本發明為提供一種載具結構，尤指一種克服各式地形且結構簡單並故障率低的克服地形載具結構。The invention provides a vehicle structure, in particular to an over-the-top vehicle structure that overcomes various terrains and has a simple structure and a low failure rate.
按，無人載具係廣泛利用於各式場合，當環境或場合係為人類無法親身前往時，如災害過後的廢墟堆中、蠻荒或非人類可到達之地區亦或是外星球探勘，往往須藉助無人載具，其所需特色在於其設計需適應各式地形，習用之載具係因此研發而成，請同步參閱第一圖，係為習用之載具實施示意圖，其本體9具有利用偏心原理將其輪91變形為可供行走之結構，然而，其由於具有線性移動之設計，使其作動難度以及結構複雜度增加且成本提高之外，更將導致其故障率大增，使其實際應用上將充滿挑戰。According to the unmanned vehicle, it is widely used in various occasions. When the environment or occasion is for human beings to go in person, such as in the ruins pile after the disaster, wild or non-human reachable areas or extraterrestrial exploration, it is often necessary With the help of unmanned vehicles, the required features are that the design needs to adapt to various terrains, and the conventional vehicle is developed. Please refer to the first figure at the same time, which is a schematic diagram of the conventional vehicle, and the body 9 has eccentricity. The principle transforms its wheel 91 into a walkable structure. However, due to its linear movement design, its difficulty in operation and structural complexity increase and cost increase, it will lead to a large increase in its failure rate, making it practical. The application will be full of challenges.
是以，要如何解決上述習用之問題與缺失，即為本發明之創作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 lack of use, that is, the creators of the invention and the relevant manufacturers engaged in the industry are eager to study the direction of improvement.
故，本發明之創作人有鑑於上述缺失，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，始設計出此種克服各式地形且結構簡單並故障率低的克服地形載具結構發明專利者。Therefore, the creators of the present invention haveCollecting relevant materials, through multi-party evaluation and consideration, and through years of experience in the industry, through continuous trial and modification, we have designed this kind of overcoming terrain vehicle structure to overcome various terrains with simple structure and low failure rate. Patent holder.
本發明之主要目的在於：為針對習用載具所存在之結構複雜導致故障率高及設計成本增加的問題點加以突破，達到克服各式地形且結構簡單並故障率低之實用進步性。The main object of the present invention is to break through the problems of the complicated structure of the conventional vehicle and the high failure rate and the increase of the design cost, and achieve the practical progress of overcoming various terrains with simple structure and low failure rate.
為達到上述之目的，本發明一種克服地形載具結構，係包括：一第二載體以及一第一載體，第二載體之兩側處係分別樞設一第二轉動體，第二載體背離第二轉動體側處係與第一載體一側樞接，且第一載體背離樞接第二載體側處係界定一延伸部，延伸部兩側係分別延伸一支撐容置部，各支撐容置部係分別樞接一第一轉動體，且第一轉動體與延伸部間係界定一選擇性供第二轉動體容置之容置空間，另外，第二轉動體係包括至少一第二強化部，第二強化部係分別延伸一第二爪部，第一轉動體係包括至少一第一強化部，且第一強化部係分別延伸一第一爪部，其中第二載體位於樞接該第一載體處之間係裝設一輔助輪體，值得一提的是第一載體與第二載體樞接處、第二載體樞接第二轉動體處及支撐容置部樞接第一轉動體處係藉由一轉動馬達驅動，該些轉動馬達係電性連接一裝設於第一載體上之中央處理裝置，並第二轉動體及第一轉動體係分別裝設一對齊裝置，此外，第二載體或第一載體其中之一者的兩端係進一步分別界定一伸縮部，藉由第二載體與第一載體之摺疊，其第二轉動體係容設於容置空間內並藉由對齊裝置使第二轉動體及第一轉動體相互配合形成輪狀態樣作動，前述輪狀態樣加上輔助輪體共同作動，藉此可在平坦地形快速行進，而遇到崎嶇無法以輪狀態樣行進時，則將第二載體與第一載體展開，使第二轉動體及第一轉動體形成走動的足部態樣，藉由其第二轉動體及第一轉動體係藉由第二爪部及第一爪部進行攀爬之作動，藉此可輕易克服崎嶇之環境，另外，藉由第一轉動體背離第一載體外側係分別延伸一鰭片及第一載體或第二載體其中之一者上係界定至少一漂浮裝置，更可使本發明能於水上進行活動，且由於此一結構簡單，具有效降低成本及故障率之優點。In order to achieve the above object, the present invention provides a structure for overcoming the terrain carrier, comprising: a second carrier and a first carrier, wherein the second carrier is pivoted with a second rotating body, and the second carrier is separated from the second carrier The side of the second rotating body is pivotally connected to the first carrier side, and the first carrier is away from the pivoting second carrier side to define an extending portion, and the two sides of the extending portion respectively extend a supporting receiving portion, and each supporting portion is accommodated The first rotating body is pivotally connected to the first rotating body, and the first rotating body and the extending portion define an accommodating space for selectively accommodating the second rotating