CN106312994B - A kind of intelligent carriage with ejecting function - Google Patents
A kind of intelligent carriage with ejecting function Download PDFInfo
- Publication number
- CN106312994B CN106312994B CN201610893054.4A CN201610893054A CN106312994B CN 106312994 B CN106312994 B CN 106312994B CN 201610893054 A CN201610893054 A CN 201610893054A CN 106312994 B CN106312994 B CN 106312994B
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- China
- Prior art keywords
- marble
- component
- vehicle frame
- ejection
- crank rocker
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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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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
Abstract
The invention discloses a kind of intelligent carriages with ejecting function, including vehicle frame, the two sides of the vehicle frame are respectively arranged with vehicle wheel component, the inside of the vehicle frame two sides, which is also symmetrically arranged with, dials ball wheel, marble ejection component is hinged between the vehicle frame two sides, described group of ball wheel is used to marble toggling it to the ejection region that marble launch component, the marble ejection component is also connected by crank rocker component with the front side edge of vehicle frame, the crank rocker component is used to adjust the flip angle of marble ejection component, the front of the vehicle frame two sides is along the inclined surface for ease of upward slope, for upper abrupt slope；The both ends of the vehicle frame front side edge are hinged with pressure arm component, are used for seesaw.The intelligent carriage with ejecting function of the present invention, the function that can be realized ejection, cross abrupt slope, cross seesaw is simple in structure, easy to implement, has a good application prospect.
Description
Technical field
The present invention relates to intelligent robot technology fields, and in particular to a kind of intelligent carriage with ejecting function.
Background technology
With the fast development of electronic intelligence, intelligent robot has obtained extensive popularization and application.The electronics of national property
Design match good can train a large amount of relevant talent of smart electronics, currently, for occurring various types on the market
Intelligent carriage, can be convenient for manipulation, flexibly travel, still, in addition to the function of traveling, other functions are limited, for example, how to have
There is ejecting function, cross abrupt slope function, cross seesaw function, do not have, how to realize above-mentioned function, is that current urgent need solves
The problem of.
Invention content
The purpose of the present invention is overcoming existing intelligent carriage, it can not be launched, cross abrupt slope, the function of seesaw excessively is asked
Topic.The intelligent carriage with ejecting function of the present invention, the function that can be realized ejection, cross abrupt slope, cross seesaw, realizes ejection
When function, marble can be held up and launched away, moreover it is possible to develop the function that intelligent carriage can play basketball, delivery altitude is high, stablizes
Property is good, simple in structure, easy to implement, has a good application prospect.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of intelligent carriage with ejecting function, including vehicle frame, the two sides of the vehicle frame are respectively arranged with wheel group
Part, it is characterised in that：The inside of the vehicle frame two sides, which is also symmetrically arranged with, dials ball wheel, is hinged between the vehicle frame two sides
Marble launch component, and described group of ball wheel is used to marble toggling it to the ejection region that marble launch component, the marble ejection group
Part is also connected by crank rocker component with the front side edge of vehicle frame, and the crank rocker component is for adjusting marble ejection component
Flip angle.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The front edge of the vehicle frame two sides is
Convenient for the inclined surface of upward slope.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The angle of inclination of the inclined surface be 5 °-
Between 45 °.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The both ends of the vehicle frame front side edge are hinged
There are pressure arm component, the driving end of the pressure arm component to be connected with pressure arm driving motor, the pressure arm driving motor is arranged described
In vehicle frame front side edge.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The pressure arm component includes symmetrical connection
The first linking arm at vehicle frame front side edge both ends is hinged with pressure arm between two the first linking arms, and the pressure arm is connect with first
Adjustable angle between arm is provided with the adjustment hole being easily installed on first linking arm.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The crank rocker component includes crank
Rocking bar and crank rocker driving motor, the crank rocker driving motor are mounted in the vehicle frame front side edge, and the crank shakes
The output end of bar driving motor is connected with one end of crank rocker, and the other end and the marble of the crank rocker launch component phase
