CN109045722A - A kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening - Google Patents
A kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening Download PDFInfo
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- CN109045722A CN109045722A CN201811097109.6A CN201811097109A CN109045722A CN 109045722 A CN109045722 A CN 109045722A CN 201811097109 A CN201811097109 A CN 201811097109A CN 109045722 A CN109045722 A CN 109045722A
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- carbon
- fixed
- free trolley
- bottom plate
- wheel
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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
-
- 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
-
- 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
- A63H17/42—Automatic stopping or braking arrangements
-
- 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
-
- 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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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a kind of carbon-free trolley of intelligent avoidance based on ultrasonic listening, including bottom plate, bottom plate fixes support rod, the fixed top plate in the upper end of support rod, top plate axis is fixed in top plate, top plate axis rotational installation rotation pulley, one end of the fixed tractive of counterweight, after traction rope passes through top plate, around rotation pulley, its other end is wrapped on reel, reel is fixed on roll, roll passes through gear mechanism and rear axis connection, rear axle both ends are installed by driving wheel respectively, driven wheel, type electromagnetic brake is installed on roll, the velocity measuring module of carbon-free trolley is provided on bottom plate, the front end of bottom plate is provided with ultrasonic wave module one, before the right end of bottom plate, distinguish mounting ultrasonic module two in rear portion, ultrasonic wave module three.Steering mechanism is arranged in carbon-free trolley front, solves the problems, such as the channel of the existing any spacing between barrier of carbon-free trolley or obstacle spacing can arbitrarily adjust and avoidance is poor under the channel with ramp.
Description
Technical field
The present invention relates in a kind of mechanical, electronic field, be suitable for ramp and obstacle spacing can arbitrarily adjust it is automatic
The novel carbon-free trolley of avoidance especially designs a kind of automatically controlled steering carbon-free trolley of the intelligent avoidance based on ultrasonic listening.
Background technique
With the continuous development and progress of social science and technology, environmental protection concept becomes more and more popular.It is big according to the 5th whole nation
The proposition of Students ' Engineering training integrated ability contest (Hefei match) designs this product.It is automatically controlled carbon-free small designed by proposition requirement
Vehicle does not only rely on the counterweight of 1KG as energy source, and it is also desirable to have the turning function of automatic obstacle avoiding.
Existing automatically controlled carbon-free trolley mostly uses greatly tapered shaft to complete displacement form on winding mode at present, in turn
Realize the function of climb and fall.But this structure unification, it on the one hand needs in advance to survey the position in the starting point of racing track and ramp
It measures clear, then calculates corresponding circle number and carry out coiling, it is generated artificial by this pure hand dipping and its calculating
Error is larger；Secondly winding mode is if there is relatively large deviation, it is likely that trolley can be generated at ramp bottom, the position of coiling
Not yet change, the phenomenon that trolley is parked in ramp；Thirdly weight is all declining during entire climb and fall, energy has been lost
Amount；The phenomenon that unevenly also carbon-free trolley being made to generate gravity center instability in the process of moving of its four winding position, trolley
Kinematic accuracy will reduce.Simultaneously in terms of ranging, most of automatically controlled carbon-free trolleys use laser ranging module, but mode of laser
Block needs to pay attention to the cleaning for keeping laser head, does not utilize dismounting, and expensive.
Summary of the invention
The present invention is in order to solve channel or the obstacle of any spacing existing for current automatically controlled carbon-free trolley between barrier
Object spacing can arbitrarily adjust and have the problem of avoidance difference under the channel in ramp, provide a kind of with climbing walking, avoidance
The carbon-free trolley of walking, track identification and brake function.