body, and the second rotating system includes at least one second reinforcing portion. The second reinforcing portion extends a second claw portion, the first rotating system includes at least one first reinforcing portion, and the first reinforcing portion extends a first claw portion, wherein the second carrier is located at the first pivoting portion. An auxiliary wheel body is disposed between the carrier, and it is worth mentioning that the first carrier and the second carrier are pivoted, the second carrier is pivoted to the second rotating body, and the supporting receiving portion is pivotally connected to the first rotating body. Driven by a rotating motor, the rotating motors Electrically connecteda central processing device mounted on the first carrier, and the second rotating body and the first rotating system are respectively provided with an alignment device, and further, the two ends of the second carrier or the first carrier are further respectively defined a telescopic portion, wherein the second rotating system is accommodated in the accommodating space by the folding of the second carrier and the first carrier, and the second rotating body and the first rotating body cooperate with each other to form a wheel state action by the aligning device The wheel state sample and the auxiliary wheel body are co-actuated, thereby being able to travel rapidly on the flat terrain, and when the rugged terrain cannot travel in the wheel state, the second carrier and the first carrier are deployed to make the second rotor And the first rotating body forms a walking foot state, and the second rotating body and the first rotating system are climbed by the second claw portion and the first claw portion, thereby easily overcoming the rugged environment In addition, the first rotating body extends away from the first carrier outer side to extend a fin, and one of the first carrier or the second carrier defines at least one floating device, so that the present invention can perform activities on the water. And Here a simple structure, with advantages reduce costs and failure rate.
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.
請參閱第二圖及第三圖所示，係為本發明較佳實施例之立體組合圖及分解示意圖，由圖中可清楚看出本發明一種克服地形載具結構，係包括：一第一載體1以及一第二載體2，該第一載體1背離樞接該第二載體2側處係界定一延伸部13，該延伸部13兩側係分別延伸一支撐容置部14，該第二載體2之兩側處係分別樞設一第二轉動體20，該第二載體2背離該第二轉動體20側處係與該第一載體1一側樞接，各該支撐容置部14係分別樞接一第一轉動體10，且該第一轉動體10與該延伸部13間係界定一選擇性供該第二轉動體20容置之容置空間15，另外，該第二轉動體20係包括至少一第二強化部201，該第二強化部201係分別延伸一第二爪部202，該第一轉動體10係包括至少一第一強化部101，且該第一強化部101係分別延伸一第一爪部102，其中該第二載體2位於樞接該第一載體1處之間係裝設一輔助輪體21，值得一提的是該第一載體1與該第二載體2樞接處、該第二載體2樞接該第二轉動體20處及該支撐容置部14樞接該第一轉動體10處係藉由一轉動馬達3驅動，該些轉動馬達3係電性連接一裝設於第一載體1上之中央處理裝置11，並該第二轉動體20及該第一轉動體10係分別裝設一對齊裝置16，值得一提的是第一轉動體10背離第一載體1外側係分別延伸一鰭片12，其中第一載體1或第二載體2其中之一者上係界定至少一漂浮裝置4。Please refer to the second and third figures, which are perspective assembled diagrams and exploded views of the preferred embodiment of the present invention.It can be clearly seen that the present invention overcomes the terrain carrier structure and includes a first carrier 1 and a second carrier 2, and the first carrier 1 defines an extension 13 away from the pivotal side of the second carrier 2. A support accommodating portion 14 is respectively extended on the two sides of the extending portion 13 , and a second rotating body 20 is respectively disposed at two sides of the second carrier 2 , and the second carrier 2 faces away from the second rotating body 20 side The first rotating body 10 is pivotally connected to the first rotating body 10, and the first rotating body 10 and the extending portion 13 define a selective connection. The second rotating body 20 includes at least one second reinforcing portion 201, and the second reinforcing portion 201 extends a second claw portion 202, respectively. A rotating body 10 includes at least one first reinforcing portion 101, and the first reinforcing portion 101 extends a first claw portion 102, wherein the second carrier 2 is pivotally connected