CN102285387A - Spiral-walking motion mechanism - Google Patents
Spiral-walking motion mechanism Download PDFInfo
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- CN102285387A CN102285387A CN201110140889XA CN201110140889A CN102285387A CN 102285387 A CN102285387 A CN 102285387A CN 201110140889X A CN201110140889X A CN 201110140889XA CN 201110140889 A CN201110140889 A CN 201110140889A CN 102285387 A CN102285387 A CN 102285387A
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Abstract
本发明涉及一种新型运动驱动机构，其行走体采用螺旋机构，螺旋机构与地表接触时螺旋接触线或螺旋接触面形成很强的摩擦副，螺旋线或螺旋面旋转时可以产生横向运动、纵向运动或者综合横向和纵向的任意给定运动，从而达到行走运动目的，这种与传统行走运动不同的驱动形式，具有很强的驱动能力，能翻越各种障碍、平稳爬升楼梯、不受各种道路限制、能适应野外复杂地形地貌越野驱动，可应用于路况复杂或路面不明的抢险救灾、地震救援、越障工具、人员或物资攀爬楼梯的交通工具等，新型螺旋行走运动机构原理简洁，可靠性高、成本低，应用适应领域广，可多样化实现，以及可组合多种功能和多种操作模式应用。
The invention relates to a new type of motion driving mechanism. The walking body adopts a helical mechanism. When the helical mechanism contacts the ground surface, a strong friction pair is formed by the helical contact line or the helical contact surface. Movement or combined horizontal and vertical arbitrary given movement, so as to achieve the purpose of walking movement, this driving form is different from traditional walking movement, has a strong driving ability, can climb over various obstacles, climb stairs smoothly, and is not affected by various Road restrictions, can adapt to the off-road driving of complex terrain and landforms in the field, can be applied to rescue and disaster relief with complex road conditions or unknown road surfaces, earthquake rescue, obstacle-breaking tools, vehicles for people or materials to climb stairs, etc. The principle of the new spiral walking motion mechanism is simple, It has high reliability, low cost, wide application fields, can be realized in a variety of ways, and can be combined with multiple functions and multiple operation modes.
Description
Technical field
The present invention relates to a kind of novel motion driver train that adopts screw mechanism as running body.This drive form has very strong power-handling capability, can cross various obstacles, quiet climb stair, is not subjected to the different kinds of roads restriction, can adapts to the cross-country driving of open-air complex-terrain landforms.Can be applicable to the vehicle of road conditions complexity or road surface not clear rescue and relief work, earthquake rescue, obstacle detouring instrument, personnel or goods and materials speeling stairway etc.
Background technology
Along with the development and progress of social civilization, people have produced diversified demand to traveling gear and shifting of conveyer structure, have impelled walking movement mechanism constantly to weed out the old and bring forth the new, but also are faced with many challenges.
Pull the carrying article, it is more original class walking driver train that animal power draws sled, can adapt to the application under the multiple environmental conditions, but efficient is low, and its application is fewer and feweri in modern society.Adopting the walking manner of wheels, is the invention that epoch-making significance is arranged in the human social development.Even to this day, wheel type traveling mechanism remains human most widely used kinematic mechanism, has also obtained sufficient development, as bicycle, automobile, speed per hour up to km more than 400/hour high ferro.Wheeled mechanism from heavy and light, carrying is big, mechanism simple, drive relative convenient, advantages such as the speed of travel is fast, maneuverability, work efficiency height with control, it is its major cause that becomes people's first-selected application on the walking movement type of drive, but also often face the challenge, for example need to solve the problem that when come to hill, cut a road, chance water is built bridge, there are dependence in the performance of its stability of motion, TRAJECTORY CONTROL and function and road surface, environment, it is bad to adapt to the complex road condition performance, problems such as existence can not obstacle detouring, stair climbing, thus its application restricted.For example, the engineering construction of waste Yezhong, mining, building ground, military field such as cross-country, people extensively adopt crawler type travel mechanism rather than wheeled mechanism.This crawler type travel mechanism has the ditch of striding and gets over ridge ability, can adapt to multiple field operation environment, but have also that speed is slow, power consumption is big, to problems such as the ground degree of tortuosity are big.In addition in order to improve alerting ability and to adapt to various different conditions and the application demand of occasion, people also developed such as leg formula travel mechanism, the formula of crawling travel mechanism, magnetic suspension travel mechanism, screw propeller driver train, jet driver train, fish formula driver train ..., and various combined type travel mechanism.
In the modern society, often run into the environment and the condition of complexity, variation, need to adapt to the walking movement mechanism under the corresponding conditions.For example, obtain a kind of cross-country driver train that is not subjected to the different kinds of roads condition restriction, can adapts to open-air complex-terrain landforms, wish also that simultaneously there is strong power-handling capability in this mechanism, can cross various obstacles, quiet climb stair, can be applicable to the not clear situation in road conditions complexity or road surface.These situations may appear under rescue and relief work, earthquake rescue, obstacle detouring instrument, the urban skyscraper short of electricity situation personnel or goods and materials speeling stairway or carry wounded's material, field exploration detecting or the like.