The flip angle of component is launched in connection for adjusting marble.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The marble ejection component includes installation
The both ends of fixed plate, the mounting plate are hinged between the two sides of vehicle frame, the mounting plate and crank rocker group
Part is connected, and the side of the mounting plate is fixed with four marble guide rods in equilateral quadrangle, and the marble are oriented to
Rod set is connected to two layers of frame board, circular through hole is both provided in the middle part of the frame board, running through in the middle part of the mounting plate has
Resilient push, the front end of the resilient push can in circular through hole stretching motion back and forth, the rear end of the resilient push
Extend the other side of mounting plate, the other side of the mounting plate is equipped with Sine Driving Mechanism, the sinusoidal drive
The driving input terminal of motivation structure is connected with ejection driving motor, the drive output and resilient push of the Sine Driving Mechanism
It is connected, the Sine Driving Mechanism driving resilient push carries out elastic telescopic movement, for ejecting marble.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The marble guide rod uses PC control
At each square distribution of marble guide rod enters the ejection region that each marble guide rod surrounds for being oriented to marble.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The resilient push include ejection baffle ring,
Push rod, spring, drive connection part, the ejection baffle ring is resilient push front end, for contacting and launching marble, the ejection
Baffle ring is mounted on the front end of push rod, and extends the other side of mounting plate, and the spring is socketed on push rod, and is located at
Close to the side of ejection baffle ring, the drive connection part is mounted on the rear end of push rod, the drive for connecting Sine Driving Mechanism
Dynamic output end.
A kind of intelligent carriage with ejecting function above-mentioned, it is characterised in that：The Sine Driving Mechanism includes unidirectional
Bearing, crankshaft-link rod, the inner wall of the unilateral bearing and the output revolving shaft of Sine Driving Mechanism are keyed, the unilateral bearing
One end of outer wall and crankshaft-link rod is keyed, and the crankshaft-link rod is arranged in the drive connection part of resilient push, the bent axle
The other end of connecting rod extends drive connection part.
The beneficial effects of the invention are as follows：The intelligent carriage with ejecting function of the present invention can realize ejection, excessively steep
Slope, the function of crossing seesaw can hold up marble and launch away, moreover it is possible to which developing intelligent carriage can beat when realizing ejecting function
The function of basketball, delivery altitude is high, and stability is good, simple in structure, easy to implement, has a good application prospect.
Description of the drawings
Fig. 1 is the vertical view of the intelligent carriage with ejecting function of the present invention.
Fig. 2 is the structural schematic diagram of the intelligent carriage with ejecting function of the present invention.
Fig. 3 is the structural schematic diagram of the marble ejection component of the present invention.
Fig. 4 is the structural schematic diagram of the resilient push of the present invention.
The meaning marked in attached drawing is as follows：
1：Vehicle frame；2：Vehicle wheel component；3：Dial ball wheel；4：Marble launch component；401：Mounting plate；402：Marble are oriented to
Bar；403：Frame board；404：Circular through hole；405：Resilient push；4051：Launch baffle ring；4052：Push rod；4053：Spring；
4054：Drive connection part；406：Sine Driving Mechanism；4061：Unilateral bearing；4062：Crankshaft-link rod；407：Ejection driving electricity
Machine；408：First connecting seat；409：Second connecting seat；5：Crank rocker component；501：Crank rocker；502：Crank rocker drives
Motor；6：Pressure arm component；601：First linking arm；602：Pressure arm；603：Adjustment hole；7：Pressure arm driving motor.
Specific implementation mode
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in Figures 1 and 2, the intelligent carriage with ejecting function of the invention, including vehicle frame 1, the two of the vehicle frame 1
Side is respectively arranged with vehicle wheel component 2, and the inside of 1 two sides of the vehicle frame, which is also symmetrically arranged with, dials ball wheel 3,1 liang of the vehicle frame
Marble ejection component 4 is hinged between side, described group of ball wheel 3 is used to marble toggling it to the ejection zone that marble launch component 4
Domain, the marble ejection component 4 are also connected by crank rocker component 5 with the front side edge of vehicle frame 1, the crank rocker component
5 flip angle for adjusting marble ejection component 4.
The fronts of 1 two sides of the vehicle frame along the inclined surface for ease of upward slope, here the angle of inclination of inclined surface be 5 °-
It between 45 °, can be designed according to the angle on abrupt slope, inclined surface can effectively prevent the front edge of 1 two sides of vehicle frame from arriving to
On the inclined-plane of abrupt slope, the quick function of crossing abrupt slope is realized.