The technical proposal for solving the technical problem of the invention is: a kind of intelligent avoidance based on ultrasonic listening
Carbon-free trolley, including bottom plate 1, support rod 2, driving wheel 7, rear axle 9, front-wheel 17, counterweight 23, driven wheel 25, ultrasonic wave module one
32, three branch are fixed in traction rope 34, ultrasonic wave module 2 35, ultrasonic wave module 3 36, control system, 1 rear end of bottom plate
Strut 2, three support rods 2 are arranged in parallel along the vertical direction, the fixed top plate 22 in the upper end of three support rods 2, top plate 22
The left and right end portions of the fixed top plate axis 21 of upper front end, the middle part rotational installation rotation pulley 20 of top plate axis 21, the upper end of counterweight 23
One end of fixed tractive 34 after traction rope 34 passes through the cavity being arranged in top plate 22, is bypassed from the top of rotation pulley 20,
After the other end moves into several circles of reel from the front side of reel 12, and it is fixed on reel 12；
The reel 12 is fixed on roll 11, and roll 11 is connect by gear mechanism with rear axle 9, is set on bottom plate 1
It is equipped with the rotational support of roll 11, rear axle 9, the fixed driving wheel 7 in 9 left end of rear axle, right end passes through the fixed driven wheel of unilateral bearing
25, the right end of roll 11 is mounted in the inner hole of micro electromagnetic brake 26, and the fixing end of micro electromagnetic brake 26 is fixed
On bottom plate 1；
The velocity measuring module of carbon-free trolley is provided on the pedestal 1, the front end of the bottom plate 1 is provided with ultrasonic wave mould
The front and rear portions of block 1, the right end of bottom plate 1 distinguish mounting ultrasonic module 2 35, ultrasonic wave module 3 36.
The carbon-free trolley front is provided with steering engine 29, and 1 front lower portion of bottom plate is rotatablely installed front-wheel 17, and steering engine 29 drives
Front-wheel 17, which swings, realizes the steering of carbon-free trolley；
The ultrasonic wave module 1, ultrasonic wave module 2 35, ultrasonic wave module 3 36, micro electromagnetic brake 26, steering engine
29, velocity measuring module is connect by route with control system.
Roll 11 passes through the structure that gear mechanism is connect with rear axle 9 are as follows: the fixed gear wheel 13 of the left part of roll 11, greatly
Gear 13 is engaged with pinion gear 5, and pinion gear 5 is fixed on rear axle 9.
The structure of the velocity measuring module of carbon-free trolley is provided on the pedestal 1 are as follows: infrared velocity sensor 33 is solid
It is scheduled on bottom plate 1,13 lower front of gear wheel is in, for measuring the revolving speed of gear wheel 13.
Steering engine 29 drives front-wheel 17 to swing and realizes the structure of carbon-free trolley steering are as follows: in the front of the bottom plate 1
Between the fixed steering engine bracket 30 in position, the disk arm 14 of the output end setting of steering engine bracket 30 and the disc holder 19 being disposed below
It is fixedly connected, 19 lower end of disc holder passes through bottom plate 1 and is fixedly connected with the upper end of front-wheel support 16, and 16 lower end of front-wheel support is in fork
Shape, the both ends of the fixed shaft shoulder screw 18 in the both sides of fork-shaped, the intermediate optical axis portion of shaft shoulder screw 18 are rotatablely installed front-wheel 17.
The structure that 9 right end of rear axle passes through the fixed driven wheel 25 of unilateral bearing are as follows: the fixed unilateral bearing inner hole of the right end of rear axle 9
In, the inner hole of the fixed driven wheel 25 in the outer ring of unilateral bearing, unilateral bearing both ensure that rear axle 9 makes 25 rolls forward of driven wheel
It is bonding state when direction, i.e., when rear axle makes 25 rolls forward of driven wheel, driven wheel 25 and 9 synchronous rolling of rear axle, and rear axle 9 is not
When dynamic or when braking, driven wheel 25 can be conveniently adjusted the relative position between carbon-free trolley and barrier with rolls forward.
The structure of the rotational support of roll 11, rear axle 9 is provided on the bottom plate 1 are as follows: the roll 11
Middle part, left end are rotatably installed in respectively in two inner hole of bearing and bearing block one, bearing and bearing block, bearing and bearing block one, axis
It holds and is fixed on bottom plate 1 with bearing block two, the right side of rear axle 9, left part are rotatably installed in bearing and bearing block three, bearing and axis respectively
It holds in 46 inner hole of seat, bearing and bearing block three, bearing and bearing block 46 are fixed on bottom plate 1.
It further include battery compartment 4, battery compartment 4 is fixed on the rear portion of bottom plate 1, and the battery in battery compartment is steering engine 29, micro electric
Magnetic brake 2, control system, velocity measuring module for power supply.
