CN103933723A - Automatic skating car - Google Patents
Automatic skating car Download PDFInfo
- Publication number
- CN103933723A CN103933723A CN201410143284.XA CN201410143284A CN103933723A CN 103933723 A CN103933723 A CN 103933723A CN 201410143284 A CN201410143284 A CN 201410143284A CN 103933723 A CN103933723 A CN 103933723A
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- CN
- China
- Prior art keywords
- stepper motor
- supporting seat
- movable joint
- joint
- optical axis
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- 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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Abstract
The invention discloses an automatic skating car which comprises a seat, a controller, a bearing platform, a first motion joint, a second motion joint and a third motion joint, wherein the seat is arranged above the bearing platform; the controller is arranged on the bearing platform; the first motion joint comprises a moving joint and a rotating joint; the rotating joint is arranged below the moving joint; the controller is connected to a first stepping motor and a second stepping motor which are used for controlling the first to third motion joints; and the first motion joint, the second motion joint and the third motion joint are arranged below the bearing platform. By controlling mechanical motion, linear motion and rotary motion of the automatic skating car can be realized.
Description
Technical field
The invention belongs to movable machinery field, particularly a kind of automatic ski bus that adopts the mode of controlling mechanical movement to realize.
Background technology
Ice machine is with a long history, and early stage ice machine develops and comes from Sledge on snow, and it goes for freeze-up river surface and the dilatory article of river surface, and speed is avenged faster, just progressively develops into subsequently a kind of toy for people's amusement and recreation.
It is a sports events more prevailing that the Northeast enters skating after the winter, but bad because of present skating apparatus flexibility, but also has certain hazards, sliding get up " balance " difficult grasp especially.At present domestic ice machine is all that to swim autonomous slip of player be main, sliding get up be also harder, easily make people produce tired out sense, do not reach the effect of amusement and recreation, current ice machine does not adopt mechanical mode to realize the autonomous slip of ice machine.
Summary of the invention
The object of this invention is to provide a kind of automatic ski bus with automatic control function.
The present invention is achieved by the following technical solutions:
Automatically ski bus, comprises seat 4, controller 33, carrying platform 34, the first movable joint 1, the second movable joint 2, the 3rd movable joint 3, and seat 4 is arranged on carrying platform 34 tops, and controller 33 is arranged on carrying platform 34,
The first movable joint 1 comprises: linear joint and rotary joint, and linear joint comprises: mount pad 11, optical axis slide block I10, optical axis slide block II15, travelling nut 14, optical axis I21, optical axis II16, screw mandrel 20, stepper motor seat 17, the second stepper motor 18, the first supporting seat 12, the second supporting seat 28, the 3rd supporting seat 29, four-supporting 30, the 5th supporting seat 31, the 6th supporting seat 32, stepper motor seat 17 is arranged on below carrying platform 34, the second stepper motor 18 is arranged on stepper motor seat 17, travelling nut 14 is arranged on mount pad 11, optical axis slide block I10 and optical axis slide block II15 lay respectively at the both sides of travelling nut 14 and are fixed on mount pad 11, and optical axis I21 is through optical axis slide block I10, two ends are arranged on respectively on the first supporting seat 12 and four-supporting 30, and optical axis II16 is through optical axis slide block II15, two ends are arranged on respectively on the 3rd supporting seat 29 and the 6th supporting seat 32, and screw mandrel 20 is through travelling nut 14, first end is arranged on the second supporting seat 28, and screw mandrel 20 second ends are arranged on the 5th supporting seat 31 and with the output shaft of the second stepper motor 18 and are connected, the first supporting seat 12, the second supporting seat 28, the 3rd supporting seat 29, four-supporting 30, the 5th supporting seat 31, the 6th supporting seat 32 is arranged on below carrying platform 34,
Rotary joint comprises: fixed head 8, the first stepper motor 7, skate plate 5, skate plate support bar 6, synchronous pulley I23, synchronous pulley II25, Timing Belt 24, rotating shaft 26, a support column 9 is installed respectively at fixed head 8 two ends, skate plate support bar 6 first ends are connected with skate plate 5, skate plate support bar 6 second ends are connected with the first end of rotating shaft 26, the second end of rotating shaft 26 is provided with synchronous pulley II25 through fixed head 8, the first stepper motor 7 is arranged on fixed head 8, synchronous pulley I23 is arranged on the output shaft of the first stepper motor 7, Timing Belt 24 is enclosed within on synchronous pulley I23 and synchronous pulley II25, fixed head 8 is arranged on mount pad 11 belows of linear joint by two support columns 9,
The second movable joint 2 is identical with the first movable joint 1 structure, and the 3rd movable joint 3 is identical with the first movable joint 1 structure, and the first movable joint 1, the second movable joint 2, the 3rd movable joint 3 are arranged on the below of carrying platform 34;
Controller 33 connects and the first stepper motor and the second stepper motor of controlling the first to the 3rd movable joint.
