CN103611321A - Auto-travel figure-8-shaped path car - Google Patents
Auto-travel figure-8-shaped path car Download PDFInfo
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- CN103611321A CN103611321A CN201310565619.2A CN201310565619A CN103611321A CN 103611321 A CN103611321 A CN 103611321A CN 201310565619 A CN201310565619 A CN 201310565619A CN 103611321 A CN103611321 A CN 103611321A
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Abstract
The invention provides an auto-travel figure-8-shaped path car comprising a power mechanism, a transmission mechanism, a shift wheel mechanism, a car plate mechanism, a rear wheel mechanism, and a front wheel mechanism. The power mechanism is used for acquiring gravitational potential energy of a load. The transmission mechanism is used for converting power directions. The shift wheel mechanism is used for completing steering. The car plate mechanism is used for mounting and positioning other mechanisms of the car. The rear wheel mechanism is used for controlling drive wheels to rotate. The front wheel mechanism is used for controlling steering wheels to rotate. According to the auto-travel figure-8-shaped path car which is an automatic barrier avoidance car, the gravitational potential energy of the load is used as a power source, and the shift wheel mechanism is used for steering; particularly, a horizontal shaft and a vertical shaft are under friction drive, path cycle of the car is adjustable, and the car is single wheel driven. The auto-travel figure-8-shaped path car is reasonable in structural design, convenient to maintain and low in cost; the steering cycle of the car is adjustable; left swing and right swing are equal while the steering wheels swing periodically, and travelling of the car is stable.
Description
Technical field
What the present invention relates to is a kind of automatic winding barrier dolly, the automatic winding barrier dolly that specifically a kind of gravitional force of take load is power.
Background technology
Automatically walking " 8 " word track dolly is the assign a subject for competition of the 3rd national college students' engineering training integration capability contest, requirement is under the prerequisite of given gravitional force, according to energy conversion principle, design a kind of device that this gravitional force can be converted to mechanical energy and can be used to drive carriage walking.Sports has two projects, project 1: this automatic carriage can automatically be avoided the barrier (at interval of 1 meter, placing the elastic barrier pole of diameter 20mm, a high 200mm) arranging on racing track when moving ahead.With the move ahead distance of distance and the number of avoiding obstacle of dolly, carry out Comprehensive Assessment achievement; Project 2: dolly is at half standard table tennis table, around two obstacles in a distance, along figure of eight track, detour, while detouring, cannot bump against barrier (the elastic barrier poles of two diameter 20mm, high 200mm in a distance), with dolly, complete the number of turns that " 8 " word detours and evaluate achievement.Automatically the requirement of " 8 " word track dolly finished item 2 of walking.
The most endplay devices that adopt of existing racing bicycle drive deflecting roller periodically to swing, endplay device is because the cooperation of itself requires higher, in the situation that the error of machining is certain, exist, there is the situation that precision is inadequate in the size of rocking bar, be difficult to meet accurately dimensional requirement, the not accurate enough phenomenon of track that causes dolly to travel occurs.
Number of patent application is 200920041441.0, name is called: the walking mechanism that discloses a kind of automatic walking trolley in the utility model patent file of " walking mechanism of automatic walking trolley ", the road wheel that comprises drive unit, wheel shaft and wheel shaft two ends, wheel shaft is divided into two sections of left and right, fills the differential mechanism that driving mechanism drives between two sections of left and right.But due to differential mechanism relative complex, easy-maintaining not, cost is also relatively high.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, be convenient to maintenance, with low cost, automatic walking " 8 " the word track dolly of walking stable.
The object of the present invention is achieved like this:
Comprise actuating unit for obtaining load gravitional force, for the transmission mechanism of power direction conversion, for complete divertical motion thumb wheel mechanism, for each mechanism of dolly the sweep mechanism of location is installed, for controlling the rear wheel mechanism that driving wheel rotates and controlling the front-wheel mechanism that deflecting roller rotates.
