CN104874187A - S-shaped carbon-free dolly walking with variable space - Google Patents

Abstract

The invention relates to an S-shaped carbon-free trolley with variable distance travel, which includes a vehicle frame, a driving device, a transmission device and a steering device. The invention uses a crank rocker to realize the steering of the trolley, and the axle connecting the wheels is the rear wheel axle. A pinion is installed, and the rear bull gear meshed with the pinion is installed on the drive shaft, and the front bull gear meshed with the pinion is connected with the cam, and the cam is connected with the pull rod, and the movement of the crank rocker mechanism is realized through gear meshing. The gravitational potential energy is converted into mechanical energy to drive the car to walk, and to avoid obstacles set on the track when moving forward according to a certain period. The winding coil of the trolley in the present invention is in the shape of a truncated cone, so that the potential energy block can fall at a constant speed, which ensures the uniformity of the trolley's running speed and enhances the running stability of the trolley. The vehicle frame of the invention is tower-shaped so that the overall weight is light, the energy loss caused by friction is reduced, and the integrity is good at the same time, and the cost is low.

Description

S-shaped carbon-free trolley with variable pitch

technical field

The invention relates to a carbon-free trolley, in particular to a carbon-free trolley for racing in S-shaped variable pitch.

Background technique

A kind of competition-type carbon-free car. Requirements: Design a self-propelled car with direction control function driven by gravitational potential energy. It is required that the energy required for the car to complete all actions in the process of walking is obtained by converting the given gravitational potential energy. Not possible Use energy from any other source. The trolley is required to have a steering control mechanism, and this steering control mechanism has an adjustable function to adapt to competition venues with obstacles at different distances. The trolley is required to have a three-wheel structure. The given gravitational potential energy is obtained with a standard weight of 1Kg, and the dropable height of the weight is required to be 400±2mm. The width of the track is 2 meters, and the distance from the starting end line to the first obstacle and the distance between obstacles are the same. The racing car can automatically bypass the obstacles set on the track when moving forward. The obstacles are round bars with a diameter of 20mm and a height of 200mm, which are placed at equal distances along the center line of the track. The effective way for the car to circumvent obstacles is as follows: After the car crosses an obstacle from one side of the track, it crosses the center line of the track as a whole without the obstacle being knocked down or pushed out of the obstacle positioning circle; it runs continuously until the car stops. The effective running distance of the trolley is: the vertical distance between the farthest end of the trolley and the starting line when it stops. The existing competition class carbon-free cars have many imperfections. First, the driving device of the trolley wraps the traction rope directly on the wheel drive shaft, resulting in a small starting torque of the trolley, which is not conducive to the starting of the trolley, and at the same time affects the driving distance of the trolley. Its two, when debugging dolly, be subjected to the influence of winding position and the length of traction rope, can't adjust front wheel angle accurately, cause debugging inconvenience, influence the obstacle-crossing driving of dolly. Its three, do not have pitch-changing device in the trolley mechanism, can not adapt to the competition field of different spacing obstacles. Fourth, the components of the trolley are too complicated, and the processing cost is high, which does not meet the requirements of carbon-free and low-cost trolleys.

Contents of the invention

The technical problem to be solved in the present invention is to provide a kind of S-shaped carbon-free trolley for racing, which utilizes the gravitational potential energy produced by the 1Kg potential energy block in the falling stroke of 400 ± 2mm to convert the kinetic energy of the trolley forward. It can automatically avoid obstacles set on the track for a long distance according to a certain periodicity. Moreover, the trolley can adjust the steering periodicity of the trolley according to obstacle fields with different distances.

