CN107856759A - Telecontrol equipment and its application using changeable wheelbase as driving - Google Patents
Telecontrol equipment and its application using changeable wheelbase as driving Download PDFInfo
- Publication number
- CN107856759A CN107856759A CN201711077461.9A CN201711077461A CN107856759A CN 107856759 A CN107856759 A CN 107856759A CN 201711077461 A CN201711077461 A CN 201711077461A CN 107856759 A CN107856759 A CN 107856759A
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- CN
- China
- Prior art keywords
- wheelbase
- driving
- wheel
- schedule
- support pair
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The present invention relates to a kind of device using changeable wheelbase as driving and its certain applications.Being applicable needs obstacle detouring, climbs building, all kinds of devices wriggled.Its composition includes：Wheel no less than 2 rows, the support pair containing retractor device；Support pair both ends are hinged wheel, and support pair retractor device makes support pair both ends distance variable, so that two axles are away from alterable containing driving；Contain one-directional rotation wheel in each row's wheel, rotation direction is to drive the telecontrol equipment direction that direction is moved on request, and wheel whether there is driving.The telecontrol equipment can as wheelbase change and one-directional rotation wheel caused by push-pull effort be driving campaign.Certain applications：1. building application is climbed based on the obstacle detouring for becoming wheelbase driving.2. each skate is met simultaneously hinders stuck solution method.3. based on the vermicular movement application for becoming wheelbase driving.
Description
Technical field
Include the present invention relates to a kind of by the device of driving and its certain applications, certain applications of changeable wheelbase：A kind of base
The stuck solution party of barrier is met simultaneously in the motion of change wheelbase driving and obstacle-detouring method, a kind of each skate based on change wheelbase driving
Method, a kind of vermicular movement method based on change wheelbase driving.Be applicable need obstacle detouring, climb building, wriggle vehicle, wheelchair, robot,
The devices such as haulage equipment.
Background technology
The wheelbase of current all kinds of telecontrol equipments is inflexible wheel base mostly.Simple in construction, motion is reliably.Not yet find to become axle
Telecontrol equipment away from driving.
The content of the invention
It is an object of the invention to provide a kind of device using changeable wheelbase as driving and its certain applications, certain applications bag
Include：It is a kind of based on become wheelbase driving motion and obstacle-detouring method, it is a kind of based on become wheelbase driving each skate simultaneously meet barrier it is stuck
Solution method, it is a kind of based on become wheelbase driving vermicular movement method.Being applicable needs obstacle detouring, climbs building, the vehicle wriggled, wheel
The devices such as chair, robot, haulage equipment.
First, the telecontrol equipment using changeable wheelbase as driving, the telecontrol equipment can be changed by wheelbase and the wheel of one-directional rotation
Caused push-pull effort is driving campaign.Its composition includes：Wheel no less than 2 rows, the support pair containing retractor device；
Support pair both ends are hinged wheel, and support pair retractor device makes support pair both ends distance variable containing driving so that two axles away from
Alterable；Contain one-directional rotation wheel in each row's wheel, rotation direction is to drive the telecontrol equipment side that direction is moved on request
To wheel whether there is driving.
2nd, it is a kind of based on the motion for becoming wheelbase driving and obstacle-detouring method, use the device using changeable wheelbase as driving, support
Pair elongation, wheelbase become big, and (when wheel is without driving, wheel comes unidirectional wheel effect to the former motion state of schedule holding after support pair
Under it is slack, when wheel has driving, wheel comes that wheel driving is lower to be continued forward), by wheelbase become big caused by thrust, pass through branch
Frame side effect on schedule, is adding the thrust to schedule before support pair before support pair, promote before support pair before schedule
Row and obstacle detouring；Support is secondary to be shortened, and wheelbase diminishes, and schedule keeps former motion state before support pair, is diminished caused drawing by wheelbase
Power, adds the pulling force to schedule after support pair, pulls after support pair schedule to move ahead and obstacle detouring.
