CN107029434B - Carbon-free trolley walking along 8-shaped track - Google Patents
Carbon-free trolley walking along 8-shaped track Download PDFInfo
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- CN107029434B CN107029434B CN201710272378.0A CN201710272378A CN107029434B CN 107029434 B CN107029434 B CN 107029434B CN 201710272378 A CN201710272378 A CN 201710272378A CN 107029434 B CN107029434 B CN 107029434B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/08—Driving mechanisms actuated by balls or weights
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H31/00—Gearing for toys
- A63H31/08—Gear-control mechanisms; Gears for imparting a reciprocating motion
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a carbon-free trolley walking in an 8-shaped track, which adopts a steering mechanism consisting of a cam, a steering rack and a transmission gear to realize steering control on a front wheel vertical shaft, and has reasonable structure and high transmission precision; meanwhile, the front wheel mechanism of the carbon-free trolley has a position adjusting function, the position of the front wheel can be precisely adjusted in a micron scale by adjusting a differential head of the front wheel mechanism, and the whole steering mechanism is calibrated by matching and adjusting the differential head mechanism with a cam, a steering rack and a transmission gear steering mechanism, so that the running track of the trolley is ensured to conform to a precise 8-shaped track; the invention adopts a unique winding cone pulley which is composed of a plurality of layers of winding wheels with different diameters, and effectively avoids the condition that the trolley stops in the running process by reversely winding a plurality of circles of large wheels during winding.
Description
Technical Field
The invention belongs to the technical field of carbon-free trolleys, and particularly relates to a carbon-free trolley walking along an 8-shaped track.
Background
The carbon-free trolley is a trolley which does not need to consume fuel and energy stored in a battery and only depends on mechanical potential energy generated in the falling process of a heavy hammer to generate power to drive the trolley to run, and the carbon-free trolley has been taken as a specified production subject of scientific and technological innovation competitions of college students in recent years. The manufacturing subject is to give a gravitational potential energy, and according to the energy conversion principle, a mechanical device which can convert the gravitational potential energy into mechanical energy and can drive the trolley to walk and turn is designed, so that the trolley can automatically avoid obstacles arranged on the track when moving forwards.
The automatic walking 8-shaped track trolley is a competition proposition of a national university student engineering training comprehensive capacity competition, and is designed to be capable of automatically walking 8-shaped tracks on the premise of giving gravitational potential energy. The existing carbon-free trolley has a complex structure, is difficult to process and has higher corresponding cost; some adjustment accuracies are not very high, so that the running track of the trolley is misaligned; some mechanisms are heavy, so that the mass of the trolley is increased, and the energy loss is increased in the moving process, so that the trolley cannot finish the competition.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a carbon-free trolley walking along an 8-shaped track.
The invention is realized by the following technical scheme:
a carbon-free trolley walking along an 8-shaped track comprises a trolley frame, a driving mechanism and a steering mechanism, wherein the driving mechanism is arranged on the trolley frame and used for driving a rear wheel to advance, and the steering mechanism is used for controlling a front wheel to steer;
the front end of the frame is provided with a front wheel mechanism with adjustable position, the front wheel mechanism comprises a front wheel fixing support, a front wheel moving support, a vertical shaft, a front wheel fork frame and a front wheel, the front wheel fixing support is fixed on the frame, the front wheel moving support is connected with the front wheel fixing support through two polished rods and a differential head, the vertical shaft is rotatably arranged in the front wheel moving support through a shaft sleeve, and the bottom end of the vertical shaft is provided with the front wheel through the front wheel fork frame; the differential head and the polish rods are arranged in parallel, the differential head is positioned at the centers of the two polish rods, the distance between the front wheel moving support and the front wheel fixing support is adjusted by adjusting the differential head, and the position adjustment of the vertical shaft, the front wheel fork and the front wheel is further adjusted; a transmission gear is sleeved on the vertical shaft, and the vertical shaft is driven to rotate by driving the transmission gear, so that the vertical shaft drives the front wheel to steer;
the rear end of the frame is provided with a rear wheel shaft, the two ends of the rear wheel shaft are provided with rear wheels, a differential mechanism is arranged on the rear wheel shaft,
a driving shaft is arranged on the frame, a winding cone pulley and a driving gear are fixedly arranged on the driving shaft, the driving gear is meshed with a driven gear of a differential mechanism on a rear wheel shaft, a potential energy block is connected with the winding cone pulley by winding a fixed pulley through a flexible rope, and the winding cone pulley and the driving shaft are driven to rotate through the flexible rope when the potential energy block falls down so as to provide driving force for the driving shaft; when the potential energy block drives the driving shaft to rotate, the driving gear on the driving shaft drives the rear wheel shaft to rotate through the differential mechanism, so that the rear wheel is driven;
the steering driving gear is fixedly arranged at one end of the driving shaft and meshed with a steering driven gear, the steering driven gear is connected with a cam through a rotating shaft, the cam is connected with one end of a steering rack, the steering rack is horizontally arranged on a supporting plate on a frame in a sliding mode, the other end of the steering rack is meshed with a transmission gear on a vertical shaft of the front wheel mechanism, the steering driving gear, the steering driven gear, the rotating shaft, the cam, the steering rack and the transmission gear on the vertical shaft form a steering mechanism for controlling the steering of the front wheel, when the driving shaft runs, the steering driving gear drives the steering driven gear to move, the steering driven gear drives the cam to synchronously rotate through the rotating shaft, the cam drives the rack to move back and forth, the front end of the rack drives the vertical shaft to rotate through the transmission gear, the steering of the front wheel is achieved, and the trolley can move out an 8-shaped track in the advancing process through a special-shaped track of the cam.