In order to solve the problems of the prior art, the technical solution adopted in the present invention is:

The carbon-free car with S-shaped variable pitch travel includes a frame, a driving device, a transmission device and a steering device,

The vehicle frame includes a base plate, a bearing seat, a tie rod support, a driving shaft support, a drive shaft support, a potential energy support and a front wheel axle support, a potential energy support is installed vertically in the center of the base plate, and a rear wheel support, The drive shaft bracket and the drive shaft bracket, the front end of the base plate is installed with the front wheel axle bracket, the bearing seat is fixed on the base plate and connected with the front wheel axle bracket;

The driving device includes a potential energy block, a fixed pulley, a driving shaft, a rear wheel shaft, a rear wheel, a rear gear, a pinion, a front gear, a drive shaft, a wire rope and a winding groove, and the fixed pulley is installed on the potential energy support. One end of the wire rope is connected to the potential energy block, and the other end of the wire rope is wound around the fixed pulley in the winding groove. The winding groove and the rear large gear are installed on the driving shaft. The rear large gear meshes with the small gear, and the small gear meshes with the front large gear. The front large gear is installed on the drive shaft, and the small gear is installed on the rear wheel shaft;

The transmission device includes a cam, a pull rod, and a Y-shaped piece. The cam and the front gear are mounted on the same drive shaft. One end of the pull rod is connected to the cam, and the other end of the pull rod is connected to the Y-shaped piece;

The steering device includes a cross bar and a front wheel, one end of the cross bar is connected with a Y-shaped piece, the other end is connected with a front wheel axle support, and the front wheel axle support is connected with the front wheel.

The vehicle frame is tower-shaped.

The winding part of the winding groove is in the shape of a cone.

The pull rod is T-shaped, and the pull rod has a long chute. One end of the Y-shaped piece is provided with a sleeve hole, and there are threads in the sleeve hole. The Y-shaped piece and the pull rod are connected by nuts. The bracket forms the front wheel straightening device and is used for straightening the front wheels.

The cam has a cam chute, the edge of the cam chute has a scale of variable pitch range, and the elongated chute at one end of the pull rod is connected to the cam chute through bolts and nuts, and the bolts and nuts are fastened to the elongated chute and can move in the cam chute, and the cam, pull rod, bolt and nut form a pitch changing device.

Advantage and effect that the present invention has are:

The invention includes a vehicle frame, a driving device, a transmission device and a steering device, and a crank rocker is used to realize the steering of the trolley. On the driving shaft, the front bull gear meshed with the pinion is connected with the cam, and the cam is connected with the pull rod, and the movement of the crank-rocker mechanism is realized through the meshing of the gears. The gravitational potential energy is converted into mechanical energy to drive the car to walk, and to avoid obstacles set on the track when moving forward according to a certain period. The invention has a trolley front wheel straightening device, which can adjust the starting angle of the front wheels, and can precisely control the trolley driving direction; the invention has a trolley distance changing device, which can adjust the steering periodicity of the trolley according to obstacle sites with different distances, and realize The car overcomes obstacles with different distances. The invention has the advantages of simple structure, convenient assembly, easy operation and long walking distance; the winding coil of the trolley in the present invention is in the shape of a truncated cone, so that the potential energy block can fall at a uniform speed, which ensures the uniformity of the trolley's driving speed and enhances the stability of the trolley. . The vehicle frame of the invention is tower-shaped so that the overall weight is light, the energy loss caused by friction is reduced, and the integrity is good at the same time, and the cost is low.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention;

Figure 2 is a schematic diagram of the gear assembly structure of the present invention;

Figure 3 is a schematic structural diagram of the front wheel straightening device of the present invention;

Figure 4 is a schematic structural view of the cam of the present invention;

Figure 5 is a schematic structural diagram of the distance changing device of the present invention;

Fig. 6 is a structural schematic diagram of the Y-shaped member of the present invention.

Fig. 7 is a structural schematic view of the base plate, front wheel, front wheel axle bracket and bearing seat of the present invention.

Among them: cross bar 5, Y-shaped piece 6, nut 7, tie rod 8, tie rod support 9, front large gear 10, drive shaft support 11, cam 12, pinion 13, rear wheel support 14, rear wheel 15, rear large gear 16, driving shaft 17, winding groove 18, driving shaft support 19, potential energy support 20, fixed pulley 21, strip chute 23, sleeve hole 24, screw thread 25, cam chute 26, nut 27, bolt 28, rear Wheel shaft 31, drive shaft 32, wire rope 33, potential energy block 34.

Detailed ways

As shown in Figure 1-7, the S-shaped carbon-free trolley with variable distance travel includes a frame, a driving device, a transmission device and a steering device.

