CN104874187A - S-shaped carbon-free dolly walking with variable space - Google Patents
S-shaped carbon-free dolly walking with variable space Download PDFInfo
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- CN104874187A CN104874187A CN201510231606.0A CN201510231606A CN104874187A CN 104874187 A CN104874187 A CN 104874187A CN 201510231606 A CN201510231606 A CN 201510231606A CN 104874187 A CN104874187 A CN 104874187A
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Abstract
The invention relates to an S-shaped carbon-free dolly walking with a variable space. The S-shaped carbon-free dolly comprises a dolly frame, a drive device, a transmission apparatus and a turning device. The dolly can changes its direction through a crank rocker, a shaft connected with wheels is a rear wheel shaft, the rear wheel shaft is provided with a pinion, a rear gear engaged with the pinion is mounted on a driving shaft, a front gear engaged with the pinion is connected with a cam, the cam is connected with a pull bar, and a crank rocker mechanism can move through gear engagement. The gravitational potential energy is converted into mechanical energy to drive the dolly to move at a certain periodicity, and the dolly can avoid barriers arranged on a racing track when the dolly moves forwards. A coiling of the dolly is of a shape of circular truncated cone, so a potential energy block can fall at a uniform speed, the uniformity of the running speed of the dolly can be ensured, and the stability of the dolly during movement can be enhanced. The dolly frame is turreted, the whole weight can be light, energy loss caused by frictional force can be reduced, and the integrity is good, the cost is low.
Description
Technical field
The present invention relates to a kind of carbon-free trolley, especially relate to the carbon-free trolley of a kind of contest class S deformation apart from walking.
Background technology
A kind of contest class carbon-free trolley, require: design the automatic carriage with direction controlling function driven with gravitional force, require that dolly completes the given gravitional force conversion and obtaining all thus of energy needed for everything in the process of walking, the energy that any other is originated cannot be used.Require that dolly has course changing control mechanism, and this course changing control mechanism has adjustable function, to adapt to the competition venue being placed with different spacing barrier.Requirement dolly is tricycle structure.This given gravitional force is that the standard test weight of 1Kg obtains, and what require counterweight can falling head be 400 ± 2mm.Racing track width is 2 meters, set out end line apart from first obstacle and the spacing between obstacle with obstacle all identical.Contest dolly can automatically bypass the barrier that racing track is arranged when moving ahead, barrier is the pole of diameter 20mm, high 200mm, puts along racing track center line is equidistant.Dolly around barrier method is effectively: after dolly crosses an obstacle from racing track side, and entirety crosses racing track center line and barrier is not knocked down or releases barrier setting circle; Continuous operation, until dolly stops.The effective range ability of dolly is: vertical range during stopping between dolly distalmost end and outbound track.Current existing contest class carbon-free trolley has many not too perfect places.One, the drive unit of dolly is directly wrapped in pull rope on wheel drive shaft, causes the staring torque of dolly less, is unfavorable for the starting of dolly, makes the operating range of dolly be affected simultaneously.Its two, debug dolly time, be subject to the impact of winding position and pull rope length, can not accurately regulate nose wheel angle, cause debugging inconvenience, affect dolly obstacle detouring traveling.Its three, without variable pitch device in trolley body, the competition venue of different spacing obstacle can not be adapted to.Its four, dolly parts are too complicated, and processing cost is higher, not too meet that dolly is carbon-free, the requirement of low cost.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of carbon-free trolley of S deformation apart from walking of contest class, the transform gravitational energy that it utilizes 1Kg potential energy block to produce in the falling stroke of 400 ± 2mm is the kinetic energy theory that dolly advances, can according to certain periodicity when moving ahead, the barrier automatically avoiding that racing track is arranged of long distance.Further, dolly according to the barrier place of different spacing, can regulate turning to periodically of dolly.
In order to solve prior art Problems existing, the technical solution used in the present invention is:
S deformation, apart from the carbon-free trolley of walking, includes vehicle frame, drive unit, transmission device and transfer,
Described vehicle frame includes base plate, bearing block, rob support, drive shaft support, driving shaft support, potential energy support and front-wheel axle bracket, the central vertical of base plate installs potential energy support, the both sides, rear end of base plate install rear wheel support, drive shaft support and driving shaft support respectively, the front end of base plate is provided with front-wheel axle bracket, and bearing block to be fixed on base plate and to be connected with front-wheel axle bracket;
Described drive unit includes potential energy block, fixed pulley, driving shaft, hind axle, trailing wheel, rear gear wheel, pinion, front gear wheel, driving shaft, cotton rope and winding slot, fixed pulley is arranged on potential energy support, one end of cotton rope connects potential energy block, the cotton rope other end is walked around fixed pulley and is wrapped in winding slot, 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, and pinion is arranged on hind axle;
Described transmission device includes cam, pull bar, Y shape part, and cam and front gear wheel are arranged on same driving shaft, and pull bar one end is connected with cam, and the pull bar other end is connected with Y shape part;
Described transfer includes cross bar and front-wheel, and cross bar one end connects Y shape part, and the other end connects front-wheel axle bracket, and front-wheel axle bracket is connected with front-wheel.