In the technical scheme, a vertical cylinder is vertically arranged on the frame, a fixed pulley is arranged at the top end of the vertical cylinder through a bracket, and a potential energy block is arranged in the vertical cylinder; an opening for placing the potential energy block is arranged on the wall of the vertical cylinder.
In the technical scheme, the cam is provided with a circle of special-shaped profiles used for controlling the movement track of the trolley, the end part of the steering rack is provided with a roller, and the roller of the steering rack is in rolling fit with the special-shaped profiles of the cam.
In the technical scheme, the supporting plate is composed of two vertical plates, four idler wheels are installed between the two vertical plates, the steering rack is installed between the two vertical plates through the four idler wheels in a horizontal sliding mode, and the two idler wheels are installed on the upper surface and the lower surface of the steering rack respectively to guarantee that the steering rack can horizontally slide along the length direction of the steering rack.
In the above solution, the winding cone pulley is composed of a plurality of layers of reels of different diameters.
In the technical scheme, the winding cone pulley comprises a first layer winding reel with the diameter of 10mm, a second layer winding reel with the diameter of 15mm, a third layer winding reel with the diameter of 20mm, a fourth layer winding reel with the diameter of 25mm and a fifth layer winding reel with the diameter of 30 mm; when winding, firstly, a plurality of circles of first layer reels with the diameter of 10mm are wound, then a plurality of circles of second layer reels with the diameter of 15mm are wound, then a plurality of circles of third layer reels with the diameter of 20mm are wound, then a plurality of circles of fifth layer reels with the diameter of 30mm are directly wound by crossing over the fourth layer reels with the diameter of 25mm, then a plurality of circles of fourth layer reels with the diameter of 25mm are wound, and finally a plurality of circles of fifth layer reels with the diameter of 30mm are wound.
The invention has the advantages and beneficial effects that:
the steering mechanism consisting of the cam, the steering rack and the transmission gear is adopted to realize steering control of the front wheel vertical shaft, and the steering mechanism has reasonable structure and high transmission precision; meanwhile, the front wheel mechanism of the carbon-free trolley has a position adjusting function, the position of the front wheel can be precisely adjusted in a micron order by adjusting the differential head of the front wheel mechanism, and the whole steering mechanism is calibrated by matching and adjusting the differential head mechanism with a cam, a steering rack and a transmission gear steering mechanism, so that the running track of the trolley is ensured to conform to a precise 8-shaped track;
the invention adopts a unique winding cone pulley which is composed of a plurality of layers of winding wheels with different diameters, and effectively avoids the condition that the trolley stops in the running process in the form of reversely winding a plurality of circles of large wheels during winding; in addition, compared with the traditional winding shaft with the conical surface, firstly, if the winding shaft with the conical surface is adopted, the phenomenon that a rope slides downwards often occurs, and the problem is avoided by adopting the cone pulley; moreover, the diameter position of each winding cannot be accurate by adopting the winding shaft with the conical surface, and if the diameter position of each winding is different, the track of the trolley is influenced; and the diameter position of each winding of the cone pulley can be accurately wound, which is beneficial to the adjustment of the track of the trolley.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an enlarged view of fig. 1.
Fig. 3 is a schematic view of another aspect of the present invention.