As shown in Figures 1 and 7, the vehicle frame is tower-shaped, and the vehicle frame includes a base plate 1, a bearing seat 4, a tie rod support 9, a drive shaft support 19, a drive shaft support 11, a potential energy support 20 and a front wheel axle support 3 , the center of the bottom plate is vertically installed with a potential energy support, the rear wheel support 14, the drive shaft support and the drive shaft support are respectively installed on both sides of the rear end of the bottom plate, the front wheel axle support 3 is installed on the front end of the bottom plate, and the front wheel axle support 3 is from top to bottom Through the base plate 1 , the bearing housing 4 is sleeved on the front wheel axle support 3 and fixed on the base plate 1 .

As shown in Figures 1 and 2, the drive device includes a potential energy block 34, a fixed pulley 21, a drive shaft 17, a rear wheel shaft 31, a rear wheel 15, a rear bull gear 16, a pinion 13, a front bull gear 10, and a drive shaft. 32, wire rope 33 and winding groove 18, fixed pulley is installed on the top of potential energy support, and one end of wire rope 33 connects potential energy block 34, and wire rope 33 other ends walk around fixed pulley and are wound in winding groove, and winding groove and The rear large gear is installed on the driving shaft, the rear large gear meshes with the small gear, and the small gear meshes with the front large gear, the front large gear is installed on the drive shaft, and the small gear is installed on the rear wheel shaft;

As shown in Figures 1, 2, 3, and 4, the transmission device includes a cam 12, a pull rod 8, and a Y-shaped piece 6. The cam 12 has a cam chute 26, and the cam 12 and the front large gear 10 are installed on the same drive shaft 32. On, one end of the pull rod 8 and the cam 12 are connected to the cam chute 26 through the bolt 28 and the nut 27, and the other end of the pull rod is connected to the Y-shaped piece;

Described steering gear comprises cross bar 5 and front wheel 2, and cross bar 5 one ends connect Y-shaped member 6, and cross bar other end links to each other with front wheel axle support 3 by bolt, and front wheel axle support 3 is connected with front wheel 2.

The winding part of the winding groove is in the shape of a cone.

As shown in Figure 3, the tie rod 8 is T-shaped, and one end of the tie rod has a strip-shaped chute 23, the bolt at one end of the Y-shaped piece is assembled in the chute of the cross bar, and the other end of the Y-shaped piece is provided with a sleeve hole 24. There are threads 25 in the sleeve hole, and the Y-shaped piece is connected with the pull rod 8 through the nut 7, and the depth of the pull rod 8 in the Y-shaped piece sleeve hole 24 can be adjusted by adjusting the nut 7. Pull bar and Y-shaped piece, cross bar, front-wheel axle bracket form front-wheel straightening device and are used for straightening front-wheel 2.

The edge of the cam chute is provided with a scale of variable pitch range, and the elongated chute at one end of the pull rod 8 is connected to the cam chute 26 through a bolt 28 and a nut 27, and a part of the bolt 28 is fastened on the elongated chute , the other part of the bolt can move in the cam chute, and the cam, pull rod, bolt and nut form a pitch changing device. When the obstacle spacing of the dolly around the obstacle changed, the fixed height of the bolt 28 in the cam slide groove 26 was adjusted according to the spacing of the obstacle. The change of the fixed height of the bolt 28 changes the amplitude of the back-and-forth reciprocating movement of the pull rod 8, which causes the cycle of the S-shaped walking of the trolley to change, so as to adapt to different obstacle distances.

The method of using the present invention during competition is as follows: one end of the wire rope is connected to the potential energy block, and one end is fixed in the winding groove through the fixed pulley, and the potential energy block is raised to a height of 400 mm by rotating the rear wheel. According to different obstacle distances, adjust the fixed position of the bolt on the cam to change the steering periodicity of the trolley. The front wheel of the trolley is placed at the starting line of the runway, and the depth of the tie rod fixed in the hole of the Y-shaped piece is adjusted to adjust the front wheel of the trolley to the best release angle, and the trolley is ready. Release the potential energy block, and when the potential energy block descends, it drives the rear bull gear 16 to rotate, and the rear bull gear 16 drives the pinion 13 meshed with it to rotate, and the pinion 13 drives the rear wheel shaft 31, and the rear wheel shaft 31 drives the rear wheel 15 to make the dolly advance. The small gear 13 drives the front large gear 10 meshed with it, and the front large gear 10 links the front wheel 2 via a pull rod to accurately control the length of the forward cycle of the trolley.