between the first carrier 1 An auxiliary wheel body 21 is provided. It is worth mentioning that the first carrier 1 and the second carrier 2 are pivoted, and the second carrier 2 is pivotally connected to the second. The rotating body 20 and the supporting accommodating portion 14 are pivotally connected to the first rotating body 10 by a rotating motor 3, and the rotating motors 3 are electrically connected to a central processing unit mounted on the first carrier 1. The device 11 and the second rotating body 20 and the first rotating body 10 are respectively provided with an alignment device 16, and it is worth mentioning that the first rotating body 10 extends away from the outer side of the first carrier 1 to extend a fin 12, respectively. Wherein one of the first carrier 1 or the second carrier 2 is defined at leastA floatation 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，請同時配合參閱第二圖、第三圖、第四圖、第五圖及第六圖所示，係為本發明較佳實施例之立體組合圖、分解示意圖、崎嶇地型動作示意圖、平坦地型動作示意圖及水上動作示意圖，由圖中可清楚看出，第一載體1與第二載體2樞接處、第二載體2樞接第二轉動體20處及支撐容置部14樞接第一轉動體10處係藉由一轉動馬達3驅動，該些轉動馬達3係電性連接一裝設於第一載體1上之中央處理裝置11，藉由中央處理裝置11進行各第二轉動體20、第一轉動體10及轉動馬達3之作動，藉由第二載體2與第一載體1之摺疊，其第二轉動體20係可容設於容置空間15內，並藉由對齊裝置16使第二轉動體20及樞設於支撐容置部14上之第一轉動體10相互配合形成輪狀態樣作動，當呈現前述輪狀態樣時，第二載體2上之輔助輪體21將轉置於後方底面共同作動，藉此可在平坦地形快速行進，而遇到崎嶇無法以輪狀態樣行進時，則將第一載體1與第二載體2展開，使第一轉動體10及第二轉動體20形成走動的足部或爪部態樣，因此其第一轉動體10及第二轉動體20係藉由第一爪部102及第二爪部202進行攀爬之作動，而第一強化部101及第二強化部201係可增加第一轉動體10及第二轉動體20之結構強度，藉此可輕易克服崎嶇之環境，另外，藉由第一轉動體10背離第一載體1外側係分別延伸一鰭片12及第一載體1或第二載體2其中之一者上係界定至少一漂浮裝置4，更可使本發明能於水上進行活動，且由於此一結構簡單，具有效降低成本及故障率之優點。With the above structure and composition design, the operation of the present invention will be described as follows. Please refer to the second, third, fourth, fifth and sixth figures at the same time. The three-dimensional combination diagram, the exploded view, the rough-type action diagram, the flat-type action diagram and the water-moving diagram of the preferred embodiment, as can be clearly seen from the figure, the first carrier 1 and the second carrier 2 are pivoted, The two carriers 2 are pivotally connected to the second rotating body 20 and the supporting accommodating portion 14 is pivotally connected to the first rotating body 10 by a rotating motor 3, and the rotating motors 3 are electrically connected to the first carrier. The central processing unit 11 of the first processing unit 11 performs the operations of the second rotating body 20, the first rotating body 10 and the rotating motor 3 by the central processing unit 11, and the second carrier 2 and the first carrier 1 are folded. The two rotating bodies 20 can be accommodated in the accommodating space 15 , and the second rotating body 20 and the first rotating body 10 pivotally mounted on the supporting accommodating portion 14 are mutually matched to form a wheel state by the alignment device 16 . When the aforementioned wheel state is presented, the assistance on the second carrier 2 The body 21 is placed on the rear bottom surface to act together, thereby allowing rapid travel on a flat terrain, and when the rugged terrain cannot travel in a wheel state, the first carrier 1 and the second carrier 2 are deployed to make the first rotor 10 and the second rotating body 20 form a walking foot or claw, so that the first rotating body 10 and the second rotating body 20 are climbed by the first claw portion 102 and the second claw portion 202. And the first strongThe first portion of the first rotating body 10 and the second rotating body 20 can increase the structural strength of the first rotating body 10 and the second rotating body 20, thereby easily overcoming the rugged environment, and further, the first rotating body 10 faces away from the first carrier 1 The outer side extends one fin 12 and one of the first carrier 1 or the second carrier 2 to define at least one floating device 4, which further enables the invention to be active on the water, and since the structure is simple, Effectively reduce the cost and failure rate.