The bottom plate 1 is rectangle, and a strut is extended in tail portion, provides the place of placement for rear portion sound wave module 3 36,
The front of bottom plate 1 is beloid structure, to reduce rotary inertia of the carbon-free trolley in steering procedure.
Gear mechanism is one-stage gear transmission, transmission ratio 1:3.
The fixed bracket 10 in the lower part of three support rods 2, for catching counterweight 23.
Compared with prior art, the invention has the advantages that:
1. carbon-free trolley drive-train means of the invention, the one-stage gear transmission of use, have transmission efficiency height, transmission steady
Calmly, many advantages, such as structure is simple, light-weight.
2. carbon-free trolley steering unit for front wheels of the invention, steering engine are fixed on steering engine bracket, steering engine bracket is fixed on vehicle
On frame bottom plate, it ensure that the reliability of transfer, space structure are reasonable.The rotation of steering front wheel is output to from steering engine,
High transmission accuracy, response are fast, and steering engine can not only be cooperated to reach and turn to and correct at any angle, and can very rapidly
The go to action that steering engine generates is passed into front-wheel, realizes the function of fast steering.Front-wheel support is directly coupled with steering engine simultaneously,
There is no prismatic pair, the structure class of this fixing axle substantially reduces the loss of frictional energy, improves the utilization efficiency of energy.The shaft shoulder
Screw not only makes full use of the structure of shaft shoulder screw as the axis of front-wheel, but also easy to disassemble with wing nut cooperation.
3. carbon-free trolley driving device of the invention realizes the differential function of rear-wheel using the exclusive feature of unilateral bearing
Can, can not only guarantee trolley shafting by it is locked in the case where, do not generate the case where revolution is interfered, and can guarantee trolley
In the case where depleted of energy, stand fast in the upward slope stage.
4. carbon-free trolley control device of the invention, by setting ultrasonic wave module, single-chip microcontroller, infrared speed measuring module and
Single-chip microcontroller.Ultrasonic wave module recognition speed is fast, range is wide, stability is strong, copes with the avoidance of various different spacing.Infrared survey
Fast module can be with real-time detection gear rotational speed, and then extrapolates the speed of carbon-free trolley.
5. carbon-free trolley brake gear of the invention, internal contracting brake provided using micro electromagnetic brake, realize and slow down and stop
Vehicle, structure is simple, and braking is fast, and can be powered operation for a long time.
6. carbon-free trolley device of the invention, the requirement on machining accuracy of each component is not high, and part is few, only primary transmission,
Transmission chain is short.Nonmetallic materials can be used in many parts, can produce in batches.With compact-sized reasonable, simple process, matter
The characteristics of measuring light, at low cost, intelligent barrier avoiding and straight line self-correction.
Detailed description of the invention
Fig. 1 is the overall structure figure one of the intelligent avoidance carbon-free trolley of ultrasonic listening.
Fig. 2 is the overall structure figure two of the intelligent avoidance carbon-free trolley of ultrasonic listening.
Fig. 3 is the overall structure figure three of the intelligent avoidance carbon-free trolley of ultrasonic listening.
Fig. 4 is floor structure figure.
Fig. 5 is the driver composition of carbon-free trolley drive part.
Fig. 6 is the mounting structure schematic diagram of driven wheel.
Fig. 7 is the turning machine composition one of steering engine connection.
Fig. 8 is carbon-free trolley ultrasonic module arragement construction schematic diagram.
Fig. 9 is control principle circuit diagram.
Appended drawing reference: 1- bottom plate, 2- support rod, 3- driven wheel inner sleeve, 4- battery compartment, 5- pinion gear, 6- bearing block, 7- drive
Driving wheel, 8- driving wheel shaft coupling, 9- rear axle, 10- bracket, 11- roll, 12- roll, 13- gear wheel, 14- disk arm,
15- wing nut, 16- front-wheel support, 17- front-wheel, 18- shaft shoulder screw, 19- disc holder, 20- rotate pulley, 21- top plate
Axis, 22- top plate, 23- counterweight, 24- driven wheel housing, 25- driven wheel, 26- micro electromagnetic brake, 27- brake support frame,
28- circuit board, 29- steering engine, 30- steering engine bracket, 31- ultrasonic wave module bracket, 32- ultrasonic wave module one, the infrared biography that tests the speed of 33-
Sensor, 34- traction rope, 35- ultrasonic wave module two, 36- ultrasonic wave module three.