Summary of the invention
At the above-mentioned background technical matters, the present invention is an a kind of novel spiral walking movement mechanism, one of purpose is to make this device can produce strong power-handling capability on principle, thereby realization can have adaptive capacity, obtain walking movement driving function under complexity, the environment that changes and condition.
Another object of the present invention, be implement device can cross various obstacles, can road is arranged or the travel permit spare of not following the Way under walking movement, can adapt to the cross-country driving of open-air complex-terrain landforms.
A further object of the invention is, is to make the device can the quiet climb stair, do not rely on elevator under construction and can carry out goods and materials, the wounded's etc. conveying.
A kind of spiral walking movement of the present invention mechanism, principle of work such as Fig. 1: walking drives adopts screw mechanism, contact with ground by screw mechanism and to form friction pair, produce perpendicular to the walking movement of screw shaft (y) direction or be parallel to the walking movement of screw shaft (x) direction.
The present invention adopts the spiral walking to drive, wherein a kind of explanation of scheme such as Fig. 2.Adopt 4 groups of screw pairs (1) among the figure, connect objective table (2) by bracing frame (3).4 groups of screw pairs (1) but in the control of each group individual drive, both forward and reverse directions rotation by each group screw pair, the advancing of decision spiral traveling gear, retreat, laterally seesaw, exercises such as left rotation and right rotation motion, carry out the combination of different controls, can reach the various control purpose and realize multiple functional task.
Fig. 3 is wherein a kind of double helix travel driving unit of the invention process, adopts left-handed spiral and the right hand helix double helix mechanism that partners.Device is by two groups of screw pair drive systems (1), and objective table and supporting system (2) and control setup (3) are formed.Double helix mechanism moves along the left and right direction that is parallel to the axis of screw when left-handed spiral and right hand helix contrarotation.Mechanism adopts left-handed spiral and right hand helix to rotate in the same way along the front and rear direction walking movement perpendicular to screw shaft.Mechanism turns to or adopts the differential of left-handed spiral and right hand helix to rotate in the same way or contrarotation along the direction initialization walking movement.By drive controlling, can realize the advancing of spiral traveling gear, retreat, laterally seesaw, exercises such as left rotation and right rotation motion each group spiral drive system (1).
A kind of spiral walking movement of the present invention mechanism can adopt many left-handed spirals of group and right hand helix to form composite screw mechanisms, constitutes spiral walking driver trains.Helical structure can comprise that the cross section is trapezoidal, triangle, square and curve form.
Description of drawings
Fig. 1 is a spiral walking movement schematic diagram of the present invention.
Fig. 2 is wherein a kind of spiral traveling gear structure instruction diagram of the present invention.
Wherein: the 1-screw mechanism; The 2-objective table; The 3-bracing frame.
Fig. 3 is wherein a kind of double helix traveling gear case study on implementation of the present invention.
Wherein: the 1-spiral drive system; 2-objective table and supporting system; The 3-control setup.
The specific embodiment
Fig. 3 is wherein a kind of double helix travel driving unit of the invention process.Device is by two groups of screw pair drive systems (1) among the figure, and objective table and supporting system (2) and control setup (3) are formed.Two groups of screw pair drive systems (1) adopt left-handed spiral and the right hand helix double helix mechanism that partners.Double helix mechanism moves along the left and right direction that is parallel to the axis of screw when left-handed spiral and right hand helix contrarotation, mechanism was along advancing, retreat perpendicular to the front and rear direction of screw shaft when left-handed spiral and right hand helix rotated in the same way, the differential of left-handed spiral and right hand helix in the same way or during contrarotation mechanism turn to or along the direction initialization walking movement.
Implement above various motions, can adopt following various step:
1. by control setup (3), make 2 groups of screw pair drive systems (1) produce rotation in the same way, the spiral travel driving unit is realized the forward and backward motion perpendicular to helical axis directions.
2. by control setup (3), make 2 groups of screw pair drive systems (1) produce not in the same way rotation, the spiral travel driving unit is realized along the advancing of helical axis directions, setback.
3. by control setup (3), make 2 groups of screw pair drive systems (1) produce not rotation and rotating speed difference in the same way, the spiral travel driving unit is realized left, is moved right.
4. by control setup (3), make 2 groups of screw pair drive systems (1) produce the rotation of various combination, the spiral travel driving unit is realized multiple specified action.
5. the spiral travel driving unit can be climbed on stair.
The spiral travel driving unit can be in the earthquake ruins and other various obstacles climb up and over.
Claims (6)
1. spiral walking movement mechanism, it is characterized in that: walking drives adopts screw mechanism, spiral contact the formation friction pair around its when rotation axle by screw mechanism with ground, generation is perpendicular to the walking movement of helical axis directions or be parallel to the walking movement of helical axis directions.