Fig. 4 is a schematic structural view of the present invention with the front wheel fixing bracket and the front wheel moving bracket removed.
Fig. 5 is a schematic structural view of the winding cone pulley of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining specific examples.
A carbon-free trolley walking on an 8-shaped track comprises a trolley frame, a driving mechanism and a steering mechanism, wherein the driving mechanism is arranged on the trolley frame and used for driving a rear wheel to move forward, and the steering mechanism is used for controlling a front wheel to steer.
A vertical cylinder 2 is vertically arranged on the frame 1, a fixed pulley 4 is arranged at the top end of the vertical cylinder through a bracket 3, and a potential energy block is arranged in the vertical cylinder; an opening 5 for placing a potential energy block is arranged on the wall of the vertical cylinder;
the front end of the frame is provided with a front wheel mechanism, the front wheel mechanism comprises a front wheel fixing bracket 6, a front wheel moving bracket 7, a vertical shaft 8, a front wheel fork 9 and a front wheel 10, the front wheel fixing bracket 6 is fixed on the frame 1, the front wheel moving bracket 7 is connected with the front wheel fixing bracket 6 through two polished rods 11 and a differential head 12, the vertical shaft 8 is rotatably arranged in the front wheel moving bracket 7 through a shaft sleeve, and the bottom end of the vertical shaft is provided with the front wheel 10 through the front wheel fork 9 (the front wheel is arranged on the front wheel fork, and the front wheel fork is fixed with the bottom end of the vertical shaft); the differential head and the polish rods are arranged in parallel, the differential head 12 is positioned at the center of the two polish rods 11, the distance between the front wheel moving support and the front wheel fixing support is adjusted by adjusting the differential head, and the position adjustment of the vertical shaft 8, the front wheel fork 9 and the front wheel 10 is further adjusted; a transmission gear 26 is sleeved on the vertical shaft 8, and the vertical shaft 8 is driven to rotate by driving the transmission gear 26, so that the vertical shaft 8 drives the front wheel to steer;
the rear end of the frame is symmetrically provided with a left rear wheel bracket 13 and a right rear wheel bracket 13, the two rear wheel brackets are provided with rear wheel shafts 14 through bearings, and two rear wheels 15 of the carbon-free trolley are arranged at two ends of each rear wheel shaft; a differential 16 is provided on the rear wheel axle,
the frame is also provided with a driving shaft 17, a winding cone pulley 18 and a driving gear 19 are fixedly mounted on the driving shaft 17, the driving gear 19 is meshed with a driven gear of a differential mechanism on a rear wheel shaft, the potential energy block is connected with the winding cone pulley by a flexible rope and bypasses a fixed pulley, and the winding cone pulley and the driving shaft are driven to rotate by the flexible rope when the potential energy block falls down so as to provide driving force for the driving shaft; and when the potential energy block drives the driving shaft to rotate, the driving gear on the driving shaft drives the rear wheel shaft to rotate through the differential mechanism, so that the rear wheel is driven.
A steering driving gear 20 is fixedly arranged at one end of the driving shaft, the steering driving gear is meshed with a steering driven gear 21, the steering driven gear 21 is connected with a cam 23 through a rotating shaft 22, the cam is connected with one end of a steering rack 24 (the cam 23 is provided with a circle of special-shaped profile 23-1 for controlling the movement track of the trolley, the end part of the steering rack is provided with a roller, the roller of the steering rack is in rolling fit with the special-shaped profile of the cam), the steering rack is horizontally and slidably arranged on a support plate 25 on the frame (the support plate 25 consists of two parallel vertical plates, four rollers are arranged between the two vertical plates, the steering rack is horizontally and slidably arranged between the two vertical plates through the four rollers, the upper surface and the lower surface of the steering rack are respectively provided with two rollers so as to ensure that the steering rack can horizontally slide along the length direction of the steering rack), and the other end of the steering rack is meshed with a transmission gear 26 on a vertical shaft 8 of a front wheel mechanism; the steering driving gear 20, the steering driven gear 21, the rotating shaft 22, the cam 23, the steering rack 25 and the transmission gear 26 on the vertical shaft form a steering mechanism for controlling the steering of the front wheel, when the driving shaft runs, the steering driving gear drives the steering driven gear to move, the steering driven gear drives the cam to synchronously rotate through the rotating shaft, the cam drives the rack to move back and forth, the front end of the rack drives the vertical shaft 8 to rotate through the transmission gear 26, so that the steering of the front wheel is realized, and the trolley can move out of an 8-shaped track in the advancing process through a special-shaped track of the cam.