The both ends of 1 front side edge of the vehicle frame are hinged with pressure arm component 6, and the driving end of the pressure arm component 6 is connected with pressure arm
Driving motor 7, the pressure arm driving motor 7 are arranged in 1 front side edge of the vehicle frame, for when crossing seesaw, pushing to be stuck up
One end of plate.
The pressure arm component 6 includes the first linking arm 601 for being symmetrically connected to 1 front side edge both ends of vehicle frame, two first companies
It connects and is hinged with pressure arm 602, the adjustable angle between the pressure arm 602 and the first linking arm 601, according to seesaw between arm 601
Height adjust the angle of pressure arm 602 and the first linking arm 601, set convenient for one end of pushing seesaw, on the first linking arm 601
It is equipped with the adjustment hole 603 being easily installed, convenient for adjusting the installation site of pressure arm 602 as needed, in use, pressure arm driving motor
7 the first linking arms 601 of driving drive one end of the pushing pushing seesaw of pressure arm 602, real to make intelligent carriage pass through seesaw
Now quickly through the function of seesaw.
The crank rocker component 5 includes crank rocker 501 and crank rocker driving motor 502, and the crank rocker drives
Dynamic motor 502 is mounted in 1 front side edge of the vehicle frame, output end and the crank rocker 501 of the crank rocker driving motor 502
One end be connected, the other end of the crank rocker 501 and marble ejection component 4 are connected, for adjusting marble ejection group
The flip angle of part 4.
As shown in Figures 3 and 4, the marble ejection component 4 includes mounting plate 401, the mounting plate 401
Both ends are hinged between the two sides of vehicle frame 1, and the mounting plate 401 is connected with crank rocker component 5, and the installation is solid
The side of fixed board 401 is fixed with four marble guide rods 402 in equilateral quadrangle, and the marble guide rod 402 is socketed with two
The middle part of layer frame board 403, the frame board 403 is both provided with circular through hole 404, and 401 middle part of the mounting plate is run through
Flexible push rod 405, the resilient push 405 front end can stretching motion, the elasticity push away back and forth in circular through hole 404
The other side of mounting plate 401 is extended in the rear end of bar 405, and the other side of the mounting plate 401 is equipped with sine
The driving input terminal of driving mechanism 406, the Sine Driving Mechanism 406 is connected with ejection driving motor 407, the sinusoidal drive
The drive output of motivation structure 406 is connected with resilient push 405, the Sine Driving Mechanism 406 drive resilient push 405 into
Row elastic telescopic moves, for ejecting marble.
The marble guide rod 402 is made of PC pipes, 402 square distribution of each marble guide rod, for being oriented to bullet
Ball enters the ejection region that surrounds of each marble guide rod 402, here diamond shape can also, square effect is more preferable, and marble enter bullet
Its edge is absorbed in the circular through hole 404 of outside frame board 403 after penetrating region, is played and is conveniently taken marble and direction of ejection
The effect of guiding.
The resilient push 405 includes launching baffle ring 4051, push rod 4052, spring 4053, drive connection part 4054, described
Ejection baffle ring 4051 is 405 front end of resilient push, and for contacting and launching marble, the ejection baffle ring 4051 is mounted on push rod
4052 front end, and extend the other side of mounting plate 1, the spring 4053 is socketed on push rod 4052, and is located at
Close to the side of ejection baffle ring 4051, the drive connection part 4054 is mounted on the rear end of push rod 4052, for connecting sine
The drive output of driving mechanism 406.
The push rod 4052 is made of carbon fibre material, and ejection baffle ring 4051 is formed using 3D printing, makes the weight of the two
Amount is light, when being bounced by spring, improves speed, ensures ejection effect.
The Sine Driving Mechanism 406 can be the accumulation elastic potential energy of spring 4053 in resilient push 405, and quickly
The spring 4053 triggered in resilient push 405 discharges elastic potential energy, and reliable in action ensures the quick pop-up of marble, the sine
Driving mechanism 406 includes unilateral bearing 4061, crankshaft-link rod 4062, the inner wall and Sine Driving Mechanism of the unilateral bearing 4061
406 output revolving shaft key connection, the outer wall of the unilateral bearing 4061 are keyed with one end of crankshaft-link rod 4062, the bent axle
Connecting rod 4062 is arranged in the drive connection part 4054 of resilient push 5, and the other end of the crankshaft-link rod 4062 extends driving
Connector 4054.