Specific embodiment
Next technical solution of the present invention will be clearly and completely described in conjunction with attached drawing.
In conjunction with Fig. 1-9, a kind of carbon-free trolley of intelligent avoidance based on ultrasonic listening of the invention include bottom plate 1,
Support rod 2, driven wheel inner sleeve 3, battery compartment 4, pinion gear 5, bearing and bearing block 6, driving wheel 7, driving wheel shaft coupling 8, rear axle
9, bracket 10, roll 11, reel 12, gear wheel 13, disk arm 14, wing nut 15, front-wheel support 16, front-wheel 17,
Shaft shoulder screw 18, disc holder 19, rotation pulley 20, top plate axis 21, top plate 22, counterweight 23, driven wheel housing 24, driven wheel
25, micro electromagnetic brake 26, brake support frame 27, circuit board 28, steering engine 29, steering engine bracket 30, ultrasonic wave module bracket 31,
Ultrasonic wave module 1, infrared velocity sensor 33, traction rope 34, ultrasonic wave module 2 35, ultrasonic wave module 3 36.With carbon-free
Otherwise the direction of advance of trolley is defined as front is rear, to be equipped with ultrasonic wave module 2 35, ultrasonic wave module in carbon-free trolley
Otherwise 3 36 side is defined as right side is left side, and to describe the application, three support rods 2 are fixed in 1 rear end of bottom plate
Lower end, three support rods 2 are arranged in parallel along the vertical direction, the fixed top plate 22 in the upper end of three support rods 2, top plate 22
The left and right end portions of the fixed top plate axis 21 of upper front end, the middle part rotational installation rotation pulley 20 of top plate axis 21, the upper end of counterweight 23
One end of fixed tractive 34 after traction rope 34 passes through the cavity being arranged in top plate 22, is bypassed from the top of rotation pulley 20,
The other end moves into reel from the front side of reel 12 and is fixed on reel 12.
The reel 12 is fixed on the right part of roll 11, and the right end of roll is mounted on micro electromagnetic brake 26
Inner hole in, the fixing end of micro electromagnetic brake 26 is fixed on brake support frame 27, and brake support frame 27 is fixed on bottom plate 1
Middle part on the right side of, middle part, the left end of roll 11 be rotatably installed in respectively in bearing and bearing block one, bearing and bearing block two,
Bearing and bearing block one, bearing and bearing block two are fixed on bottom plate 1, the fixed gear wheel 13 of the left part of roll 11, gear wheel
13 engage with pinion gear 5, and pinion gear 5 is fixed on rear axle 9, and the right side of rear axle 9, left part are rotatably installed in bearing and bearing block respectively
Three, in bearing and bearing block 46, bearing and bearing block three, bearing and bearing block 46 are fixed on bottom plate 1, the left end of rear axle 9
The right end of fixed driving wheel 7, rear axle 9 is fixed in unilateral bearing inner hole, the inner hole of the fixed driven wheel 25 in the outer ring of unilateral bearing, single
To bearing, when both ensure that rear axle 9 makes 25 rolls forward direction of driven wheel, bonding state, i.e. rear axle make driven wheel 25 forward
When rolling, driven wheel 25 and 9 synchronous rolling of rear axle, and when rear axle 9 is motionless (braking), driven wheel 25 can be convenient for rolls forward
Adjust the relative position between carbon-free trolley and barrier.
The fixed steering engine bracket 30 of the front medial location of the bottom plate 1, the disk of the output end setting of steering engine bracket 30
Arm 14 is fixedly connected with the disc holder 19 being disposed below, and 19 lower end of disc holder passes through the upper of bottom plate 1 and front-wheel support 16
End is fixedly connected, and 16 lower end of front-wheel support is in fork-shaped, and the both ends of shaft shoulder screw 18 are fixed on the both sides of fork-shaped, shaft shoulder screw 18
Intermediate optical axis is rotatablely installed front-wheel 17.