In order to ensure that the running track of the trolley conforms to an accurate 8-shaped track, the differential head of the front wheel mechanism needs to be adjusted to accurately adjust the accuracy of the whole steering mechanism; during adjustment, the initial position of the cam is determined (namely the initial position of the steering rack is determined), and then the differential head is adjusted to enable the front wheel to be in a straight state.
The winding cone 18 is composed of a plurality of layers of reels with different diameters, and in the embodiment, the winding cone 18 comprises a first layer reel a with the diameter of 10mm, a second layer reel b with the diameter of 15mm, a third layer reel c with the diameter of 20mm, a fourth layer reel d with the diameter of 25mm and a fifth layer reel e with the diameter of 30mm which are sequentially arranged from left to right. When winding, firstly, a plurality of circles of first layer reels a with the diameter of 10mm are wound, then a plurality of circles of second layer reels b with the diameter of 15mm are wound, then a plurality of circles of third layer reels c with the diameter of 20mm are wound, then a plurality of circles of fifth layer reels e with the diameter of 30mm are directly wound across the fourth layer reels d with the diameter of 25mm, then a plurality of circles of fourth layer reels d with the diameter of 25mm are wound, and finally a plurality of circles of fifth layer reels e with the diameter of 30mm are wound. The purpose of such a winding is: because the weight drops to a certain distance in the walking process of the trolley under the action of friction and air resistance, the trolley stops (when the weight drops to a certain distance, the running track of the trolley is at a sharp turning point, the friction resistance between wheels and the ground and the friction resistance of a transmission mechanism are increased, the speed of the trolley and the falling speed of a potential energy block are lower, the friction resistance is larger than the momentum of the potential energy block and the momentum of the trolley, and the trolley stops), and the winding shaft of the trolley at the stopping position is on a big wheel in the mode of reversely winding a plurality of circles of big wheels, so that a large driving force is provided for the trolley, and the trolley is driven to walk forwards.
In addition, compared with the traditional conical winding shaft, firstly, if the winding shaft with the conical surface is adopted, the rope often slides downwards, and the problem is avoided by adopting the cone pulley. In addition, the diameter position of each winding cannot be accurate by adopting the winding shaft with the conical surface, and if the diameter position of each winding is different, the track of the trolley is influenced; and the diameter position of each winding of the cone pulley can be accurately wound, which is beneficial to the adjustment of the track of the trolley.
The invention being thus described by way of example, it should be understood that any simple alterations, modifications or other equivalent alterations as would be within the skill of the art without the exercise of inventive faculty, are within the scope of the invention.
Claims (3)
1. The utility model provides a walk carbonless dolly of "8" font orbit, includes the frame and sets up the actuating mechanism that is used for driving the rear wheel and marchs, is used for controlling the steering mechanism that the front wheel turned, its characterized in that on the frame:
the front end of the frame is provided with a front wheel mechanism with adjustable position, the front wheel mechanism comprises a front wheel fixing support, a front wheel moving support, a vertical shaft, a front wheel fork and a front wheel, the front wheel fixing support is fixed on the frame, the front wheel moving support is connected with the front wheel fixing support through two polished rods and a differential head, the vertical shaft is rotatably arranged in the front wheel moving support through a shaft sleeve, and the bottom end of the vertical shaft is provided with the front wheel through the front wheel fork; the differential head and the polish rods are arranged in parallel, the differential head is positioned at the centers of the two polish rods, the distance between the front wheel moving support and the front wheel fixing support is adjusted by adjusting the differential head, and the position adjustment of the vertical shaft, the front wheel fork and the front wheel is further adjusted; a transmission gear is sleeved on the vertical shaft, and the vertical shaft is driven to rotate by driving the transmission gear, so that the vertical shaft drives the front wheel to steer;
the rear end of the frame is provided with a rear wheel shaft, the two ends of the rear wheel shaft are provided with rear wheels, a differential mechanism is arranged on the rear wheel shaft,
