本發明為提供一種移動載具，特別是指一種可應用於各種崎嶇不平地形且生產成本便宜、生產快速、易於操作及保養維修的移動載具之爬階機構。The invention provides a mobile vehicle, in particular to a climbing gear mechanism which can be applied to various rugged terrains and has low production cost, fast production, easy operation and maintenance.
按，隨著科技不斷地進步，機器人相關領域的研究在近年來已逐漸獲得世界各先進國家之高度重視，並獲得顯著的進展，如用於打掃、搬移物品、倒飲料、料理食物、保全等，且於實際應用中，機器人係更廣泛應用於各種不同的危險區域或有害環境之中，有效地代替人類執行具有高度危險性的任務，藉以保障人員的生命安全，避免造成人員傷亡，因此發明了習用履帶型載具及機器蛇。In recent years, with the continuous advancement of technology, research in the field of robots has gradually gained great attention from advanced countries in the world, and has made remarkable progress, such as cleaning, moving articles, pouring beverages, cooking food, preservation, etc. In practical applications, the robot system is more widely used in various dangerous areas or harmful environments, effectively replacing humans to perform highly dangerous tasks, thereby ensuring the safety of personnel and avoiding casualties, thus inventing The use of crawler-type vehicles and machine snakes.
履帶型載具係可應用於各種崎嶇不平的地形，其主要結構係包括有一車輛主要骨架，而車輛主要骨架兩側係分別裝設有至少一主要履帶，且車輛主要骨架兩端係分別裝設有至少一具有聯軸器之延伸臂，並主要骨架上係設置有一提供該些主要履帶及該些延伸臂動力之動力傳輸單元，又該些延伸臂係分別設置有一連動履帶及一張力調整器，藉此令履帶型載具得以轉向，且履帶型載具係藉由動力傳輸單元提供該些延伸臂各自變更與車輛主要骨架相對之角度，使履帶型載具得以應用於各種崎嶇不平的地形，但履帶型載具生產過程相當麻煩，零件繁雜且精密度不得太低、組裝複雜且需相配合，導致生產成本居高不下、生產速度緩慢。The crawler type carrier can be applied to various rugged terrains, and the main structure includes a main skeleton of the vehicle, and at least one main crawler belt is respectively installed on both sides of the main skeleton of the vehicle, and the main skeletons of the vehicle are separately installed. There is at least one extension arm having a coupling, and the main skeleton is provided with a power transmission unit for providing the main track and the power of the extension arms, and the extension arms are respectively provided with a linkage crawler and a force adjuster In this way, the crawler-type carrier can be steered, and the crawler-type carrier is provided with the angles of the extension arms which are opposite to the main skeleton of the vehicle by the power transmission unit, so that the crawler type carrier can be applied to various rugged terrains. However, the production process of the crawler type carrier is quite troublesome, the parts are complicated and the precision is not too low, the assembly is complicated and needs to be matched, resulting in high production cost and slow production speed.
為了能夠廣泛地在各種地形和自然環境中活動，第一個想到的動物就是蛇，蛇具有多種獨特的生理結構適應各式各樣的地形環境，而機器蛇具有像蛇一樣的功能結構和運動方式，使其能在各種粗糙、陡峭、崎嶇的複雜地形上移動，並可避開障礙物、攀爬階梯甚至越過壕溝等，這是以輪子或腳作為行走機器人難以達成的，且機器蛇在許多領域具有廣泛的應用前景，如在太空執行探測任務、軍事偵察、在地震、塌方及火災後的廢墟中找尋傷患、提供現場訊息或搜救、在狹小的管道中探測、維修或疏通等，不過為了適應崎嶇不平的地形或爬階需求，其節數就要多，所需的驅動馬達也隨之而增加，因此其控制架構與行走步態極其複雜，製作成本高，操控、維修與保養都困難。In order to be able to move widely in various terrains and natural environments, the first animal to think of is a snake. The snake has a variety of unique physiological structures to adapt to a variety of terrain environments, while the machine snake has a snake-like functional structure and movement. In a way that allows it to move on a variety of rough, steep, rugged and complex terrain, and avoid obstacles, climb stairs, or even cross the trenches. This is difficult to achieve with wheels or feet as a walking robot. Many fields have broad application prospects, such as performing missions in space, military reconnaissance, finding injuries in the ruins of earthquakes, landslides and fires, providing on-site information or search and rescue, detecting, repairing or dredging in narrow pipelines, etc. However, in order to adapt to the rugged terrain or climbing step requirements, the number of sections is increased, and the required drive motor is also increased. Therefore, the control structure and walking gait are extremely complicated, the production cost is high, and the operation, maintenance and maintenance are performed. It is difficult.