3rd, a kind of each schedule is met simultaneously hinders stuck solution method, uses the device using changeable wheelbase as driving, support pair
Elongation, wheelbase change is big, the former motion state of schedule holding after support pair, becomes big caused thrust by wheelbase, passes through the secondary work of support
With the thrust to schedule before support pair on schedule, is added before support pair, schedule before support pair is promoted to move ahead and get over
Barrier；Support is secondary to be shortened, and wheelbase diminishes, and schedule keeps former motion state before support pair, is diminished caused pulling force by wheelbase, increase
To the pulling force of schedule after support pair, pull after support pair schedule to move ahead and obstacle detouring, block to break away from each schedule while meet barrier
Dead predicament.
4th, it is a kind of based on the vermicular movement method for becoming wheelbase driving, the device using changeable wheelbase as driving is used, is realized single
To wriggling, each wheel row without driving, can one-directional rotation in the same direction, become with wheelbase and turn to driving, wheelbase becomes greatly, schedule after support pair
It is slack under the effect of unidirectional wheel, promote schedule before support pair to advance, wheelbase diminishes, and wheel comes unidirectional before support is secondary
Slack under wheel effect, schedule advances after pulling support pair；Realize two-way wriggling, each wheel row is without driving, using can
The unidirectional schedule of commutation, can reversely wriggle after commutation；Realize compound motion that is mobile plus wriggling, each wheel mining bi-directional drive
Wheel, then add the driving of wheelbase change, compound motion that is mobile plus wriggling can be achieved.
Brief description of the drawings
Fig. 1 is the secondary middle schematic diagram coupled with revolute pair of support.
Fig. 2 is the secondary middle schematic diagram coupled with prismatic pair of support.
Fig. 3 is the secondary middle schematic diagram for adding the compound connection of prismatic pair with revolute pair of support.
Fig. 4 is the secondary middle schematic diagram for adding the compound connection of prismatic pair with revolute pair of support.
Fig. 5 is that wheelbase becomes big obstacle detouring schematic diagram.
Fig. 6 is that wheelbase diminishes obstacle detouring schematic diagram.
Fig. 7 is that two schedules meet wheelbase change big obstacle detouring schematic diagram when hindering stuck simultaneously.
Fig. 8 be two schedules meet simultaneously barrier it is stuck when wheelbase diminish obstacle detouring schematic diagram.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
First, the telecontrol equipment using changeable wheelbase as driving.
Its composition includes：Wheel no less than 2 rows, the support pair containing telescopic mounting；Support pair both ends are hinged wheel,
Middle to be coupled with that produce the retractor device of change in displacement, support pair retractor device makes support pair both ends distance variable containing driving
Change, so that two axles are away from alterable；Contain one-directional rotation wheel in the same direction or capable of reversing in each skate, can only be transported to driving
The dynamic device direction of motion rotates, and wheel whether there is driving.Fig. 1 is the secondary middle schematic diagram coupled with revolute pair of support, described
Revolute pair contains driving, worm and worm gear, the gear mechanism of such as motor driven, controlling rotary angle, to control support
The shift length that two-end-point elongates or shortens.
Fig. 2 is the secondary middle schematic diagram coupled with prismatic pair of support, and the prismatic pair contains driving, such as the tooth of motor driven
Rackwork, slider-crank mechanism, linear electric motors, line slideway, electric pushrod etc. are taken turns, amount of movement is can control, to control support
The shift length that two-end-point elongates or shortens.
Fig. 3 is the secondary middle schematic diagram for adding the compound connection of prismatic pair with revolute pair of support.The revolute pair, prismatic pair difference
Containing driving, to realize more complicated wheelbase changing rule.
Fig. 4 is the secondary middle schematic diagram for adding the compound connection of prismatic pair with revolute pair of support.The revolute pair, both prismatic pairs
One of containing driving, another is without driving, to strengthen mechanism rigidity and stability.
Retractor device composition can be developed out countless, above book only explanation specific implementation citing by known mechanisms, and
Right of the present invention is not limited, if telecontrol equipment using changeable wheelbase as driving, i.e., in the scope of the present invention
It is interior.