The front end mounting ultrasonic module carrier 31 of the bottom plate 1, mounting ultrasonic mould on ultrasonic wave module bracket 31
Block 1, for detecting the position of the barrier in front of carbon-free trolley.
The front and rear portions of the right end of the bottom plate 1 distinguish mounting ultrasonic module 2 35, ultrasonic wave module 3 36, are used for
Detect the front in left side of carbon-free trolley, rear portion between barrier or racing track baffle at a distance from and carbon-free trolley in avoidance mistake
Close to barrier in journey, according to the experiment material carbon-free trolley of barrier position in the front-back direction.
Front-wheel 17, front-wheel support 16, disk arm 14, disc holder 19, steering engine bracket 30 and the steering engine 29 constitutes
The steering mechanism of the front-wheel 17 of carbon-free trolley；Driven wheel inner sleeve 3, driving wheel 7, driving wheel shaft coupling 8, rear axle 9, driven wheel housing
24, driven wheel 25 constitutes the driving mechanism of carbon-free trolley；Micro electromagnetic brake 26 and brake support frame 27 constitute carbon-free
The braking mechanism of trolley；Top layer portion dress is fixed together with bottom plate 1, includes support rod 2, top plate 22, top in top layer portion dress
Dish axle 21, rotation pulley 20, bracket 10, counterweight 23 and traction rope 34.By pinion gear 5, gear wheel 13, roll 11, coiling
Wheel 12 constitutes the transmission mechanism of carbon-free trolley.
The battery compartment 4 is fixed on the rear portion of bottom plate 1.
The driving wheel 7,25 structure of driven wheel are identical, and outside diameter is identical.
Fig. 4 is the bottom plate 1 of carbon-free trolley, and a strut is extended in generally rectangle, tail portion, is mentioned for rear portion sound wave module 3 36
For the place of placement, the front of bottom plate 1 has carried out round corner treatment, is designed as nearly pyramidal structure, mistake of the carbon-free trolley in steering
Cheng Zhong, this pyramidal structure can reduce the rotary inertia in steering procedure.Meanwhile hollow processing is carried out to bottom plate 1, subtract significantly
The light quality of carbon-free trolley, reduces energy loss when steering.
Fig. 5 is the driver composition of carbon-free trolley drive part, and the right side of roll 11, roll 11 mills out one with milling cutter
A concave station facilitates 26 band-type brake of micro electromagnetic brake to lock roll 11.Gear set includes a gear wheel 13 and a small tooth
Wheel 5, the transmission ratio of gear set are 1:3.Gear wheel 13 and the gear ratio of pinion gear 5 are 3:1, the left and right sides setting of each gear
Stop collar is limited on axis, prevents gear from axial displacement occurs.Stop collar is fastened on axis with fastening bolt.Reel 12 with around
11 clearance fit of spool is fastened reel 12 and roll 11 using holding screw.Further instruction, 12 taper of reel
Slot is designed as indent square tooth mutation shape, not only can solve the problems, such as that traction rope slips on arc-shaped slot, and make
It can ensure that carbon-free trolley possessed energy during upward slope can continue to export with the larger value with this taper cone pulley, simultaneously
It is transitioned into traction rope successfully on thin optical axis from the biggish place of taper cone pulley radius, prevents radius change from causing very much traction rope greatly
Bust.
Fig. 6 is the rear axle installing mechanism of carbon-free trolley, and the pinion gear 5 installed on rear axle 9 is fixed on rear axle 9.Rear axle 9 is right
Driving wheel 7 is fixed in side, and driven wheel 25 is installed by unilateral bearing in left side.Pass through bolt and nut and driven wheel inner sleeve 3 and driven wheel
Housing 24 is bound up.The inner hole and unilateral bearing of driven wheel inner sleeve 3 are combined together in a manner of interference, unilateral bearing inner hole
The left end of fixed rear axle 9, driving wheel 7 and driven wheel 25 are all made of hollow processing, in the case where guaranteeing structural strength, get rid of
Unnecessary material, the structure simplified will arrive the weight of wheel minimum.