是以，要如何解決上述習用之問題與缺失，即為本發明之發明人與從事此行業之相關廠商所亟欲研究改善之方向所在者。Therefore, how to solve the above problems and deficiencies in the above-mentioned applications, that is, the inventors of the present invention and those involved in the industry are eager to study the direction of improvement.
故，本發明之發明人有鑑於上述缺失，乃搜集相關資料，經由多方評估及考量，並以從事於此行業累積之多年經驗，經由不斷試作及修改，始設計出此種可應用於各種崎嶇不平地形且生產成本便宜、生產快速、易於操作及保養維修的移動載具之爬階機構發明專利者。Therefore, the inventors of the present invention have collected the relevant materials in view of the above-mentioned deficiencies, and through multi-party evaluation and consideration, and through years of experience accumulated in the industry, through continuous trial and modification, the design has been applied to various ruggedness. The invention of the climber of the mobile vehicle with uneven terrain and low production cost, fast production, easy operation and maintenance.
本發明之主要目的在於：可應用於各種崎嶇不平地形。The main object of the present invention is to be applicable to various rugged terrains.
本發明之次要目的在於：降低生產成本、提升生產速度、易於操作及保養維修。The secondary purpose of the present invention is to reduce production costs, increase production speed, and ease of operation and maintenance.
為達上述目的，本發明主結構係包括有一連接元件，而連接元件兩端係分別裝設有至少一第一驅動裝置及一第二驅動裝置，且第二驅動裝置係樞設有第二滑移單元，並第二滑移單元係滑設於第二支撐組件上，又第一驅動裝置係樞設有第一滑移單元，且第一滑移單元係滑設於第一支撐組件上；當上述構件開始作動時，係以第一支撐組件為支撐點令第一驅動裝置作動舉起連接元件使其向前翻轉，且轉動第二驅動裝置係旋轉作動使第二支撐組件向前翻轉，並第一滑移單元及第二滑移單元係隨翻轉而發生滑動，且持續翻轉直至第二支撐組件接觸地面為止，再換以第二驅動裝置為支撐點令第二驅動裝置作動舉起連接元件使其向前翻轉，不斷重覆，令本創作達到可應用於各種崎嶇不平地形且生產成本便宜、生產快速、易於操作及保養維修之實用進步性。In order to achieve the above object, the main structure of the present invention includes a connecting component, and the connecting component is respectively provided with at least one first driving device and one second driving device, and the second driving device is pivotally provided with a second sliding device. Moving the unit, and the second sliding unit is slidably disposed on the second supporting component, and the first driving device is pivotally provided with the first sliding unit, and the first sliding unit is slidably disposed on the first supporting component; When the member starts to act, the first supporting component is used as a supporting point, so that the first driving device acts to lift the connecting component to flip it forward, and the rotating second driving device rotates to rotate the second supporting component forward. And the first sliding unit and the second sliding unit slide with the flipping, and continue to flip until the second supporting component contacts the ground, and then the second driving device is used as the supporting point to make the second driving device actuate and lift the connection. The components are flipped forward and repeated, making the creation a practical advancement that can be applied to a variety of rugged terrains with low production costs, fast production, easy operation and maintenance.
為達成上述目的及功效，本發明所採用之技術手段及構造，茲繪圖就本發明較佳實施例詳加說明其特徵與功能如下，俾利完全了解。In order to achieve the above objects and effects, the technical means and the structure of the present invention will be described in detail with reference to the preferred embodiments of the present invention.