2nd, it is a kind of based on the motion for becoming wheelbase driving and obstacle-detouring method, the device using changeable wheelbase as driving is used, is such as schemed
Shown in 5, the secondary elongation of support, wheelbase becomes big, and schedule keeps former motion state after support pair, and when wheel is without driving, wheel comes
Slack under unidirectional wheel effect, when wheel has driving, wheel comes to be continued forward under wheel driving, and becoming big by wheelbase produces
Thrust, the thrust to schedule before support pair on schedule, is being added by support side effect before support pair, is promoting support
Before pair schedule move ahead and obstacle detouring；Shorten as shown in fig. 6, support is secondary, wheelbase diminishes, and schedule keeps former motion shape before support pair
State, when wheel is without driving, wheel come it is slack under the effect of unidirectional wheel, when wheel has driving, wheel come under wheel driving after
It is continuous to be diminished caused pulling force by wheelbase forward, add the pulling force to schedule after support pair, pull after support pair before schedule
Row and obstacle detouring, wheelbase change repeatedly, and front and rear schedule alternately moves ahead.
3rd, a kind of each schedule is met simultaneously hinders stuck solution method, uses the device using changeable wheelbase as driving, such as Fig. 7
Shown, the secondary elongation of support, wheelbase becomes big, and schedule keeps former motion state after support pair, and when wheel is without driving, wheel comes list
Slack under being acted on to wheel, when wheel has driving, wheel comes wheel and drives lower continuation forward, becomes big caused by wheelbase
Thrust, the thrust to schedule before support pair on schedule, is being added by support side effect before support pair, is promoting support pair
Before schedule move ahead and obstacle detouring；Shorten as shown in figure 8, support is secondary, wheelbase diminishes, and schedule keeps former motion shape before support pair
State, when wheel is without driving, wheel come it is slack under the effect of unidirectional wheel, when wheel has driving, wheel come under wheel driving after
It is continuous to be diminished caused pulling force by wheelbase forward, add the pulling force to schedule after support pair, pull after support pair before schedule
Row and obstacle detouring；Wheelbase changes repeatedly, and front and rear schedule alternately moves ahead hinders stuck predicament to break away from each schedule while meet.
4th, it is a kind of based on the vermicular movement method for becoming wheelbase driving, the device using changeable wheelbase as driving is used, is realized single
To wriggling, each wheel row without driving, can one-directional rotation in the same direction, become with wheelbase and turn to driving, wheelbase becomes greatly, schedule after support pair
It is slack under the effect of unidirectional wheel, promote schedule before support pair to advance, wheelbase diminishes, and wheel comes unidirectional before support is secondary
Slack under wheel effect, schedule advances after pulling support pair；Realize two-way wriggling, each wheel row is without driving, using can
The unidirectional schedule of commutation, can reversely wriggle after commutation；Realize compound motion that is mobile plus wriggling, each wheel mining bi-directional drive
Wheel, then add the driving of wheelbase change, compound motion that is mobile plus wriggling can be achieved.Wheelbase changes repeatedly, and front and rear schedule alternating is compacted
It is dynamic to move ahead.
Wheelbase changes the driving to telecontrol equipment, can be independent role, if wheel is without driving；Can also be and its
He drive it is coefficient, as wheel with driving.
Claims (4)
- A kind of 1. telecontrol equipment using changeable wheelbase as driving, it is characterised in that：The telecontrol equipment can be changed and unidirectional by wheelbase Push-pull effort caused by the wheel of rotation is driving campaign；Its composition includes：Wheel no less than 2 rows, contain flexible dress The support pair put；Support pair both ends are hinged wheel, and support pair retractor device makes support pair both ends distance variable containing driving, from And make two axles away from alterable；Contain one-directional rotation wheel in each row's wheel, rotation direction is to drive telecontrol equipment on request The direction of direction motion, wheel whether there is driving.
- It is 2. a kind of based on the motion for becoming wheelbase driving and obstacle-detouring method, it is characterised in that：Using claim 1 described device, branch The secondary elongation of frame, wheelbase become big, increase the thrust to schedule before support pair, promote before support pair schedule to move ahead and obstacle detouring；Branch Frame is secondary to be shortened, and wheelbase diminishes, and increases the pulling force to schedule after support pair, pulls after support pair schedule to move ahead and obstacle detouring；Axle Away from changing repeatedly, front and rear schedule alternately moves ahead.