請同時配合參閱第七圖及第八圖所示，係為本發明再一較佳實施例之立體組合圖及實施組合圖，由圖中可清楚看出，第一載體1a或第二載體2a其中之一者的兩端係分別界定一伸縮部8a，藉此可使第一載體1a或第二載體2a本身延伸加長，增加本身活動性，更可克服挑戰性更高之地形。Please refer to the seventh embodiment and the eighth embodiment at the same time, which is a perspective combination diagram and a combination diagram of still another preferred embodiment of the present invention. As can be clearly seen from the figure, the first carrier 1a or the second carrier 2a One of the two ends defines a telescopic portion 8a, respectively, whereby the first carrier 1a or the second carrier 2a itself can be extended and lengthened, thereby increasing its own mobility and overcoming the more challenging terrain.
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，著實存在下列優點：Therefore, referring to all the drawings, when using the present invention, compared with the conventional technology, the following advantages exist:
一、第一載體1與第二載體2之摺疊，其第二轉動體20係可容設於容置空間15內，並藉由對齊裝置16使第二轉動體20及樞設於支撐容置部14上之第一轉動體10相互配合形成輪狀態樣作動，可在平坦地形快速行進。1. The first carrier 1 and the second carrier 2 are folded, and the second rotating body 20 is received in the accommodating space 15 and the second rotating body 20 is pivoted by the alignment device 16.The first rotating bodies 10 on the support accommodating portion 14 cooperate with each other to form a wheel-like motion, and can travel rapidly on a flat terrain.
二、第一載體1與第二載體2展開，使第一轉動體10及第二轉動體20形成走動的足部或爪部態樣，可輕易克服崎嶇之環境。2. The first carrier 1 and the second carrier 2 are unfolded, so that the first rotating body 10 and the second rotating body 20 form a walking foot or claw shape, which can easily overcome the rugged environment.
三、本發明結構簡單，具有效降低成本及故障率之優點。Third, the invention has the advantages of simple structure, effective reduction of cost and failure rate.
四、藉伸縮部8a設計可使第一載體1a或第二載體2a本身延伸加長，增加本身活動性，更可克服挑戰性更高之地形。4. The telescopic portion 8a is designed to extend and lengthen the first carrier 1a or the second carrier 2a itself, thereby increasing the mobility of the device, and further overcoming the more challenging terrain.
五、第一轉動體10背離第一載體1外側係分別延伸一鰭片12及第一載體1或第二載體2其中之一者上係界定至少一漂浮裝置4，更可使本發明能於水上進行活動。5. The first rotating body 10 extends away from the outer side of the first carrier 1 and extends one fin 12 and one of the first carrier 1 or the second carrier 2 to define at least one floating device 4, so that the present invention can Activities on the water.
綜上所述，本發明之克服地形載具結構於使用時，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創作，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，以保障創作人之辛苦創作，倘若 鈞局審委有任何稽疑，請不吝來函指示，創作人定當竭力配合，實感德便。In summary, the invention overcomes the terrain carrier structure in use, in order to achieve its efficacy and purpose, the invention is a practical and excellent creation, in accordance with the application requirements of the invention patent, 提出 apply according to law I hope that the trial committee will grant this invention as soon as possible to protect the creators' hard work. If there is any doubt in the ruling committee, please do not hesitate to give instructions, the creators will try their best to cooperate and feel good.