2. spiral walking movement according to claim 1 mechanism, it is characterized in that: adopt left-handed spiral and the right hand helix double helix mechanism that partners along the walking movement that is parallel to helical axis directions, double helix mechanism moves along the left and right direction that is parallel to the axis of screw when left-handed spiral and right hand helix contrarotation.
3. spiral walking movement according to claim 2 mechanism is characterized in that: mechanism adopts left-handed spiral and right hand helix to rotate in the same way along the front and rear direction walking movement perpendicular to screw shaft.
4. spiral walking movement according to claim 2 mechanism is characterized in that: mechanism turn to or the differential that adopts left-handed spiral and right hand helix along the direction initialization walking movement in the same way or contrarotation.
5. spiral walking movement according to claim 1 mechanism is characterized in that: adopt many left-handed spirals of group and right hand helix to form composite screw mechanisms, constitute spiral walking driver trains.
6. according to claim 1,2,3,4 or 5 described spiral walking movement mechanisms, it is characterized in that: helical structure comprises that the cross section is trapezoidal, triangle, square and curve form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110140889XA CN102285387A (en) | 2011-05-27 | 2011-05-27 | Spiral-walking motion mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110140889XA CN102285387A (en) | 2011-05-27 | 2011-05-27 | Spiral-walking motion mechanism |
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| CN102285387A true CN102285387A (en) | 2011-12-21 |
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| CN201110140889XA Pending CN102285387A (en) | 2011-05-27 | 2011-05-27 | Spiral-walking motion mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104416563A (en) * | 2013-08-26 | 2015-03-18 | 龙伟 | Double-helix drive-based reversible search and rescue robot |
| CN104692221A (en) * | 2013-12-04 | 2015-06-10 | 孙世梁 | Stair step double-screw auger operation device |
| CN105982795A (en) * | 2016-06-15 | 2016-10-05 | 梁庆昌 | Left-right-handed rotating helical wheel type stair climbing wheelchair |
| CN107174421A (en) * | 2017-04-27 | 2017-09-19 | 陈建平 | A kind of electric bicycle that can be gone up downstairs |
| CN109878587A (en) * | 2019-03-27 | 2019-06-14 | 上海冀晟自动化成套设备有限公司 | A kind of intelligent barrow for upstairs for the stair activity that can lie low |
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN110524515A (en) * | 2019-09-04 | 2019-12-03 | 西南石油大学 | A kind of screw-pinch formula mobile robot |
| CN111546357A (en) * | 2020-05-19 | 2020-08-18 | 重庆德生鼎盛实业发展有限公司 | Engineering robot |
| CN113696996A (en) * | 2021-08-30 | 2021-11-26 | 杭州电子科技大学 | Storage detection robot |
-
2011
- 2011-05-27 CN CN201110140889XA patent/CN102285387A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104416563A (en) * | 2013-08-26 | 2015-03-18 | 龙伟 | Double-helix drive-based reversible search and rescue robot |
| CN104416563B (en) * | 2013-08-26 | 2019-04-16 | 龙伟 | A kind of turnable search and rescue robot based on double helix driving |
| CN104692221A (en) * | 2013-12-04 | 2015-06-10 | 孙世梁 | Stair step double-screw auger operation device |
| CN105982795B (en) * | 2016-06-15 | 2017-07-21 | 梁庆昌 | A kind of wheeled wheel chair capable of climbing stairway of left-right rotary spiral |
| CN105982795A (en) * | 2016-06-15 | 2016-10-05 | 梁庆昌 | Left-right-handed rotating helical wheel type stair climbing wheelchair |
| CN107174421A (en) * | 2017-04-27 | 2017-09-19 | 陈建平 | A kind of electric bicycle that can be gone up downstairs |
| CN107174421B (en) * | 2017-04-27 | 2018-08-10 | 陈建平 | A kind of electric bicycle that can be gone up downstairs |
| CN109878587A (en) * | 2019-03-27 | 2019-06-14 | 上海冀晟自动化成套设备有限公司 | A kind of intelligent barrow for upstairs for the stair activity that can lie low |
| CN109878587B (en) * | 2019-03-27 | 2023-08-29 | 上海冀晟自动化成套设备有限公司 | Intelligent stair climbing vehicle capable of lying down and going up and down stairs |
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN110524515A (en) * | 2019-09-04 | 2019-12-03 | 西南石油大学 | A kind of screw-pinch formula mobile robot |
| CN111546357A (en) * | 2020-05-19 | 2020-08-18 | 重庆德生鼎盛实业发展有限公司 | Engineering robot |
| CN113696996A (en) * | 2021-08-30 | 2021-11-26 | 杭州电子科技大学 | Storage detection robot |
| CN113696996B (en) * | 2021-08-30 | 2022-07-05 | 杭州电子科技大学 | Storage detection robot |
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Application publication date: 20111221 |