請參閱第一圖及第二圖所示，係為本發明較佳實施例之立體示意圖及平面示意圖，由圖中可清楚看出本發明移動載具之爬階機構係包括有至少一連接元件1，連接元件1兩端係分別裝設有一第一驅動裝置11及一第二驅動裝置12，而第一驅動裝置11係樞設有第一支撐組件2，且第一支撐組件2係包括有一供樞設第一驅動裝置11之第一滑移單元21，並第一滑移單元21係滑設於第一支撐組件2上，又第二驅動裝置12係樞設有一第二支撐組件3，且第二支撐組件3係包括有一供樞設第二驅動裝置12之第二滑移單元31，並第二滑移單元31係滑設於第二支撐組件3上，而第一驅動裝置11及第二驅動裝置12係共同電訊連結有一設置於連接元件1之收發控制單元13，且收發控制單元13供控制第一驅動裝置11及第二驅動裝置12，而收發控制單元13係電性連結有一可攜式電源14，且收發控制單元13係資訊連結有至少一攝錄裝置4。Please refer to the first embodiment and the second figure, which are schematic perspective views and a plan view of a preferred embodiment of the present invention. It can be clearly seen from the figure that the climbing mechanism of the mobile carrier of the present invention includes at least one connecting component. 1. The first driving device 11 and the second driving device 12 are respectively disposed at two ends of the connecting component 1, and the first driving device 11 is pivotally provided with the first supporting component 2, and the first supporting component 2 includes one The first sliding unit 21 of the first driving device 11 is pivoted, and the first sliding unit 21 is slidably disposed on the first supporting component 2, and the second driving device 12 is pivotally provided with a second supporting component 3, The second supporting unit 3 includes a second sliding unit 31 for pivoting the second driving unit 12, and the second sliding unit 31 is slidably disposed on the second supporting unit 3, and the first driving unit 11 and The second driving device 12 is connected to the transmitting and receiving control unit 13 of the connecting component 1 , and the transceiver control unit 13 is configured to control the first driving device 11 and the second driving device 12 , and the transceiver control unit 13 is electrically connected to the second driving device 13 . Portable power supply 14 and transceiver control unit 1 The 3 series information link has at least one recording device 4.
藉由上述之結構、組成設計，茲就本發明之使用作動情形說明如下，請同時配合參閱第一圖至第六圖所示，係為本發明較佳實施例之立體示意圖、平面示意圖、第一動作示意圖、第二動作示意圖、第三動作示意圖、第四動作示意圖，由圖中可清楚看出，當上述構件開始動作時，收發控制單元13係先驅動第一驅動裝置11，使第一驅動裝置11轉動且以第一支撐組件2為支撐點向前翻轉舉起連接元件1，並收發控制單元13係令第二驅動裝置12轉動使第二支撐組件3向前翻轉，而第二支撐組件3係隨著第一驅動裝置11及第二驅動裝置12翻轉作動改變重心，導致第二滑移單元31發生滑動，令第二驅動裝置12滑移至第二支撐組件3一端，且因第一驅動裝置11翻轉舉起連接元件1並帶動第二支撐組件3，第一滑移單元21係受連接元件1、第二驅動裝置12及第二支撐組件3之重量而發生滑動，令第一驅動裝置11滑移至第一支撐組件2一端，且第一驅動裝置11及第二驅動裝置12係持續翻轉直至第二支撐組件3接觸地面為止，再換以第二支撐組件3為支撐點令第二驅動裝置12作動舉起連接元件1使其向前翻轉，不斷重覆上述動作，令本創作達到可應用於各種崎嶇不平地形且生產成本便宜、生產快速、易於操作及保養維修之實用進步性。With the above-mentioned structure and composition design, the following is a description of the operation of the present invention. Please refer to the first to sixth figures at the same time, which is a perspective view, a plan view, and a schematic view of a preferred embodiment of the present invention. An action schematic diagram, a second motion diagram, a third motion diagram, and a fourth motion diagram are clearly seen in the figure. When the component starts to operate, the transceiver control unit 13 drives the first driving device 11 to make the first The driving device 11 rotates and flips up the connecting element 1 with the first supporting component 2 as a supporting point, and the transmitting and receiving control unit 13 causes the second driving device 12 to rotate to flip the second supporting component 3 forward, and the second support The component 3 changes the center of gravity as the first driving device 11 and the second driving device 12 are reversed, causing the second sliding unit 31 to slide, causing the second driving device 12 to slide to one end of the second supporting component 3, and A driving device 11 flips up the connecting element 1 and drives the second supporting component 3, and the first sliding unit 21 is caused by the weight of the connecting component 1, the second driving device 12 and the second supporting component 3. The first driving device 11 is slid to the end of the first supporting component 2, and the first driving device 11 and the second driving device 12 are continuously flipped until the second supporting component 3 contacts the ground, and then replaced by the second supporting component. 3 is the support point, so that the second driving device 12 is actuated to lift the connecting element 1 to flip it forward, and the above actions are repeated repeatedly, so that the creation can be applied to various rugged terrains, and the production cost is low, the production is fast, and the operation is easy. Practical and progressive maintenance and repair.