The present invention can also comprise:
Seat 4 is positioned at the centre of carrying platform 34, and the first movable joint 1, the second movable joint 2, the 3rd movable joint 3 become 120 ° of belows that are distributed in carrying platform 34 with carrying platform 34 center.
Beneficial effect of the present invention:
(1) mode of employing mechanical movement, having broken through traditional ice machine needs artificial slip could realize the deficiency of motion, has realized automatic control;
(2) ski bus, as a kind of ice face kinematic robot, also can carry other experiment porch automatically, applies to the numerous areas such as polar region exploration, the search and rescue of ice face, snowfield detection, monitoring scenic spot, has broad application prospects;
(3) it is very little that distinctive motor pattern has been realized in the time that smooth surface moves slippage, has good kinetic stability and reliability.
Brief description of the drawings
Fig. 1 is three-dimensional structure schematic diagram of the present invention;
Fig. 2 is movable joint schematic diagram of the present invention;
Fig. 3 is the structural representation of rotary joint of the present invention;
Fig. 4 is linear joint structural representation of the present invention;
Fig. 5 is the distribution schematic diagram of movable joint of the present invention on mobile platform;
Fig. 6 is rectilinear motion schematic diagram of the present invention;
Fig. 7 is the schematic diagram rotating around geometric center of the present invention;
Fig. 8 is the motion principle figure around certain skate plate rotation of the present invention.
Detailed description of the invention
Below with reference to the accompanying drawings 1～accompanying drawing 8 the present invention is described in detail.
Automatically ski bus is mainly by mobile platform, seat, composition of the control system, and mobile platform is mainly made up of three identical movable joints.Seat is bolted and is arranged on mobile platform centre, and three movable joints become 120 °, adds Upper gasket and is arranged in mobile platform radial position by bolt, when installation, flushes with mobile platform edge.
Automatically the movable joint of ski bus, is characterized in that: this joint is made up of skate plate, skate plate support bar, rotating shaft, axle sleeve, stepper motor, fixed head, synchronous pulley, Timing Belt, support column, leading screw, optical axis, travelling nut, optical axis slide block, mount pad, supporting seat, shaft coupling.Skate plate is connected with skate plate support bar by bolt, tie point in skate plate in the heart, together with the other end of skate plate support bar is linked by bolt with rotating shaft one end, rotating shaft adds upper bearing sleeve in axle sleeve, bearing and axle sleeve are interference fit, bearing and axle are matched in clearance, axle sleeve is arranged on fixed head geometric center position by bolt, stepper motor is arranged on longitudinal 1/4th positions of fixed head by bolt, a synchronous pulley is arranged on the other end of rotating shaft by interference fit, another synchronous pulley is arranged on by interference fit on the output shaft of stepper motor, Timing Belt is contained on two synchronous pulleys, two support columns are arranged on the horizontal edge of fixed head by bolt, rotary joint by support column add bolt be arranged on mount pad under, travelling nut is arranged on the geometric center place of mount pad sidewall by bolt, the symmetrical both sides that are distributed in travelling nut of optical axis slide block, optical axis slide block is fixed on mount pad by nut, leading screw, optical axis is arranged on supporting seat, be fixed on supporting seat by soket head cap screw, travelling nut is arranged on leading screw, optical axis slide block and optical axis are installed together by matched in clearance, stepper motor seat is arranged on carrying platform by bolt, the stepper motor of linear joint is arranged on motor cabinet by bolt, the output shaft of the stepper motor of linear joint and one end of leading screw connect together by shaft coupling.