Described vehicle frame is turriform.
The winding portion of described winding slot is truncated cone-shaped.
Pull bar is T-shaped, and pull bar has strip chute, and one end of Y shape part is provided with trepanning, has screw thread in trepanning, and Y shape part is connected by nut with pull bar, and pull bar and Y shape part, cross bar, front-wheel axle bracket form front-wheel machine straightening device and be used for straightening front-wheel.
Described cam has cam channel, cam channel edge is with the scale of pitch range, the strip chute of pull bar one end is connected on cam channel by bolt and nut, bolt, fastening nuts also can move on strip chute in cam channel, and cam and pull bar, screw bolt and nut form variable pitch device.
The advantage that the present invention has and effect are:
Vehicle frame, drive unit, transmission device and transfer are the present invention includes, turning to of dolly is realized with crank rocker, the axle connecting wheel is hind axle, hind axle is provided with pinion, the rear gear wheel engaged with pinion is arranged on driving shaft, before engaging with pinion, gear wheel is connected with cam, and cam is connected with pull bar, is realized the motion of crank and rocker mechanism by gears meshing.Utilizing gravitional force to be converted to mechanical energy and drive carriage walking, according to certain periodicity, avoiding the barrier that racing track is arranged when moving ahead.The present invention has Trolley front wheel machine straightening device, can adjust the angle of dispatching a car of front-wheel, can accurately control dolly travel direction; The present invention has dolly variable pitch device, according to the barrier place of different spacing, can regulate turning to periodically of dolly, realize the obstacle detouring of dolly to different spacing barrier.Structure of the present invention is simple, and easy to assembly, operate easy, travel distance is longer; The coiling of dolly of the present invention is truncated cone-shaped, potential energy block at the uniform velocity can be fallen, ensure that the uniformity of dolly travel speed, enhances the stability that dolly travels.Vehicle frame of the present invention is that turriform makes overall weight light, and decrease the energy loss that frictional force is brought, good integrity, with low cost simultaneously.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is gear assembly structure schematic diagram of the present invention;
Fig. 3 is front-wheel machine straightening device structural representation of the present invention;
Fig. 4 is the structural representation of cam of the present invention;
Fig. 5 is variable pitch device structural representation of the present invention;
Fig. 6 is Y shape part structural representation of the present invention.
Fig. 7 is the structural representation of base plate of the present invention, front-wheel, front-wheel axle bracket and bearing block.
Wherein: cross bar 5, Y shape part 6, nut 7, pull bar 8, rob support 9, front gear wheel 10, driving shaft support 11, cam 12, pinion 13, rear wheel support 14, trailing wheel 15, rear gear wheel 16, driving shaft 17, winding slot 18, drive shaft support 19, potential energy support 20, fixed pulley 21, strip chute 23, trepanning 24, screw thread 25, cam channel 26, nut 27, bolt 28, hind axle 31, driving shaft 32, cotton rope 33, potential energy block 34.
Detailed description of the invention
As shown in figs. 1-7, S deformation, apart from the carbon-free trolley of walking, includes vehicle frame, drive unit, transmission device and transfer,
As shown in Fig. 1,7, described vehicle frame is turriform, 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, the central vertical of base plate installs potential energy support, 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, front-wheel axle bracket 3 is from top to bottom through base plate 1, and bearing block 4 to be sleeved on front-wheel axle bracket 3 and to be fixed on base plate 1.
As Fig. 1, shown in 2, 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 the top of potential energy support, one end of cotton rope 33 connects potential energy block 34, cotton rope 33 other end is walked around fixed pulley and is wrapped in winding slot, 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,
As shown in Figure 1,2,3, 4, described transmission device includes cam 12, pull bar 8, Y shape part 6, cam 12 has cam channel 26, cam 12 and front gear wheel 10 are arranged on same driving shaft 32, pull bar 8 one end and cam 12 are connected on cam channel 26 by bolt 28 nut 27, 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, and the cross bar other end is connected with front-wheel axle bracket 3 by bolt, and front-wheel axle bracket 3 is connected with front-wheel 2.
The winding portion of described winding slot is truncated cone-shaped.
As shown in Figure 3, described pull bar 8 is T-shaped, pull bar one end has strip chute 23, the bolts assemblies of Y shape part one end is in the chute of cross bar, the other end of Y shape part is provided with trepanning 24, have screw thread 25 in trepanning, Y shape part is connected by nut 7 with pull bar 8, can the degree of depth of adjusting yoke 8 in Y shape part trepanning 24 by adjusting nut 7.Pull bar and Y shape part, cross bar, front-wheel axle bracket form front-wheel machine straightening device and are used for straightening front-wheel 2.