The other side of the mounting plate 401 is provided with the first connecting seat 408 of opposition setting, the second connecting seat 409,
The driving motor 7 is mounted on the first connecting seat 408, and the other end of the crankshaft-link rod 4062 is hinged on the second connecting seat
On 409.
The intelligent carriage with ejecting function of the present invention, realize ejecting function to make principle as follows：First, by dialling ball
Wheel 3 toggles it to marble in marble ejection component 4；Then by crank rocker component 5, according to the flip angle of required marble,
Adjust 4 angle of inclination of marble ejection component；Finally, Sine Driving Mechanism 406 output revolving shaft rotation after with unilateral bearing 4061
It being engaged, unilateral bearing 4061 rotates, and drives the rotation of crankshaft-link rod 4062, realizes post-tensioning drive connection part 4054, this
When for spring 4053 gather elastic potential energy, when the output revolving shaft of Sine Driving Mechanism 406 is rotated further, reach Sine Driving Mechanism
After the limit point that 406 output revolving shaft is engaged with unilateral bearing 4061, unilateral bearing 4061 is converted to bearing function（Aclusion is imitated
Fruit）, the reaction force triggering of spring 4053 draws before drive connection part 4054, crankshaft-link rod 4062 rotates backward, unilateral bearing
4062 rotate on the output revolving shaft of Sine Driving Mechanism 406, meanwhile, spring 4053 discharges elastic potential energy, quickly by marble bullet
Go out, realizes ejection process.
In conclusion the intelligent carriage with ejecting function of the present invention, is easily installed on intelligent carriage, can hold up
Marble, and launch, the function of projection marble is formed, convenient for developing the function that intelligent carriage can play basketball, delivery altitude
Height, stability is good, has a good application prospect.
The basic principles and main features and advantage of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (9)
1. a kind of intelligent carriage with ejecting function, including vehicle frame（1）, the vehicle frame（1）Two sides be respectively arranged with vehicle
Wheel assembly（2）, it is characterised in that：The vehicle frame（1）The inside of two sides, which is also symmetrically arranged with, dials ball wheel（3）, the vehicle frame（1）
Marble ejection component is hinged between two sides（4）, described group of ball wheel（3）Component is launched for marble to be toggled it to marble（4）
Ejection region, the marble launch component（4）Also pass through crank rocker component（5）With vehicle frame（1）Front side edge be connected, institute
State crank rocker component（5）Component is launched for adjusting marble（4）Flip angle,
The marble launch component（4）Including mounting plate（401）, the mounting plate（401）Both ends be hinged on vehicle
Frame（1）Two sides between, the mounting plate（401）With crank rocker component（5）It is connected, the mounting plate
（401）Side be fixed with four in equilateral quadrangle distribution marble guide rods（402）, the marble guide rod（402）Set
It is connected to two layers of frame board（403）, the frame board（403）Middle part be both provided with circular through hole（404）, the mounting plate
（401）Flexible push rod is run through at middle part（405）, the resilient push（405）Front end can be in circular through hole（404）Inside back and forth
Stretching motion, the resilient push（405）Rear end extend mounting plate（401）The other side, the installation fixes
Plate（401）The other side Sine Driving Mechanism is installed（406）, the Sine Driving Mechanism（406）Driving input terminal and bullet
Penetrate driving motor（407）It is connected, the Sine Driving Mechanism（406）Drive output and resilient push（405）It is connected,
The Sine Driving Mechanism（406）Drive resilient push（405）Elastic telescopic movement is carried out, for ejecting marble.
2. a kind of intelligent carriage with ejecting function according to claim 1, it is characterised in that：The vehicle frame（1）Two
The front of side is along the inclined surface for ease of upward slope.
3. a kind of intelligent carriage with ejecting function according to claim 2, it is characterised in that：Incline the inclined surface
Between rake angle is 5 ° -45 °.