Described actuating unit comprises bobbin, bobbin friction pulley, bobbin gear, bobbin is installed on the bobbin bearing block being connected with plate after car, bobbin friction pulley and bobbin gear are installed on bobbin, the mainshaft gear engagement in bobbin gear and rear wheel mechanism, and cotton rope connects load and bobbin.
Described transmission mechanism comprises travelling gear, friction pulley and power transmission shaft, power transmission shaft is installed on the drive bearing block being connected with plate after car, travelling gear and friction pulley are installed on the two ends of power transmission shaft, friction pulley is connected with the bobbin friction pulley in actuating unit, the gear wheel engagement in travelling gear and thumb wheel mechanism.
Described thumb wheel mechanism comprises thumb wheel, gear wheel, little axle and shifting block, thumb wheel is fixed on thumb wheel seat, and thumb wheel seat and gear wheel are installed on little axle, and little axle is placed on the bearing block being connected with car header board, gear wheel drives little axle rotation that thumb wheel is rotated, and thumb wheel is stirred shifting block rotation and driven deflecting roller to turn to.
Described sweep structure by car header board and car after plate by connecting, piece is affixed to be formed.
Described rear-wheel structure comprises large wheel shaft, driving gear and bull wheel, and two bull wheels are connected with large wheel shaft by unilateral bearing, and driving gear is installed on large wheel shaft, large wheel shaft be fixed in car after the spindle bearing holder of plate be connected.
Described fore wheel structure comprises front fork, the front-wheel being fastenedly connected with shifting block, and front fork rolls and is connected with the front axle bearing that is fixed in car header board, and front-wheel is installed on front fork by front axle.
At little axle, spacer is set, between the bearing block of described spacer on thumb wheel seat and little axle.
The invention provides a kind of reasonable in design, be convenient to maintenance, automatic walking " 8 " word track dolly with low cost, dolly can be adjusted the cycle that turns to, and about while guaranteeing deflecting roller periodic oscillations, the amplitude of oscillation is consistent, and walking is stable.The present invention is that a kind of gravitional force of take load is power, completes the automatic winding barrier dolly of divertical motion with thumb wheel mechanism, frictional drive adjustable track cycle, single wheel drive " 8 " word track dolly of automatically walking for especially a kind of trunnion axis and vertical axes.
Actuating unit obtains gravitional force the drive shaft of load by kinking, driving wheel is connected fixed with main shaft by bolt; The position of adjusting friction wheel makes frictional disk rotation period identical with the dolly obstacle detouring cycle, and trackwheel makes deflecting roller reach appointment pivot angle; Complete the automatic winding barrier task of dolly.
Actuating unit is connected load and bobbin and is placed in sweep mechanism below by cotton rope, and bobbin is placed on the bobbin bearing block being connected with plate after car with bobbin friction pulley and bobbin gear are affixed, the structure of the mainshaft gear engagement speedup transmission in bobbin gear and rear wheel mechanism; Transmission mechanism is placed on the drive bearing block being connected with plate after car by travelling gear, friction pulley and power transmission shaft are affixed, friction pulley is connected and realizes frictional drive with bobbin friction pulley in actuating unit, and the gear wheel engagement in travelling gear and thumb wheel mechanism realizes the structure of transmission; Thumb wheel mechanism is fixed in thumb wheel seat by thumb wheel, and thumb wheel seat, spacer, gear wheel are fixed on little axle and are placed on the bearing block being connected with car header board, and gear wheel drives little axle to rotate and makes thumb wheel rotation, and thumb wheel is stirred shifting block and rotated the structure that drives deflecting roller to turn to; Sweep structure by car header board, car after plate respectively at connecting the affixed structure of piece; Rear-wheel structure by bearing gland, bull wheel wheel hub is affixed with bull wheel and be connected with large wheel shaft by unilateral bearing, large wheel shaft and driving gear affixed be fixed in car after the structure that is connected by bearing of the spindle bearing holder of plate; Fore wheel structure is rolled and is connected with the front axle bearing that is fixed in car header board by the front fork being fastenedly connected with shifting block, front-wheel is connected with front axle with axle sleeve by bearing, front axle and front fork are affixed, and shifting block rotates and drives front fork to rotate the structure that simultaneously drives deflecting roller to rotate.
