | 2013-11-18 | Wheel type driving mechanism for continuously climbing over stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203651954U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600785A (en) * | 2013-11-18 | 2014-02-26 | 西南大学 | Wheeled dive mechanism capable of climbing continuous steps |
-
2013
- 2013-11-18 CN CN201320723786.0U patent/CN203651954U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600785A (en) * | 2013-11-18 | 2014-02-26 | 西南大学 | Wheeled dive mechanism capable of climbing continuous steps |
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| GR01 | Patent grant | ||
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Addressee: Southwest University Document name: Notification of Termination of Patent Right |
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| DD01 | Delivery of document by public notice |
Addressee: Southwest University Document name: Review of business letter Addressee: Southwest University Document name: Notification of Decision on Request for Restoration of Right |
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| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 Termination date: 20171118 |
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| CF01 | Termination of patent right due to non-payment of annual fee |