Fig. 7 is portion of steering mechanism dress, and the disk arm 14 on steering engine 29 is fixedly connected with disc holder 19.Disc holder 19 with
Front-wheel support 16 is fixedly connected.Steering bearing is located on the shaft shoulder of front-wheel support 16, the inner hole mistake on outer ring and steering engine bracket 30
It is full of cooperation.16 bottom of front-wheel support is semi-open type structure, selects shaft shoulder screw 18 as the axis of front-wheel steer part.The front-wheel shaft shoulder
A deep groove ball bearing is fixed on screw 18.The outer ring of bearing and 17 inner hole of front-wheel are interference fitted.In the right end of shaft shoulder screw 18, make
Entire parts on shaft is fastened with wing nut 15, it is easy to disassemble.
Fig. 8 is carbon-free trolley ultrasonic module arragement construction figure, is provided with ultrasonic wave module 1 in front of carbon-free trolley, is used for
Front avoidance, the right front of carbon-free trolley, rear portion are respectively installed ultrasonic wave module 2 35, ultrasonic wave module 3 36 respectively, are realized
Carbon-free trolley is against always on the inside of racing track, i.e., the right side of carbon-free trolley againsts right side racing track always or barrier advances, racing track
When barrier is met on right side, ultrasonic wave module 1 avoids in advance, and carbon-free trolley is turned to the left, while ultrasonic wave module 2 35 is examined
Ranging is with a distance from barrier, and carbon-free trolley constantly adjusts the vehicle body position of carbon-free trolley during moving ahead, barrier is close to super
When sound wave module 3 36, ultrasonic module detects distance of the carbon-free trolley rear portion apart from barrier, adjusts in walking process carbon-free small
The position of vehicle realizes that travel distance is short, and walking distance is elongated.
Fig. 9 is electric operation control circuit figure, and hardware circuit is turned to using MG995 steering engine control trolley, using ultrasonic wave module 1,
Ultrasonic wave module 2 35, ultrasonic wave module 3 36, position vehicle appearance, and power supply uses No. 5 dry cell series-feds, then passes through
It powers after AMS1117-5.0 pressure stabilizing for electric control part, according to hsrdware requirements and software requirement, selects STC12CA60S2 chip energy
Enough good meet demands, and since the operation level of pin is consistent, it is just extremely simple in circuit design.Before carbon-free trolley
Row avoidance mode uses the algorithm of keeping to the edge of designed, designed, i.e., is close on the inside of racing track (match on the right side of carbon-free trolley always on the right side of trolley
Road) move ahead avoidance, and when encountering the barrier stretched out on the left of racing track, ultrasonic wave module 1 detects on the left of racing track obstacle occur
Object does not influence carbon-free trolley and moves ahead along inside racing track, and when occurring barrier among racing track, ultrasonic wave module 1 is detected
The right side gap width of barrier can by when, trolley is continued on and is moved ahead on the inside of racing track, if cannot lead on the right side of barrier
It crosses, then carbon-free trolley turns to the left, while micro electromagnetic brake 26 is intermittently braked, convenient for the vehicle body position tune of carbon-free trolley
Whole, carbon-free trolley is turned in walking process, the distance of 2 35 detecting distance barrier of ultrasonic wave module, and carbon-free trolley moves ahead process
In constantly adjust the vehicle body position of carbon-free trolley, when barrier is close to ultrasonic wave module 3 36, ultrasonic module detects carbon-free trolley
Distance of the rear portion apart from barrier adjusts the position of carbon-free trolley in walking process, realizes that travel distance shortens, and walking distance becomes
It is long, after cut-through object, ultrasonic wave module 1 detect have on the right side of racing track by notch after, carbon-free trolley bends to right,
Ultrasonic wave module 2 35, ultrasonic wave module 3 36 detect carbon-free trolley between the racing track of right side at a distance from, realize carbon-free trolley along
Right side racing track walking, if right side not over notch, continue to move ahead, or continue on barrier left side walking
(right side that carbon-free trolley is located at barrier), until turn to the right after there is channel notch on the right side of racing track, ultrasonic wave module two
35, ultrasonic wave module 3 36 detect carbon-free trolley between the racing track of right side at a distance from, realize carbon-free trolley along right side racing track walk.
When barrier occurs in (inside) on the right side of racing track, ultrasonic wave module 1 is detected on the right side of racing track in carbon-free trolley
Barrier, then carbon-free trolley turns to the left, while micro electromagnetic brake 26 is intermittently braked, convenient for the vehicle body position of carbon-free trolley
Adjustment, carbon-free trolley are turned in walking process, and the distance of 2 35 detecting distance barrier of ultrasonic wave module, carbon-free trolley moved ahead
The vehicle body position of carbon-free trolley is constantly adjusted in journey, when barrier is close to ultrasonic wave module 3 36, ultrasonic module detection is carbon-free small
Distance of the vehicle rear portion apart from barrier adjusts the position of carbon-free trolley in walking process, realizes that travel distance shortens, distance of walking
It is elongated, after cut-through object, ultrasonic wave module 1 detect have on the right side of racing track by notch after, carbon-free trolley is turned right
It is curved, ultrasonic wave module 2 35, ultrasonic wave module 3 36 detect carbon-free trolley between the racing track of right side at a distance from, realize carbon-free trolley edge
Right side racing track walking, if right side not over notch, continue to move ahead, or continue on barrier left side walking
(right side that carbon-free trolley is located at barrier), until turn to the right after there is channel notch on the right side of racing track, ultrasonic wave module two
35, ultrasonic wave module 3 36 detect carbon-free trolley between the racing track of right side at a distance from, realize carbon-free trolley along right side racing track walk,
It moves ahead repeatedly.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that；Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening, including bottom plate (1), support rod (2), driving wheel
(7), rear axle (9), front-wheel (17), counterweight (23), driven wheel (25), ultrasonic wave module one (32), traction rope (34), ultrasonic wave mould
Block two (35), ultrasonic wave module three (36), control system, it is characterised in that: three support rods are fixed in described bottom plate (1) rear end
(2), three support rods (2) are arranged in parallel along the vertical direction, and the upper end of three support rods (2) is fixed top plate (22), top plate
(22) left and right end portions of upper front end fixed top plate axis (21), middle part rotational installation rotation pulley (20) of top plate axis (21),
One end of the upper end fixed tractive (34) of counterweight (23), traction rope (34) pass through on top plate (22) after the cavity that is arranged, from turning
The top of movable pulley (20) bypasses, after the other end moves into several circles of reel on front side of reel (12), and be fixed on around
In line wheel (12)；
The reel (12) is fixed on roll (11), and roll (11) is connect by gear mechanism with rear axle (9), bottom
The rotational support of roll (11), rear axle (9) is provided on plate (1), rear axle (9) left end is fixed driving wheel (7), and right end passes through list
Fixed driven wheel (25) to bearing, the right end of roll (11) is mounted in the inner hole of micro electromagnetic brake (26), micro electric
The fixing end of magnetic brake (26) is fixed on bottom plate (1)；
The velocity measuring module of carbon-free trolley is provided on the pedestal (1), right ultrasound is arranged in the front end of the bottom plate (1)
The front and rear portions of wave module one (32), the right end of bottom plate (1) distinguish mounting ultrasonic module two (35), ultrasonic wave module three (36)；
The carbon-free trolley front is provided with steering engine (29), and bottom plate (1) front lower portion is rotatablely installed front-wheel (17), steering engine (29)
Driving front-wheel (17), which swings, realizes the steering of carbon-free trolley；
The ultrasonic wave module one (32), ultrasonic wave module two (35), ultrasonic wave module three (36), micro electromagnetic brake
(26), steering engine (29), velocity measuring module are connect by route with control system.
2. the carbon-free trolley of the intelligent avoidance according to claim 1 based on ultrasonic listening, it is characterised in that: coiling
Axis (11) passes through the structure that gear mechanism is connect with rear axle (9) are as follows: the left part of roll (11) is fixed gear wheel (13), gear wheel
(13) it is engaged with pinion gear (5), pinion gear (5) is fixed on rear axle (9).
3. the carbon-free trolley of the intelligent avoidance according to claim 2 based on ultrasonic listening, it is characterised in that: described
Pedestal (1) on be provided with carbon-free trolley velocity measuring module structure are as follows: infrared velocity sensor is fixed on bottom plate (1)
On, it is in gear wheel (13) lower front, for measuring the revolving speed of gear wheel (13).
4. the carbon-free trolley of the intelligent avoidance according to claim 1 based on ultrasonic listening, it is characterised in that: steering engine
(29) driving front-wheel (17), which swings, realizes the structure of the steering of carbon-free trolley are as follows: the anteriomedial position of the bottom plate (1)
Set fixed steering engine bracket (30), the output end setting of steering engine bracket (30) disk arm (14) and the disc holder that is disposed below
(19) it is fixedly connected, disc holder (19) lower end passes through bottom plate (1) and is fixedly connected with the upper end of front-wheel support (16), front-wheel support
(16) lower end is in fork-shaped, the both ends on the both sides fixed shaft shoulder screw (18) of fork-shaped, the intermediate optical axis portion of shaft shoulder screw (18)
It is rotatablely installed front-wheel (17).
5. the carbon-free trolley of the intelligent avoidance according to claim 1 based on ultrasonic listening, it is characterised in that: rear axle
(9) structure that right end passes through unilateral bearing fixed driven wheel (25) are as follows: single in the fixed unilateral bearing inner hole of the right end of rear axle (9)
To the inner hole of the outer ring of bearing fixed driven wheel (25), unilateral bearing both ensure that rear axle (9) rolls driven wheel (25) forward
It is bonding state when dynamic direction, i.e., when rear axle makes driven wheel (25) rolls forward, driven wheel (25) and rear axle (9) synchronous rolling,
And rear axle (9) it is motionless when or braking when, driven wheel (25) can be conveniently adjusted between carbon-free trolley and barrier with rolls forward
Relative position.
6. the carbon-free trolley of the intelligent avoidance according to claim 1-5 based on ultrasonic listening, feature
It is: is provided with the structure of the rotational support of roll (11), rear axle (9) on the bottom plate (1) are as follows: the roll
(11) middle part, left end is rotatably installed in respectively in two inner hole of bearing and bearing block one, bearing and bearing block, bearing and bearing block
One, bearing and bearing block two are fixed on bottom plate (1), and the right side of rear axle (9), left part are rotatably installed in bearing and bearing block respectively
Three, in bearing and bearing block four (6) inner hole, bearing and bearing block three, bearing and bearing block four (6) are fixed on bottom plate (1).
7. the carbon-free trolley of the intelligent avoidance according to claim 1-5 based on ultrasonic listening, feature
It is: further includes battery compartment (4), battery compartment (4) is fixed on the rear portion of bottom plate (1), and the battery in battery compartment is steering engine (29), micro-
Type electromagnetic brake (2), control system, velocity measuring module for power supply.
8. the carbon-free trolley of the intelligent avoidance according to claim 1-5 based on ultrasonic listening, feature
Be: the bottom plate (1) is rectangle, and a strut is extended in tail portion, provides the place of placement for rear portion sound wave module three (36),
The front of bottom plate (1) is beloid structure, to reduce rotary inertia of the carbon-free trolley in steering procedure.
9. the carbon-free trolley of the intelligent avoidance according to claim 1-5 based on ultrasonic listening, feature
Be: gear mechanism is one-stage gear transmission, transmission ratio 1:3.
10. the carbon-free trolley of the intelligent avoidance according to claim 1-5 based on ultrasonic listening, feature
Be: the lower part of three support rods (2) is fixed bracket (10), for catching counterweight (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097109.6A CN109045722A (en) | 2018-09-20 | 2018-09-20 | A kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811097109.6A CN109045722A (en) | 2018-09-20 | 2018-09-20 | A kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening |
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| CN201811097109.6A Pending CN109045722A (en) | 2018-09-20 | 2018-09-20 | A kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening |
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| CN112525990A (en) * | 2020-11-19 | 2021-03-19 | 浙江邦尼建筑检测有限公司 | Steel construction welding seam detection device |
| CN112657209A (en) * | 2020-12-03 | 2021-04-16 | 云和县双尖玩具配件有限公司 | Device for preventing motor stall collision of toy car |
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