The technique effect of automatic walking of the present invention " 8 " word track dolly is mainly reflected in:
1. owing to there being rear wheel mechanism, two bull wheel differential stability of rotation occur without skidding;
2. owing to there being transmission mechanism, dolly can change deflecting roller and turn to the cycle;
3. owing to there being thumb wheel mechanism, dolly deflecting roller can swing and change deflecting roller pivot angle the resting period.
Accompanying drawing explanation
Fig. 1 (a)-Fig. 1 (b) is the view of sweep mechanism.
Fig. 2 (a) is the view of thumb wheel mechanism.
Fig. 2 (b) is the view of thumb wheel.
Fig. 3 is the view of front-wheel mechanism.
Fig. 4 is the view of transmission mechanism.
Fig. 5 is the view of rear wheel mechanism.
Fig. 6 is the view of actuating unit.
Fig. 7 (a) is the front view of automatic walking " 8 " word track dolly.
Fig. 7 (b) is the top view of automatic walking " 8 " word track dolly.
Fig. 7 (c) is the upward view of automatic walking " 8 " word track dolly.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail.
Actuating unit is to consist of bobbin gear 26, bobbin friction pulley 27, bobbin 28, bobbin bearing block 29.The cotton rope one end hanging on fixed pulley connects load, the other end is wrapped on bobbin 28, when load free-falling, drive bobbin to rotate, by mainshaft gear 24 engaged transmission of bobbin gear 26 and rear wheel mechanism, friction pulley 18 frictional drive of bobbin friction pulley 27 and transmission mechanism, reach and drive the object that main shaft rotates and transmission mechanism rotates.
Transmission mechanism is to consist of travelling gear 16, drive bearing block 17, friction pulley 18, power transmission shaft 19.Friction pulley 18 rotates band nutating gear 16 and rotates, and the gear wheel engaged transmission of travelling gear and thumb wheel mechanism reaches the object that drives thumb wheel mechanism to rotate.
Thumb wheel mechanism consists of gear wheel 4, thumb wheel 5, thumb wheel seat 6, little axle 7, shifting block 8, bearing block 9, spacer 10.Gear wheel 4 drives thumb wheel 5 to rotate, and stirs shifting block 8 and rotate when thumb wheel 5 rotates, and shifting block 8 drives the front fork 11 of front-wheel mechanism to rotate, and reaches the object that deflecting roller swings.
Sweep mechanism by car after plate 1, connect piece 2, car header board 3 forms.Reach the object of each mechanism of installation carriage.
Rear wheel mechanism is by having large wheel shaft 20, bearing gland 21, bull wheel 22, bull wheel wheel hub 23, mainshaft gear 24, spindle bearing holder 25 to form.Mainshaft gear 24 rotarily drives two bull wheels 22 and rotates, and unilateral bearing is installed in bull wheel and is realized differential, reaches the object that drives carriage walking.
Front-wheel mechanism consists of front fork 11, front axle bearing 12, deflecting roller 13, axle sleeve 14, front axle 15.Front fork 11 is affixed with front axle 15, and front fork 11 is affixed with shifting block, and shifting block drives front fork 11 rotations, front axle 15 to rotate together with deflecting roller 13, reaches the object turning to.
Automatic walking " 8 " the word track dolly of making structure of the present invention turns to steadily, in the time of can guaranteeing deflecting roller periodic oscillations about the consistent dolly of the amplitude of oscillation.
Claims (8)
1. automatic walking 8 word track dollies, it is characterized in that comprising actuating unit for obtaining load gravitional force, for the transmission mechanism of power direction conversion, for complete divertical motion thumb wheel mechanism, for each mechanism of dolly the sweep mechanism of location is installed, for controlling the rear wheel mechanism that driving wheel rotates and controlling the front-wheel mechanism that deflecting roller rotates.