As shown in figure mono-: ski bus is made up of the first movable joint 1, the second movable joint 2, the 3rd movable joint 3, seat 4, controller 33 automatically.Seat 4 is arranged on the centre of carrying platform 34, and the first movable joint 1, the second movable joint 2, the 3rd movable joint 3 become 120 ° to be fixed on the corresponding position of carrying platform 34 by bolt, and controller 33 is fixed on the corresponding position of carrying platform 34.
As shown in Figure 2: movable joint is made up of rotary joint and linear joint.Rotary joint as shown in Figure 3, by fixed head 8, the first stepper motor 7, axle sleeve 22 forms, synchronous pulley 23, Timing Belt 24, synchronous pulley 25, rotating shaft 26 forms, stepper motor 1 and axle sleeve 22 are bolted on fixed head 8 relevant positions, synchronous pulley 23 is arranged on by interference fit on the output shaft of the first stepper motor 7, synchronous pulley 25 is contained in one end of rotating shaft by interference fit, Timing Belt 24 is arranged on two synchronous pulleys, skate plate support bar 6 one end are fixed on the other end of rotating shaft, the other end of skate plate support bar 6 and skate plate 5 are fixed together, tie point is in skate plate center.The Timing Belt driven rotary axle 26 that moves through of the first stepper motor 7 rotates, and the final skate plate 5 that drives of rotating shaft 26 rotates, and this just can realize skate plate 5 rotatablely moving on ice face.Linear joint as shown in Figure IV, by optical axis slide block I10, optical axis slide block II15, mount pad 11, travelling nut 14, optical axis II16, stepper motor seat 17, the second stepper motor 18, shaft coupling 19, optical axis I21, leading screw 20 forms, stepper motor seat 17 is fixed on carrying platform 34, the second stepper motor 18 is arranged on motor cabinet 17, the output shaft of the second stepper motor 18 is connected with one end of leading screw 20 by shaft coupling 19, travelling nut 14 is enclosed within on leading screw 20, optical axis slide block set is on optical axis, leading screw 20, optical axis I21, optical axis II16 is arranged on supporting seat, supporting seat 1, 2, 3, 4, 5, 6 add Upper gasket 13 by bolt is arranged on carrying platform 34, travelling nut 14, optical axis slide block I10, optical axis slide block II15 is bolted on mount pad 11, rotary joint is connected on mount pad 11 with bolt by support column I9 and support column II27.The second stepper motor 18 drives leading screw 20 to rotate when rotation, and leading screw 20 will rotatablely move and be converted into rectilinear motion, and this has just realized the rectilinear movement of skate plate 5.
Controller 33 connects and the first stepper motor and the second stepper motor of controlling the first to the 3rd movable joint.
This inventive embodiments has two motion phases: rectilinear motion phase and the phase that rotatablely moves, rotatablely move and be divided into around the rotation of ice machine geometric center with around some skate plate rotations.
Specific works process is as follows: as shown in Figure 6, rectilinear motion pattern comprises the motion of four-stage to rectilinear motion principle: step 1 is two skate plates above, skate plate 2 and 3 rotation Δ θ in Fig. 6
2with Δ θ
3.Step 2, the stepper motor 18 of mobile platform drives travelling nut 14 mechanisms, so that required speed to be provided.Step 3, this mechanism moves Δ d
2with Δ d
3, make skate plate 2 and 3 lengthwise movement Δ p in figure a
2with Δ p
3, the mobile platform center segment distance Δ d that just moves along a straight line
b.Step 4, reaches its range once travelling nut 14, and in Fig. 6, skate plate 2,3 reverse rotations make the radial direction at its longitudinal axis Yu Qi center consistent, and last three skate plates turn back to their initial position, and this has just realized the rectilinear motion of automatic ski bus.