When the trolley is being debugged, the potential energy block is placed at a specified height, and the whole trolley must be perpendicular to the horizontal line of the starting point. Loosen the nut 7 of the Y-shaped piece 6, and adjust the depth of the pull rod 8 in the Y-shaped piece sleeve hole 24. The movement of the Y-shaped part 6 drives the cross bar 5 to rotate, and the rotation of the cross bar 5 makes the starting angle of the front wheel 2 change. When the dolly front wheel 2 is perpendicular to the starting point horizontal line, tighten the Y-shaped piece nut 7. When the turning angle of the car around obstacles changes, the starting angle of the front wheels can be changed as above.

Wherein, when the obstacle spacing of the trolley around the obstacle changes, the fixed height of the bolt 28 in the cam elongated chute 26 is adjusted according to the size of the obstacle spacing. The change of the fixed height of the bolt 28 changes the amplitude of the back-and-forth reciprocating movement of the pull rod 8, which causes the cycle of the S-shaped walking of the trolley to change, so as to adapt to different obstacle distances.

Claims (5)

1.S deformation, apart from the carbon-free trolley of walking, is characterized in that including vehicle frame, drive unit, transmission device and transfer,

Described vehicle frame includes base plate (1), bearing block (4), rob support (9), drive shaft support (19), driving shaft support (11), potential energy support (20) and front-wheel axle bracket (3), potential energy support vertical is arranged on base plate center, the both sides, rear end of base plate install rear wheel support (14), drive shaft support and driving shaft support respectively, the front end of base plate is provided with front-wheel axle bracket (3), and bearing block (4) is fixed on base plate (1) and goes up and be connected with front-wheel axle bracket (3), described drive unit includes potential energy block (34), fixed pulley (21), driving shaft (17), hind axle (31), trailing wheel (15), rear gear wheel (16), pinion (13), front gear wheel (10), driving shaft (32), cotton rope (33) and winding slot (18), fixed pulley is arranged on potential energy support, one end of cotton rope (33) connects potential energy block (34), be wrapped in winding slot after cotton rope (33) other end walks around fixed pulley, winding slot and rear gear wheel are arranged on driving shaft, rear gear wheel pinion mate, gear wheel before pinion engagement, front gear wheel is installed on the driving shaft, pinion is arranged on hind axle, described transmission device includes cam (12), pull bar (8), Y shape part (6), and cam (12) and front gear wheel (10) are arranged on driving shaft (32), and pull bar (8) one end is connected with cam, and the pull bar other end is connected with Y shape part, described transfer includes cross bar (5) and front-wheel (2), and cross bar (5) one end connects Y shape part (6) other end and connects front-wheel axle bracket (3), and front-wheel axle bracket (3) is connected with front-wheel (2).

2. S deformation according to claim 1 is apart from the carbon-free trolley of walking, it is characterized in that described vehicle frame is turriform.

3. S deformation according to claim 1 is apart from the carbon-free trolley of walking, it is characterized in that the winding portion of described winding slot is truncated cone-shaped.

4. S deformation according to claim 1 is apart from the carbon-free trolley of walking, it is characterized in that pull bar (8) is T-shaped, pull bar has strip chute (23), one end of Y shape part is provided with trepanning (24), there is in trepanning screw thread (25), Y shape part is threaded with pull bar (8), and pull bar and Y shape part, cross bar, front-wheel axle bracket form front-wheel machine straightening device.

5. S deformation according to claim 1 is apart from the carbon-free trolley of walking, it is characterized in that, described cam (12) has cam channel (26), cam channel edge is with the scale of pitch range, the strip chute of pull bar (8) one end is connected on cam channel (26) by bolt (28) nut 27, bolt (28), nut (27) are fastened on strip chute and also can move in cam channel, and cam and pull bar, screw bolt and nut form variable pitch device.