- 3. a kind of each schedule is met simultaneously hinders stuck solution method, it is characterised in that：Using claim 1 described device, support Pair elongation, wheelbase become big, increase the thrust to schedule before support pair, promote before support pair schedule to move ahead and obstacle detouring；Support Pair shortens, and wheelbase diminishes, and increases the pulling force to schedule after support pair, pulls after support pair schedule to move ahead and obstacle detouring；Wheelbase Change repeatedly, front and rear schedule alternately moves ahead, and hinders stuck predicament to break away from each schedule while meet.
- It is 4. a kind of based on the vermicular movement method for becoming wheelbase driving, it is characterised in that：Using claim 1 described device, realize It is unidirectional to wriggle, each wheel row without driving, can one-directional rotation in the same direction, become with wheelbase and turn to driving, wheelbase becomes big, promotion support pair Preceding schedule advances, and wheelbase diminishes, and schedule advances after pulling support pair；Two-way wriggling is realized, using unidirectional schedule capable of reversing, Can reversely it be wriggled after commutation；Compound motion that is mobile plus wriggling is realized, each wheel uses bi-directional drive wheel, then adds the drive of wheelbase change It is dynamic, compound motion that is mobile plus wriggling can be achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077461.9A CN107856759A (en) | 2017-10-26 | 2017-10-26 | Telecontrol equipment and its application using changeable wheelbase as driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077461.9A CN107856759A (en) | 2017-10-26 | 2017-10-26 | Telecontrol equipment and its application using changeable wheelbase as driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107856759A true CN107856759A (en) | 2018-03-30 |
Family
ID=61700983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711077461.9A Withdrawn CN107856759A (en) | 2017-10-26 | 2017-10-26 | Telecontrol equipment and its application using changeable wheelbase as driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107856759A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61275069A (en) * | 1985-05-31 | 1986-12-05 | Toshiba Corp | Traveling vehicle |
| JP2004001705A (en) * | 2002-03-29 | 2004-01-08 | Sanyo Electric Co Ltd | Movable carriage |
| CN2799356Y (en) * | 2005-06-13 | 2006-07-26 | 李一鹏 | Planetary gear chain joint type obstacle-surmounting truck chassis |
| CN1944158A (en) * | 2006-10-30 | 2007-04-11 | 中国农业大学 | Mechanical creeping walking mechanism |
| US20080190682A1 (en) * | 2005-04-20 | 2008-08-14 | Graham John Mahy | Vehicle |
| CN102351017A (en) * | 2011-08-03 | 2012-02-15 | 南京理工大学 | Motion mechanism for wall-climbing robot |
| CN205220853U (en) * | 2015-11-27 | 2016-05-11 | 江苏省交通科学研究院有限公司 | Radar four -wheel adjusting device |
-
2017
- 2017-10-26 CN CN201711077461.9A patent/CN107856759A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61275069A (en) * | 1985-05-31 | 1986-12-05 | Toshiba Corp | Traveling vehicle |
| JP2004001705A (en) * | 2002-03-29 | 2004-01-08 | Sanyo Electric Co Ltd | Movable carriage |
| US20080190682A1 (en) * | 2005-04-20 | 2008-08-14 | Graham John Mahy | Vehicle |
| CN2799356Y (en) * | 2005-06-13 | 2006-07-26 | 李一鹏 | Planetary gear chain joint type obstacle-surmounting truck chassis |
| CN1944158A (en) * | 2006-10-30 | 2007-04-11 | 中国农业大学 | Mechanical creeping walking mechanism |
| CN102351017A (en) * | 2011-08-03 | 2012-02-15 | 南京理工大学 | Motion mechanism for wall-climbing robot |
| CN205220853U (en) * | 2015-11-27 | 2016-05-11 | 江苏省交通科学研究院有限公司 | Radar four -wheel adjusting device |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180330 |