習用元件Conventional component
9‧‧‧本體9‧‧‧ Ontology
91‧‧‧輪91‧‧‧ round
本創作元件Creative component
1.1a‧‧‧第一載體1.1a‧‧‧ first carrier
10‧‧‧第一轉動體10‧‧‧First rotating body
101‧‧‧第一強化部101‧‧‧First Strengthening Department
102‧‧‧第一爪部102‧‧‧First claw
11‧‧‧中央處理裝置11‧‧‧Central processing unit
12‧‧‧鰭片12‧‧‧Fins
13‧‧‧延伸部13‧‧‧Extension
14‧‧‧支撐容置部14‧‧‧Support and containment
15‧‧‧容置空間15‧‧‧ accommodating space
16‧‧‧對齊裝置16‧‧‧Alignment device
2.2a‧‧‧第二載體2.2a‧‧‧Second carrier
20‧‧‧第二轉動體20‧‧‧second rotating body
201‧‧‧第二強化部201‧‧‧ Second Strengthening Department
202‧‧‧第二爪部202‧‧‧second claw
21‧‧‧輔助輪體21‧‧‧Auxiliary wheel body
3‧‧‧轉動馬達3‧‧‧Rotating motor
4‧‧‧漂浮裝置4‧‧‧Floating device
8a‧‧‧伸縮部8a‧‧‧Flexing Department
第一圖 係為習用之載具實施示意圖。The first figure is a schematic diagram of the implementation of the vehicle used in the past.
第二圖 係為本發明較佳實施例之立體組合圖。The second drawing is a perspective assembled view of a preferred embodiment of the present invention.
第三圖 係為本發明較佳實施例之分解示意圖。The third figure is an exploded schematic view of a preferred embodiment of the present invention.
第四圖 係為本發明較佳實施例之崎嶇地型動作示意圖。The fourth figure is a schematic view of the rugged ground type operation of the preferred embodiment of the present invention.
第五圖 係為本發明較佳實施例之平坦地型動作示意圖。Figure 5 is a schematic view of a flat type of operation in accordance with a preferred embodiment of the present invention.
第六圖 係為本發明較佳實施例之水上動作示意圖。Figure 6 is a schematic view of the water action of the preferred embodiment of the present invention.
第七圖 係為本發明再一較佳實施例之立體組合圖。Figure 7 is a perspective assembled view of still another preferred embodiment of the present invention.
第八圖 係為本發明再一較佳實施例之實施組合圖。The eighth drawing is a combination of the implementation of still another preferred embodiment of the present invention.
1‧‧‧第一載體1‧‧‧ first carrier
10‧‧‧第一轉動體10‧‧‧First rotating body
101‧‧‧第一強化部101‧‧‧First Strengthening Department
102‧‧‧第一爪部102‧‧‧First claw
11‧‧‧中央處理裝置11‧‧‧Central processing unit
12‧‧‧鰭片12‧‧‧Fins
13‧‧‧延伸部13‧‧‧Extension
14‧‧‧支撐容置部14‧‧‧Support and containment
15‧‧‧容置空間15‧‧‧ accommodating space
16‧‧‧對齊裝置16‧‧‧Alignment device
2‧‧‧第二載體2‧‧‧second carrier
20‧‧‧第二轉動體20‧‧‧second rotating body
201‧‧‧第二強化部201‧‧‧ Second Strengthening Department
202‧‧‧第二爪部202‧‧‧second claw
21‧‧‧輔助輪體21‧‧‧Auxiliary wheel body
3‧‧‧轉動馬達3‧‧‧Rotating motor
4‧‧‧漂浮裝置4‧‧‧Floating device
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101122400ATW201400342A (en) | 2012-06-22 | 2012-06-22 | Vehicle structure capable of overcoming terrain |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101122400ATW201400342A (en) | 2012-06-22 | 2012-06-22 | Vehicle structure capable of overcoming terrain |
| Publication Number | Publication Date |
|---|---|
| TW201400342Atrue TW201400342A (en) | 2014-01-01 |
| TWI455844B TWI455844B (en) | 2014-10-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101122400ATW201400342A (en) | 2012-06-22 | 2012-06-22 | Vehicle structure capable of overcoming terrain |
| Country | Link |
|---|---|
| TW (1) | TW201400342A (en) |
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| FR2583701B1 (en)* | 1985-06-21 | 1990-03-23 | Commissariat Energie Atomique | VARIABLE GEOMETRY CRAWLER VEHICLE |
| US7249640B2 (en)* | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| US7798264B2 (en)* | 2006-11-02 | 2010-09-21 | Hutcheson Timothy L | Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode |
| US8157032B2 (en)* | 2010-04-06 | 2012-04-17 | Robotex Inc. | Robotic system and method of use |
| CN102350917A (en)* | 2011-07-27 | 2012-02-15 | 中国科学院深圳先进技术研究院 | Folding combined obstacle detouring wheel |
| Publication number | Publication date |
|---|---|
| TWI455844B (en) | 2014-10-11 |
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| Date | Code | Title | Description |
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| MM4A | Annulment or lapse of patent due to non-payment of fees |