The schematic diagram rotating around geometric center is as shown in Figure 7: step 1, and three skate plates rotate to an angle in same direction simultaneously; Step 2, all stepper motors 18 drive three skate plates mobile identical distance simultaneously.This rectilinear motion produces tangential force, and mobile platform is just around angle of its central rotation.Step 3, once stepper motor 18 reaches its restriction, three skate plates just counter-rotate and make its longitudinal axis consistent with ski bus radial direction; Step 4, all stepper motor 18 operations make three skate plates turn back to their initial position, and this has just realized automatic ski bus and has rotated around geometric center.
Around the motion principle of some skate plates rotation as shown in Figure 8: in step 1 shown device, the angle of skate plate 1,2 each rotations in Fig. 8.Next step, in Fig. 8, the stepper motor 18 of mobile platform 1 drives corresponding skate plate just can make platform produce rotation by a mobile segment distance.The 3rd step, in Fig. 8, the skate plate of mobile platform 1,2 rotates to radial position, and all stepper motors 18 motions of the 4th moved further platform make skate plate turn back to initial position, and this has just realized automatic ski bus and has rotated around some skate plates.
By changing the relative motion radially of inner three movable joints of mobile platform, this ski bus can also stop in any position in path, and all skate plates along mobile platform center radially.In the time that above-mentioned rectilinear motion pattern and rotation mode are used in combination, just can realize the planning of the motion path of mobile platform, and then complete the motion of any track.
Claims (2)
1. automatic ski bus, it is characterized in that: comprise seat (4), controller (33), carrying platform (34), the first movable joint (1), the second movable joint (2), the 3rd movable joint (3), seat (4) is arranged on carrying platform (34) top, controller (33) is arranged on carrying platform (34)
The first movable joint (1) comprising: linear joint and rotary joint, and linear joint comprises: mount pad (11), optical axis slide block I(10), optical axis slide block II(15), travelling nut (14), optical axis I(21), optical axis II(16), screw mandrel (20), stepper motor seat (17), the second stepper motor (18), the first supporting seat (12), the second supporting seat (28), the 3rd supporting seat (29), four-supporting (30), the 5th supporting seat (31), the 6th supporting seat (32), stepper motor seat (17) is arranged on below carrying platform (34), the second stepper motor (18) is arranged on stepper motor seat (17), travelling nut (14) is arranged on mount pad (11), optical axis slide block I(10) and optical axis slide block II(15) lay respectively at the both sides of travelling nut (14) and be fixed on mount pad (11) above, optical axis I(21) through optical axis slide block I(10), two ends are arranged on respectively the first supporting seat (12) and four-supporting (30) is upper, optical axis II(16) through optical axis slide block II(15), two ends are arranged on respectively the 3rd supporting seat (29) and the 6th supporting seat (32) is upper, and screw mandrel (20) is through travelling nut (14), it is upper that first end is arranged on the second supporting seat (28), and screw mandrel (20) second ends are arranged on the 5th supporting seat (31) above and are connected the first supporting seat (12) with the output shaft of the second stepper motor (18), the second supporting seat (28), the 3rd supporting seat (29), four-supporting (30), the 5th supporting seat (31), the 6th supporting seat (32) is arranged on below carrying platform (34),
Rotary joint comprises: fixed head (8), the first stepper motor (7), skate plate (5), skate plate support bar (6), synchronous pulley I(23), synchronous pulley II(25), Timing Belt (24), rotating shaft (26), a support column (9) is installed respectively at fixed head (8) two ends, skate plate support bar (6) first end is connected with skate plate (5), skate plate support bar (6) second ends are connected with the first end of rotating shaft (26), the second end of rotating shaft (26) is provided with synchronous pulley II(25 through fixed head (8)), the first stepper motor (7) is arranged on fixed head (8), synchronous pulley I(23) be arranged on the output shaft of the first stepper motor (7), Timing Belt (24) is enclosed within synchronous pulley I(23) and synchronous pulley II(25) on, fixed head (8) is arranged on mount pad (11) below of linear joint by two support columns (9),
The second movable joint (2) is identical with the first movable joint (1) structure, the 3rd movable joint (3) is identical with the first movable joint (1) structure, and the first movable joint (1), the second movable joint (2), the 3rd movable joint (3) are arranged on the below of carrying platform (34);
Controller (33) connects and the first stepper motor and the second stepper motor of controlling the first to the 3rd movable joint.