Described 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, a part for bolt 28 is fastened on strip chute, another part of bolt can move in cam channel, and cam and pull bar, screw bolt and nut form variable pitch device.When dolly changes around the obstacle spacing of barrier, according to the spacing size of barrier, the level altitude of adjusting bolt 28 in cam channel 26.The change of bolt 28 level altitude, makes the amplitude of pull bar 8 front-rear reciprocation movement change, the cyclomorphosis causing dolly S shape to be walked, and makes it to adapt to different obstacle spacings.
The present invention's using method when contest is as follows: one end of cotton rope connects potential energy block, and one end is fixed in winding slot by fixed pulley, makes potential energy block increase reach 400mm height by pivoting rear wheel.According to different obstacle spacings, the fixed position of adjusting bolt on cam, changes turning to periodically of dolly.Trolley front wheel is placed in runway and plays route place, is fixed on the degree of depth in Y shape part trepanning by adjusting yoke, and make Trolley front wheel be adjusted to release best angle, dolly is ready.Release potential energy block, after driving when potential energy block declines, gear wheel 16 rotates, and rear gear wheel 16 drives the pinion 13 be engaged with to rotate again, and pinion 13 drives hind axle 31, and hind axle 31 drives trailing wheel 15 that dolly is advanced.Pinion 13 drives the front gear wheel 10 be engaged with, and front gear wheel 10, through pull bar interlock front-wheel 2, precisely controls Plantago minuta line period length.
Dolly is when debugging, and potential energy block is positioned over specified altitude, and dolly entirety need perpendicular to starting point horizontal line.Unclamp the nut 7 of Y shape part 6, the degree of depth of adjusting yoke 8 in Y shape part trepanning 24.Y shape part 6 moves and drives cross bar 5 to rotate, and cross bar 5 rotates and front-wheel 2 start angle is changed.When Trolley front wheel 2 is perpendicular to starting point horizontal line, fastening Y shape part nut 7.Dolly, can the same change front-wheel start angle when the change of bending angle excessively of barrier.
Wherein, dolly around barrier obstacle spacing change time, according to the spacing size of barrier, the level altitude of adjusting bolt 28 in cam strip chute 26.The change of bolt 28 level altitude, makes the amplitude of pull bar 8 front-rear reciprocation movement change, the cyclomorphosis causing dolly S shape to be walked, and makes it to adapt to different obstacle spacings.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510231606.0A CN104874187A (en) | 2015-05-08 | 2015-05-08 | S-shaped carbon-free dolly walking with variable space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510231606.0A CN104874187A (en) | 2015-05-08 | 2015-05-08 | S-shaped carbon-free dolly walking with variable space |
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| CN104874187A true CN104874187A (en) | 2015-09-02 |
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| CN201510231606.0A Pending CN104874187A (en) | 2015-05-08 | 2015-05-08 | S-shaped carbon-free dolly walking with variable space |
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Cited By (5)
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| CN106823391A (en) * | 2017-03-30 | 2017-06-13 | 贵州大学 | A kind of carbon-free trolley steering mechanism of S-shaped path walking |
| CN107029434A (en) * | 2017-04-24 | 2017-08-11 | 钦州学院 | It is a kind of walk figure of eight track carbon-free trolley |
| CN107754327A (en) * | 2016-08-16 | 2018-03-06 | 梁军 | A kind of intelligence development is around stake toy car |
| CN110585740A (en) * | 2019-10-16 | 2019-12-20 | 昆明理工大学 | S-shaped carbon-free trolley of elbow crank sliding block mechanism |
| CN114161405A (en) * | 2021-11-09 | 2022-03-11 | 中国船舶重工集团公司第七一九研究所 | Transmission system of inspection robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107754327A (en) * | 2016-08-16 | 2018-03-06 | 梁军 | A kind of intelligence development is around stake toy car |
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| CN107029434A (en) * | 2017-04-24 | 2017-08-11 | 钦州学院 | It is a kind of walk figure of eight track carbon-free trolley |
| CN107029434B (en) * | 2017-04-24 | 2023-03-10 | 钦州学院 | Carbon-free trolley walking along 8-shaped track |
| CN110585740A (en) * | 2019-10-16 | 2019-12-20 | 昆明理工大学 | S-shaped carbon-free trolley of elbow crank sliding block mechanism |
| CN110585740B (en) * | 2019-10-16 | 2024-03-22 | 昆明理工大学 | S-shaped carbon-free trolley of elbow crank sliding block mechanism |
| CN114161405A (en) * | 2021-11-09 | 2022-03-11 | 中国船舶重工集团公司第七一九研究所 | Transmission system of inspection robot |
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