2. automatic walking 8 word track dollies according to claim 1, it is characterized in that: described actuating unit comprises bobbin, bobbin friction pulley, bobbin gear, bobbin is installed on the bobbin bearing block being connected with plate after car, bobbin friction pulley and bobbin gear are installed on bobbin, mainshaft gear engagement in bobbin gear and rear wheel mechanism, cotton rope connects load and bobbin.
3. automatic walking 8 word track dollies according to claim 1, it is characterized in that: described transmission mechanism comprises travelling gear, friction pulley and power transmission shaft, power transmission shaft is installed on the drive bearing block being connected with plate after car, travelling gear and friction pulley are installed on the two ends of power transmission shaft, friction pulley is connected with the bobbin friction pulley in actuating unit, the gear wheel engagement in travelling gear and thumb wheel mechanism.
4. automatic walking 8 word track dollies according to claim 1, it is characterized in that: described thumb wheel mechanism comprises thumb wheel, gear wheel, little axle and shifting block, thumb wheel is fixed on thumb wheel seat, thumb wheel seat and gear wheel are installed on little axle, little axle is placed on the bearing block being connected with car header board, gear wheel drives little axle rotation that thumb wheel is rotated, and thumb wheel is stirred shifting block rotation and driven deflecting roller to turn to.
5. automatic walking 8 word track dollies according to claim 1, is characterized in that: described sweep structure by car header board and car after plate by connecting, piece is affixed to be formed.
6. automatic walking 8 word track dollies according to claim 1, it is characterized in that: described rear-wheel structure comprises large wheel shaft, driving gear and bull wheel, two bull wheels are connected with large wheel shaft by unilateral bearing, driving gear is installed on large wheel shaft, large wheel shaft be fixed in car after the spindle bearing holder of plate be connected.
7. automatic walking 8 word track dollies according to claim 1, it is characterized in that: described fore wheel structure comprises front fork, the front-wheel being fastenedly connected with shifting block, front fork rolls and is connected with the front axle bearing that is fixed in car header board, and front-wheel is installed on front fork by front axle.
8. automatic walking 8 word track dollies according to claim 4, is characterized in that: at little axle, spacer is set, between the bearing block of described spacer on thumb wheel seat and little axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310565619.2A CN103611321B (en) | 2013-11-14 | 2013-11-14 | Auto-travel figure-8-shaped path car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310565619.2A CN103611321B (en) | 2013-11-14 | 2013-11-14 | Auto-travel figure-8-shaped path car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103611321A true CN103611321A (en) | 2014-03-05 |
| CN103611321B CN103611321B (en) | 2015-06-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310565619.2A Expired - Fee Related CN103611321B (en) | 2013-11-14 | 2013-11-14 | Auto-travel figure-8-shaped path car |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202920979U (en) * | 2012-11-19 | 2013-05-08 | 浙江师范大学 | 8-shaped adjustable and controllable carbon-free trolley capable of traveling under driving of gravitational potential energy |
-
2013
- 2013-11-14 CN CN201310565619.2A patent/CN103611321B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202920979U (en) * | 2012-11-19 | 2013-05-08 | 浙江师范大学 | 8-shaped adjustable and controllable carbon-free trolley capable of traveling under driving of gravitational potential energy |
Non-Patent Citations (3)
| Title |
|---|
| 方能杰 等: """8"字循迹无碳小车创新设计"", 《创新科技》 * |
| 王文君 等: ""8字形轨迹无碳小车的创新性设计"", 《中国机械》 * |
| 郗浩杰: ""无碳小车绕8字的创新设计与仿真"", 《科技创新与应用》 * |
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| CN103611321B (en) | 2015-06-17 |
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Effective date of registration: 20201203 Address after: Area A129, 4th floor, building 4, Baitai Industrial Park, Yazhou Bay science and Technology City, Yazhou District, Sanya City, Hainan Province, 572024 Patentee after: Nanhai innovation and development base of Sanya Harbin Engineering University Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: HARBIN ENGINEERING University |
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Granted publication date: 20150617 Termination date: 20211114 |