the frame is provided with a driving shaft, a winding cone pulley and a driving gear are fixedly mounted on the driving shaft, the driving gear is meshed with a driven gear of a differential mechanism on a rear wheel shaft, a potential energy block is connected with the winding cone pulley by winding a fixed pulley through a flexible rope, and the winding cone pulley and the driving shaft are driven to rotate through the flexible rope when the potential energy block falls down to provide driving force for the driving shaft; the driving shaft, the driving gear on the driving shaft and the differential on the rear wheel shaft form a driving mechanism for driving the rear wheel to move forward, and when the potential energy block drives the driving shaft to rotate, the driving gear on the driving shaft drives the rear wheel shaft to rotate through the differential, so that the rear wheel is driven;
a steering driving gear is fixedly arranged at one end of a driving shaft and is meshed with a steering driven gear, the steering driven gear is connected with a cam through a rotating shaft, the cam is connected with one end of a steering rack, the steering rack is horizontally and slidably arranged on a supporting plate on a frame, the other end of the steering rack is meshed with a transmission gear on a vertical shaft of a front wheel mechanism, the steering driving gear, the steering driven gear, the rotating shaft, the cam, the steering rack and the transmission gear on the vertical shaft form a steering mechanism for controlling the steering of the front wheel, when the driving shaft operates, the steering driving gear drives the steering driven gear to move, the steering driven gear drives the cam to synchronously rotate through the rotating shaft, the cam drives the rack to move back and forth, and the front end of the rack drives the vertical shaft to rotate through a transmission gear, so that the steering of the front wheel is realized;
the cam is provided with a circle of special-shaped outline for controlling the movement track of the trolley, the end part of the steering rack is provided with a roller, and the roller of the steering rack is in rolling fit with the special-shaped outline of the cam;
the winding cone pulley consists of a plurality of layers of winding wheels with different diameters;
the supporting plate is composed of two vertical plates, four idler wheels are installed between the two vertical plates, the steering rack is installed between the two vertical plates through the four idler wheels in a horizontal sliding mode, and the two idler wheels are installed on the upper surface and the lower surface of the steering rack respectively so that the steering rack can horizontally slide along the length direction of the steering rack.
2. The carbon-free trolley with the 8-shaped track as claimed in claim 1, wherein: a vertical cylinder is vertically arranged on the frame, a fixed pulley is arranged at the top end of the vertical cylinder through a bracket, and a potential energy block is arranged in the vertical cylinder; an opening for placing the potential energy block is arranged on the wall of the vertical cylinder.
3. The carbon-free trolley with the 8-shaped track as claimed in claim 1, wherein: the winding cone wheel comprises a first layer winding wheel with the diameter of 10mm, a second layer winding wheel with the diameter of 15mm, a third layer winding wheel with the diameter of 20mm, a fourth layer winding wheel with the diameter of 25mm and a fifth layer winding wheel with the diameter of 30 mm; when winding, firstly, a plurality of circles of first layer reels with the diameter of 10mm are wound, then a plurality of circles of second layer reels with the diameter of 15mm are wound, then a plurality of circles of third layer reels with the diameter of 20mm are wound, then a plurality of circles of fifth layer reels with the diameter of 30mm are directly wound by crossing over the fourth layer reels with the diameter of 25mm, then a plurality of circles of fourth layer reels with the diameter of 25mm are wound, and finally a plurality of circles of fifth layer reels with the diameter of 30mm are wound.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710272378.0A CN107029434B (en) | 2017-04-24 | 2017-04-24 | Carbon-free trolley walking along 8-shaped track |
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| CN201710272378.0A CN107029434B (en) | 2017-04-24 | 2017-04-24 | Carbon-free trolley walking along 8-shaped track |
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| CN107029434A CN107029434A (en) | 2017-08-11 |
| CN107029434B true CN107029434B (en) | 2023-03-10 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107617221A (en) * | 2017-11-09 | 2018-01-23 | 钦州学院 | Can curved path walking intelligence development dolly |
| CN108295482B (en) * | 2017-12-19 | 2024-05-28 | 桂林电子科技大学 | Carbon-free trolley capable of walking and sealing in 8 shape |
| CN108325215B (en) * | 2018-01-18 | 2020-07-07 | 浙江理工大学 | Winding walking method suitable for obstacle avoidance carbon-free trolley |
| CN108654112B (en) * | 2018-06-20 | 2024-04-09 | 广东工业大学 | Adjustable S-shaped track carbon-free trolley |
| CN109985395B (en) * | 2019-05-14 | 2024-06-07 | 安徽建筑大学 | Carbon-free power trolley |
| CN113682136A (en) * | 2021-08-17 | 2021-11-23 | 南京理工大学 | Gravitational potential energy drive vehicle based on rack and pinion steering |
| CN114832395A (en) * | 2022-05-24 | 2022-08-02 | 张家港江苏科技大学产业技术研究院 | Annular track carbon-free trolley based on cam steering |
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