2. automatic ski bus according to claim 1, it is characterized in that: described seat (4) is positioned at the centre of carrying platform (34), the first movable joint (1), the second movable joint (2), the 3rd movable joint (3) become 120 ° of belows that are distributed in carrying platform (34) with the center of carrying platform (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410143284.XA CN103933723B (en) | 2014-04-10 | 2014-04-10 | Automatic ski bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410143284.XA CN103933723B (en) | 2014-04-10 | 2014-04-10 | Automatic ski bus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103933723A true CN103933723A (en) | 2014-07-23 |
| CN103933723B CN103933723B (en) | 2015-08-12 |
Family
ID=51181761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410143284.XA Expired - Fee Related CN103933723B (en) | 2014-04-10 | 2014-04-10 | Automatic ski bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103933723B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105080115A (en) * | 2015-07-23 | 2015-11-25 | 阎东 | Manual-control sliding equipment |
| CN111921182A (en) * | 2020-06-08 | 2020-11-13 | 阎东 | Multifunctional sliding sports equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040026144A1 (en) * | 2002-08-07 | 2004-02-12 | May-Chu Lan | Electric driving scooter |
| CN1647982A (en) * | 2004-01-28 | 2005-08-03 | 王名勇 | Folding two purpose slide car on ice and snow using foot pedal type snow stick as driver |
| CN201109441Y (en) * | 2007-10-27 | 2008-09-03 | 王军 | Rocking type ice skating vehicle |
| CN201179886Y (en) * | 2008-01-29 | 2009-01-14 | 李家顺 | Three-plate skiing device |
| RU2370297C2 (en) * | 2006-11-20 | 2009-10-20 | Анатолий Степанович Дресвянкин | Skating ski |
| US8061725B1 (en) * | 2009-03-06 | 2011-11-22 | Hawkins James E | Motorized skatedboard |
-
2014
- 2014-04-10 CN CN201410143284.XA patent/CN103933723B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040026144A1 (en) * | 2002-08-07 | 2004-02-12 | May-Chu Lan | Electric driving scooter |
| CN1647982A (en) * | 2004-01-28 | 2005-08-03 | 王名勇 | Folding two purpose slide car on ice and snow using foot pedal type snow stick as driver |
| RU2370297C2 (en) * | 2006-11-20 | 2009-10-20 | Анатолий Степанович Дресвянкин | Skating ski |
| CN201109441Y (en) * | 2007-10-27 | 2008-09-03 | 王军 | Rocking type ice skating vehicle |
| CN201179886Y (en) * | 2008-01-29 | 2009-01-14 | 李家顺 | Three-plate skiing device |
| US8061725B1 (en) * | 2009-03-06 | 2011-11-22 | Hawkins James E | Motorized skatedboard |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105080115A (en) * | 2015-07-23 | 2015-11-25 | 阎东 | Manual-control sliding equipment |
| CN105080115B (en) * | 2015-07-23 | 2018-06-22 | 阎东 | Manual mode glide |
| CN111921182A (en) * | 2020-06-08 | 2020-11-13 | 阎东 | Multifunctional sliding sports equipment |
| CN111921182B (en) * | 2020-06-08 | 2022-08-16 | 阎东 | Multifunctional sliding sports equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103933723B (en) | 2015-08-12 |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150812 Termination date: 20210410 |