4. a kind of intelligent carriage with ejecting function according to claim 1, it is characterised in that：The vehicle frame（1）Before
The both ends of side are hinged with pressure arm component（6）, the pressure arm component（6）Driving end be connected with pressure arm driving motor（7）, described
Pressure arm driving motor（7）It is arranged in the vehicle frame（1）In front side edge.
5. a kind of intelligent carriage with ejecting function according to claim 4, it is characterised in that：The pressure arm component
（6）Including being symmetrically connected to vehicle frame（1）First linking arm at front side edge both ends（601）, two the first linking arms（601）Between cut with scissors
It is connected to pressure arm（602）, the pressure arm（602）With the first linking arm（601）Between adjustable angle, first linking arm
（601）On be provided with the adjustment hole being easily installed（603）.
6. a kind of intelligent carriage with ejecting function according to claim 1, it is characterised in that：The crank rocker group
Part（5）Including crank rocker（501）With crank rocker driving motor（502）, the crank rocker driving motor（502）It is mounted on
The vehicle frame（1）In front side edge, the crank rocker driving motor（502）Output end and crank rocker（501）One end phase
Connection, the crank rocker（501）The other end and marble launch component（4）It is connected, component is launched for adjusting marble（4）
Flip angle.
7. a kind of intelligent carriage with ejecting function according to claim 1, it is characterised in that：The marble guide rod
（402）It is made of PC pipes, each marble guide rod（402）Square distribution enters each marble guide rod for being oriented to marble
（402）The ejection region surrounded.
8. a kind of intelligent carriage with ejecting function according to claim 1, it is characterised in that：The resilient push
（405）Including launching baffle ring（4051）, push rod（4052）, spring（4053）, drive connection part（4054）, the ejection baffle ring
（4051）For resilient push（405）Front end, for contacting and launching marble, the ejection baffle ring（4051）Mounted on push rod
（4052）Front end, and extend mounting plate（401 ）The other side, the spring（4053）It is socketed in push rod
（4052）On, and positioned at close to ejection baffle ring（4051）Side, the drive connection part（4054）Mounted on push rod（4052）
Rear end, for connecting Sine Driving Mechanism（406）Drive output.
9. a kind of intelligent carriage with ejecting function according to claim 1, it is characterised in that：The sinusoidal drive machine
Structure（406）Including unilateral bearing（4061）, crankshaft-link rod（4062）, the unilateral bearing（4061）Inner wall and sinusoidal drive machine
Structure（406）Output revolving shaft key connection, the unilateral bearing（4061）Outer wall and crankshaft-link rod（4062）One end key connection,
The crankshaft-link rod（4062）It is arranged in resilient push（405 ）Drive connection part（4054）It is interior, the crankshaft-link rod（4062）
The other end extend drive connection part（4054）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610893054.4A CN106312994B (en) | 2016-10-13 | 2016-10-13 | A kind of intelligent carriage with ejecting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610893054.4A CN106312994B (en) | 2016-10-13 | 2016-10-13 | A kind of intelligent carriage with ejecting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106312994A CN106312994A (en) | 2017-01-11 |
| CN106312994B true CN106312994B (en) | 2018-09-21 |
Family
ID=57820364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610893054.4A Active CN106312994B (en) | 2016-10-13 | 2016-10-13 | A kind of intelligent carriage with ejecting function |
Country Status (1)
| Country | Link |
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| CN (1) | CN106312994B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901021A (en) * | 2017-12-15 | 2018-04-13 | 镇江高等职业技术学校 | A kind of multi-function robot rescued for Article handling and obstacle |
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| US9010309B2 (en) * | 2011-11-02 | 2015-04-21 | Toca, Llc | Ball throwing machine and method |
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2016
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| CN203001920U (en) * | 2012-07-02 | 2013-06-19 | 燕山大学 | Intelligence development pitching machine |
| CN104888450A (en) * | 2014-03-05 | 2015-09-09 | 智高实业股份有限公司 | Football building block unit |
| CN204121703U (en) * | 2014-09-01 | 2015-01-28 | 南京林业大学 | Football training pass device |
| CN204952203U (en) * | 2015-08-10 | 2016-01-13 | 宿州学院 | Intelligence football service robot |
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