惟，以上所述僅為本發明之較佳實施例而已，非因此即侷限本發明之專利範圍，故舉凡運用本發明說明書及圖式內容所為之簡易修飾及等效結構變化，均應同理包含於本發明之專利範圍內，合予陳明。However, the above description is only the preferred embodiment of the present invention, and thus it is not intended to limit the scope of the present invention. Therefore, the simple modification and equivalent structural changes of the present specification and the drawings should be treated similarly. It is included in the scope of the patent of the present invention and is combined with Chen Ming.
故，請參閱全部附圖所示，本發明使用時，與習用技術相較，著實存在著藉由連接元件1兩端之第一驅動裝置11及一第二驅動裝置12分別帶動連接元件1、第一支撐組件2及第二支撐組件3，令本創作可應用於各種崎嶇不平地形且生產成本便宜、生產快速、易於操作及保養維修之實用進步性。Therefore, referring to the drawings, when the present invention is used, compared with the conventional technology, the first driving device 11 and the second driving device 12 at both ends of the connecting component 1 respectively drive the connecting component 1. The first support assembly 2 and the second support assembly 3 enable the present invention to be applied to various rugged terrains with low production costs, rapid production, easy operation, maintenance and maintenance.
綜上所述，本發明之移動載具之爬階機構於使用時，為確實能達到其功效及目的，故本發明誠為一實用性優異之發明，為符合發明專利之申請要件，爰依法提出申請，盼 審委早日賜准本發明，以保障發明人之辛苦發明，倘若 鈞局審委有任何稽疑，請不吝來函指示，發明人定當竭力配合，實感德便。In summary, the climbing device of the mobile vehicle of the present invention can achieve its efficacy and purpose when used, so the invention is an invention with excellent practicability, and is an application for conforming to the invention patent, To file an application, I hope that the trial committee will grant the invention as soon as possible to protect the inventor's hard work. If there is any doubt in the trial committee, please do not hesitate to give instructions, the inventor will try his best to cooperate, and feel really good.
1．．．連接元件1. . . Connecting element
11．．．第一驅動裝置11. . . First drive
12．．．第二驅動裝置12. . . Second drive
13．．．收發控制單元13. . . Transceiver control unit
14．．．可攜式電源14. . . Portable power supply
2．．．第一支撐組件2. . . First support component
21．．．第一滑移單元twenty one. . . First slip unit
3．．．第二支撐組件3. . . Second support component
31．．．第二滑移單元31. . . Second slip unit
4．．．攝錄裝置4. . . Recording device
第一圖 係為本發明較佳實施例之立體示意圖。The first figure is a perspective view of a preferred embodiment of the invention.
第二圖 係為本發明較佳實施例之平面示意圖。The second drawing is a schematic plan view of a preferred embodiment of the invention.
第三圖 係為本發明較佳實施例之第一動作示意圖。The third figure is a schematic diagram of the first action of the preferred embodiment of the present invention.
第四圖 係為本發明較佳實施例之第二動作示意圖。The fourth figure is a schematic view of the second action of the preferred embodiment of the present invention.
第五圖 係為本發明較佳實施例之第三動作示意圖。Figure 5 is a schematic view of a third operation of the preferred embodiment of the present invention.
第六圖 係為本發明較佳實施例之第四動作示意圖。Figure 6 is a fourth schematic view of the preferred embodiment of the present invention.
1．．．連接元件1. . . Connecting element
11．．．第一驅動裝置11. . . First drive
12．．．第二驅動裝置12. . . Second drive
13．．．收發控制單元13. . . Transceiver control unit
14．．．可攜式電源14. . . Portable power supply
2．．．第一支撐組件2. . . First support component
21．．．第一滑移單元twenty one. . . First slip unit
3．．．第二支撐組件3. . . Second support component
31．．．第二滑移單元31. . . Second slip unit
4．．．攝錄裝置4. . . Recording device
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101111390ATW201339034A (en) | 2012-03-30 | 2012-03-30 | Stair climbing mechanism of moving vehicle |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101111390ATW201339034A (en) | 2012-03-30 | 2012-03-30 | Stair climbing mechanism of moving vehicle |
| Publication Number | Publication Date |
|---|---|
| TW201339034Atrue TW201339034A (en) | 2013-10-01 |
| TWI481521B TWI481521B (en) | 2015-04-21 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101111390ATW201339034A (en) | 2012-03-30 | 2012-03-30 | Stair climbing mechanism of moving vehicle |
| Country | Link |
|---|---|
| TW (1) | TW201339034A (en) |
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| CN113978568A (en)* | 2021-09-28 | 2022-01-28 | 杭州云深处科技有限公司 | Quadruped robot turning method |
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| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |