CN109050662A - A kind of trolley of flexibly direct writing device driving - Google Patents
A kind of trolley of flexibly direct writing device driving Download PDFInfo
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- CN109050662A CN109050662A CN201810871628.7A CN201810871628A CN109050662A CN 109050662 A CN109050662 A CN 109050662A CN 201810871628 A CN201810871628 A CN 201810871628A CN 109050662 A CN109050662 A CN 109050662A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
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Abstract
The invention discloses a kind of trolleies of flexibly direct writing device driving.Front wheels and rear wheels are separately mounted to the front middle part and rear middle part on chassis, and the two sides of rear-wheel are separately installed with revolver and right wheel, and the axis coaxle of revolver, right wheel and rear-wheel is overlapped, and front wheels and rear wheels play a supportive role, and revolver and right wheel provide the driving force that trolley advances；Revolver and right wheel structure are centrosymmetrically arranged with rear-wheel；Revolver and right wheel include side wheel, side unilateral bearing, torsion actuator, actuator bottom surface connecting plate；Torsion actuator includes upper bottom surface, side curved surface, bottom surface and silicone tube, and rear-wheel includes deep groove ball bearing and seat, intermediate wheel, intermediate unilateral bearing and seat.The torsion of the limited angle of flexibly direct writing device is converted to continuous rotation by unilateral bearing by trolley of the present invention, control the deformation timing of flexible torsional actuator counterclockwise and flexible torsional actuator clockwise, trolley is driven to complete to advance, turn left, right turn movements, can operation in harsh environment, have a extensive future.
Description
Technical field
The present invention relates to a kind of trolleys, more particularly, to a kind of trolley of flexibly direct writing device driving.
Background technique
Traditional motor-driven trolley can not work in certain adverse circumstances, and be easy under the action of external impact
Damage.For above situation, lack a kind of trolley of novel flexibly direct writing device driving in the prior art to solve these problems.
Summary of the invention
In order to solve the problems, such as background technique, the object of the present invention is to provide a kind of the small of flexibly direct writing device driving
Vehicle is used for operation in harsh environment, is less likely to be damaged under the action of external impact.
The technical scheme adopted by the invention is that:
The present invention includes chassis and the front-wheel, revolver, right wheel and the rear-wheel that are mounted on chassis；Front wheels and rear wheels are installed respectively
Front middle part and rear middle part on chassis, the two sides of rear-wheel are separately installed with revolver and right wheel, the axis of revolver, right wheel and rear-wheel
The same overlapping of axles of line, front wheels and rear wheels play a supportive role, and revolver and right wheel provide the driving force that trolley advances；Revolver and right wheel structure
It is centrosymmetrically arranged with rear-wheel；The revolver and right wheel include under side wheel, side unilateral bearing, torsion actuator, actuator
Bottom surface connecting plate；It reverses actuator one end to be fixed on chassis by actuator bottom surface connecting plate, reverses the actuator other end
It is fixedly and coaxially connected with the inner ring of side unilateral bearing by unilateral bearing square connecting plate and actuator upper bottom surface connecting plate, side is single
It is fixedly and coaxially connected to the outer ring of bearing and side wheel by wheel connecting plate and unilateral bearing shell, so that torsion executes
Device and side wheel pass through side unilateral bearing and coaxially one-directionally rotate connection；The torsion actuator direction of rotation of revolver and right wheel is opposite；
The torsion actuator includes upper bottom surface, side curved surface, bottom surface and silicone tube, and upper bottom surface size is less than bottom surface size, side
Curved surface sealing in side surrounds and is connected to upper bottom surface, around bottom surface between so that entirely torsion actuator forms sealed air chamber, upper bottom
A hole is equipped among face, silicone tube inserting is connected to hole, and silicone tube is connected to external air source, after gas source vacuumizes gas chamber,
Side curved surface forward direction is reversed while the distance between upper bottom surface and bottom surface being driven to become close, i.e., so that torsion actuator is in rotation
Height is reduced, after gas source is to chamber inflated, side curved surface turn-back drives the distance between upper bottom surface and bottom surface to become simultaneously
Far, i.e., so that torsion actuator increases height in rotation.
The rear-wheel includes deep groove ball bearing, deep groove ball bearing seat, deep groove ball bearing connecting plate, intermediate wheel, one-way shaft
Hold round connecting plate, unilateral bearing seat and intermediate unilateral bearing；The side wheel face and deep groove ball bearing connecting plate of intermediate wheel
One side end face is fixedly connected, and deep groove ball bearing connecting plate is equipped with protruding shaft in the middle part of another side end face, and protruding shaft is set in deep groove ball bearing
Inner ring and close-fitting connect；Deep groove ball bearing is sleeved in deep groove ball bearing seat, and deep groove ball bearing seat inner hole and deep-groove ball axis
Bearing outer-ring close-fitting, deep groove ball bearing seat are fixed on chassis；Intermediate wheel other side wheel face and unilateral bearing circle connecting plate
One side end face is fixedly connected, and protruding shaft is equipped in the middle part of another side end face of unilateral bearing circle connecting plate, and protruding shaft is set in intermediate unidirectional
The inner ring and close-fitting of bearing connect；Intermediate unilateral bearing is sleeved in unilateral bearing seat, and unilateral bearing seat inner hole and centre are single
To bearing outer ring close-fitting, unilateral bearing seat is fixed on chassis.
The torsion actuator of the right wheel is adopted using flexible torsional actuator clockwise, the torsion actuator of revolver
Flexible torsional actuator counterclockwise, the installation requirement of the side unilateral bearing of revolver and flexible torsional actuator counterclockwise with
The side unilateral bearing of right wheel is identical with the installation requirement of flexible torsional actuator clockwise, by taking revolver as an example are as follows: install revolver
When side unilateral bearing and flexible torsional actuator counterclockwise, the permission direction of rotation of side unilateral bearing and flexible torsional counterclockwise are held
Row device connects the direction of rotation of upper bottom surface after negative pressure on the contrary, upper bottom surface driving side is unidirectional after flexible torsional actuator connects negative pressure counterclockwise
The inner ring and outer ring of bearing rotates in the forward direction together, after the air chamber pressure of flexible torsional actuator counterclockwise becomes atmospheric pressure from negative pressure
The inner ring of upper bottom surface only driving side unilateral bearing reversely rotates together.
Revolver and right wheel is driven to rotate or drive revolver and right wheel therein around identical direction by torsion actuator
One rotation, and then trolley is driven to advance or turn to, the front-wheel and right wheel on trolley make driven motions；It is unidirectional by side simultaneously
The torsion for reversing actuator limited angle is converted to continuous rotation by bearing, and control torsion actuator deforms timing, drives trolley
It completes to advance, turn left, right turn movements.
The bottom surface of the torsion actuator is fixed on actuator bottom surface connecting plate, actuator through bottom surface fixinig plate
Bottom surface connecting plate is fixed on chassis, reverses the upper bottom surface of actuator through side unilateral bearing connecting side wheel.
The actuator upper bottom surface connecting plate is fixed on torsion actuator end face, and unilateral bearing square connecting plate is fixed on
Actuator upper bottom surface connecting plate, unilateral bearing square connecting plate center are equipped with protruding shaft, and protruding shaft close-fitting is set in side unilateral bearing
Inner ring；Wheel connecting plate is fixed on the wheel face of side wheel, and unilateral bearing shell is fixed on wheel connecting plate, side one-way shaft
It is housed in unilateral bearing shell, side unilateral bearing outer ring and the installation of unilateral bearing shell close-fitting, so that torsion actuator
It is coaxially connected by side unilateral bearing with side wheel, so that torsion actuator is only capable of that side wheel is driven to rotate fortune around single direction
It is dynamic.
The deep groove ball bearing connecting plate and unilateral bearing circle connecting plate is bolted on wheel.
The beneficial effects of the present invention are:
The torsion of the limited angle of flexibly direct writing device is converted to continuous rotation by unilateral bearing by the present invention, controls the inverse time
The deformation timing of needle flexible torsional actuator and flexible torsional actuator clockwise can drive trolley to complete to advance, turn left, is right
Transhipment is dynamic.
The trolley of flexibly direct writing device driving of the invention can the operation in adverse circumstances (strong magnetic environment, forceful electric power environment), and
It is less likely to be damaged under the action of external impact, has a extensive future.
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the invention；
Fig. 2 is explosive view of the invention；
Fig. 3 is the deformation schematic diagram of flexible torsional actuator counterclockwise；
Fig. 4 is the deformation schematic diagram of flexible torsional actuator clockwise；
Fig. 5 is trolley advance gait schematic diagram；
Fig. 6 is trolley left-hand rotation gait schematic diagram；
Fig. 7 is trolley right-hand rotation gait schematic diagram.
In figure: 1 is front-wheel, and 2 be revolver, and 3 be right wheel, and 4 be rear-wheel, and 5 be chassis；6 be side wheel, 7 be wheel connecting plate,
8 be unilateral bearing shell, 9 be side unilateral bearing, 10 be unilateral bearing square connecting plate, 11 be actuator upper bottom surface connecting plate,
12 be flexible torsional actuator counterclockwise, 13 be actuator bottom surface connecting plate, 14 be upper bottom surface fixinig plate, 15 be that bottom surface is solid
Stator, 16 be deep groove ball bearing, 17 be deep groove ball bearing seat, 18 be deep groove ball bearing connecting plate, 19 be unilateral bearing circle connect
Fishplate bar, 20 be unilateral bearing seat, 21 be flexible torsional actuator clockwise；22 be silicone tube, 23 be upper bottom surface, 24 be side song
Face, 25 be bottom surface, 26 be intermediate wheel, 27 be intermediate unilateral bearing.
Specific embodiment
The present invention is further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, the present invention includes chassis 5 and the front-wheel 1, revolver 2, right wheel 3 and the rear-wheel 4 that are mounted on chassis 5；Before
Wheel 1 and rear-wheel 4 are separately mounted to the front middle part and rear middle part on chassis 5, and the two sides of rear-wheel 4 are separately installed with revolver 2 and the right side
The axis coaxle of wheel 3, revolver 2, right wheel 3 and rear-wheel 4 is overlapped, and front-wheel 1 and rear-wheel 4 play a supportive role, and revolver 2 and right wheel 3 provide
The driving force that trolley advances；All parts of the invention are bolted onto chassis 5.
As shown in Fig. 2, revolver 2 and 3 structure of right wheel are centrosymmetrically arranged with rear-wheel 4；Revolver 2 and right wheel 3 include side vehicle
Wheel 6, wheel connecting plate 7, unilateral bearing shell 8, side unilateral bearing 9, unilateral bearing square connecting plate 10, actuator upper bottom surface connect
Fishplate bar 11, torsion actuator 12/21, actuator bottom surface connecting plate 13, upper bottom surface fixinig plate 14 and bottom surface fixinig plate 15；It turns round
Turn 12/21 one end of actuator to be fixed on chassis 5 by actuator bottom surface connecting plate 13, reverses 12/21 other end of actuator
Connect with the inner ring of side unilateral bearing 9 by the way that unilateral bearing square connecting plate 10 and actuator upper bottom surface connecting plate 11 are coaxially fixed
It connecing, the outer ring of side unilateral bearing 9 and side wheel 6 are fixedly and coaxially connected by wheel connecting plate 7 and unilateral bearing shell 8, thus
So that torsion actuator 12/21 and side wheel 6 pass through the coaxially one-directional rotation connection of side unilateral bearing 9；The torsion of revolver 2 and right wheel 3
Turn actuator direction of rotation on the contrary, revolver 2 and the side unilateral bearing 9 of right wheel 3 allow the torsion actuator of direction of rotation and itself
The corresponding installation in direction of rotation.
As shown in Figure 3 and Figure 4, torsion actuator 12/21 includes upper bottom surface 23, side curved surface 24, bottom surface 25 and silica gel
Pipe 22,23 size of upper bottom surface are less than 25 size of bottom surface, and the sealing of side curved surface 24, which is surrounded, is connected to upper bottom surface 23, bottom surface 25 weeks
Between enclosing, so that entirely torsion actuator 12/21 forms sealed air chamber, and it is small in approximation that torsion actuator 12/21 is formed
Big column construction down is equipped with a hole among upper bottom surface 23, and the inserting of silicone tube 22 is connected to hole, and silicone tube 22 is connected to outside
Gas source, after gas source vacuumizes gas chamber, the positive torsion of side curved surface 24 at the same drive between upper bottom surface 23 and bottom surface 25 away from
It is close from becoming, i.e., so that torsion actuator 12/21 reduces height, after gas source becomes atmospheric pressure to chamber inflated, side in rotation
24 turn-back of curved surface drives the distance between upper bottom surface 23 and bottom surface 25 to become remote simultaneously, i.e., so that torsion actuator 12/21
Increase height in rotation, torsion actuator 12/21 reverts to original normality shape.
The bottom surface 25 of torsion actuator 12/21 is fixed on actuator bottom surface connecting plate 13 through bottom surface fixinig plate 15,
Actuator bottom surface connecting plate 13 is fixed on chassis 5, and the upper bottom surface 23 for reversing actuator 12/21 is connected through side unilateral bearing 9
Side wheel 6.
As shown in Fig. 2, rear-wheel 4 include deep groove ball bearing 16, deep groove ball bearing seat 17, deep groove ball bearing connecting plate 18, in
Between wheel 26, unilateral bearing circle connecting plate 19, unilateral bearing seat 20 and intermediate unilateral bearing 27；One side wheel of intermediate wheel 26
Disk is fixedly connected with 18 1 side end face of deep groove ball bearing connecting plate, is equipped in the middle part of another side end face of deep groove ball bearing connecting plate 18
Protruding shaft, protruding shaft is set in the inner ring of deep groove ball bearing 16 and close-fitting connects；Deep groove ball bearing 16 is sleeved on deep groove ball bearing seat 17
In, and 17 inner hole of deep groove ball bearing seat and 16 outer ring close-fitting of deep groove ball bearing, deep groove ball bearing seat 17 are fixed on chassis 5；In
Between 26 other side wheel face of wheel be fixedly connected with 19 1 side end face of unilateral bearing circle connecting plate, unilateral bearing circle connecting plate
Protruding shaft is equipped in the middle part of 19 another side end faces, protruding shaft is set in the inner ring of intermediate unilateral bearing 27 and close-fitting connects；Intermediate one-way shaft
It holds 27 to be sleeved in unilateral bearing seat 20, and 27 outer ring close-fitting of 20 inner hole of unilateral bearing seat and intermediate unilateral bearing, unilateral bearing
Seat 20 is fixed on chassis 5.Deep groove ball bearing connecting plate 18 and unilateral bearing circle connecting plate 19 are bolted on wheel 6
On.
In specific implementation, the structure of front-wheel 1 and rear-wheel 4 is roughly the same, and difference is only that front-wheel 1 uses two deep-groove ball axis
16 are held, and rear-wheel 4 uses a deep groove ball bearing 16 and an intermediate unilateral bearing 27, i.e. front-wheel 1 is in 4 structure basis of rear-wheel
On intermediate unilateral bearing 27 replacement therein become into deep groove ball bearing 16.
The structure of right wheel 3 is roughly the same with revolver 2, and difference is only that the torsion actuator of right wheel 3 using clockwise
Flexible torsional actuator 21, for the torsion actuator of revolver 2 using flexible torsional actuator 12 counterclockwise, the side of revolver 2 is single
To the side unilateral bearing 9 and flexible torsional clockwise of the installation requirement of bearing 9 and flexible torsional actuator 12 counterclockwise and right wheel 3
The installation requirement of actuator 21 is identical, by taking revolver 2 as an example are as follows: the side unilateral bearing 9 and flexible torsional counterclockwise of installation revolver 2 are held
When row device 12, the permission direction of rotation (outer ring of side unilateral bearing 9 is fixed, the direction of rotation of inner ring) of side unilateral bearing 9 and inverse
Hour hands flexible torsional actuator 12 connect the direction of rotation of upper bottom surface 23 after negative pressure on the contrary, counterclockwise flexible torsional actuator 12 connect it is negative
The inner ring and outer ring of 23 driving side unilateral bearing 9 of upper bottom surface rotates in the forward direction together after pressure, flexible torsional actuator 12 counterclockwise
Air chamber pressure from negative pressure become atmospheric pressure after the inner ring of the only driving side unilateral bearing 9 of upper bottom surface 23 reversely rotate together.
Drive revolver 2 and right wheel 3 that revolver 2 and the right side are rotated or driven around identical direction by torsion actuator 12/21
The one of rotation of wheel 3, and then trolley is driven to advance or turn to, the front-wheel 1 and right wheel 3 on trolley make driven motions；Together
When the torsion for reversing 12/21 limited angle of actuator is converted to by continuous rotation by side unilateral bearing 9, control torsion actuator
12/21 deformation timing, driving trolley are completed to advance, turn left, right turn movements.
In specific implementation, actuator upper bottom surface connecting plate 11 is fixed on torsion 12/21 end face of actuator, and unilateral bearing is rectangular
Connecting plate 10 is fixed on actuator upper bottom surface connecting plate 11, and 10 center of unilateral bearing square connecting plate is equipped with protruding shaft, protruding shaft close-fitting
It is set in the inner ring of side unilateral bearing 9；Wheel connecting plate 7 is fixed on the wheel face of side wheel 6, and unilateral bearing shell 8 is fixed
In on wheel connecting plate 7, side unilateral bearing 9 is in unilateral bearing shell 8,9 outer ring of side unilateral bearing and unilateral bearing shell 8
Close-fitting installation, so that torsion actuator 12/21 and side wheel 6 are coaxially connected by side unilateral bearing 9, so that torsion executes
Device 12/21 is only capable of driving side wheel 6 around single direction rotary motion.
It is as follows that the course of work of the invention is divided into advance gait, left-hand rotation gait and right-hand rotation gait, concrete principle:
As shown in figure 5, trolley advance gait:
Step 0: revolver 2 and the respective flexible torsional actuator 12 counterclockwise of right wheel 3 and flexible torsional actuator clockwise
21 connect atmospheric pressure simultaneously, and trolley is motionless in situ；
Step 1: flexible torsional actuator 12 and flexible torsional actuator clockwise 21 counterclockwise connect negative pressure, two torsions simultaneously
The upper bottom surface 23 for turning actuator is rotated around the bottom surface 25 for being fixed on chassis 5, and the inner ring and outer ring of driving side unilateral bearing 9 is together
It rotates in the forward direction, and then side wheel 6 is driven to rotate, to drive 3 advanced in unison of revolver 2 and right wheel；
Step 2: counterclockwise flexible torsional actuator 12 and flexible torsional actuator clockwise 21 connect atmospheric pressure simultaneously, and two
The upper bottom surface 23 for reversing actuator is rotated around the bottom surface 25 for being fixed on chassis 5, and only the inner ring of driving side unilateral bearing 9 is anti-together
To rotation, since one-direction bearing structure acts on, the outer ring of side unilateral bearing 9 and side wheel 6 are motionless, to make flexible counterclockwise turn round
Turn actuator 12 and flexible torsional actuator 21 clockwise returns to original state.
Repeat step 1-2, so that it may so that trolley continuously travels forward.
As shown in fig. 6, trolley left-hand rotation gait:
Step 0: revolver 2 and the respective flexible torsional actuator 12 counterclockwise of right wheel 3 and flexible torsional actuator clockwise
21 connect atmospheric pressure simultaneously, and trolley is motionless in situ；
Step 1: flexible torsional actuator 12 and flexible torsional actuator clockwise 21 counterclockwise connect negative pressure, two torsions simultaneously
The upper bottom surface 23 for turning actuator is rotated around the bottom surface 25 for being fixed on chassis 5, and the inner ring and outer ring of driving side unilateral bearing 9 is together
It rotates in the forward direction, and then side wheel 6 is driven to rotate, to drive 3 advanced in unison of revolver 2 and right wheel；
Step 2: the flexible torsional actuator 21 clockwise of right wheel 3 connects atmospheric pressure, flexible torsional actuator 21 clockwise
Upper bottom surface 23 is rotated around the bottom surface 25 for being fixed on chassis 5, and only the inner ring of driving side unilateral bearing 9 reversely rotates together, right wheel 3
Side unilateral bearing 9 outer ring and side wheel 6 it is motionless, so that flexible torsional actuator 21 clockwise be made to return to original state；
Step 3: the flexible torsional actuator 12 counterclockwise of revolver 2 connects atmospheric pressure, flexible torsional actuator 12 counterclockwise
Upper bottom surface 23 is rotated around the bottom surface 25 for being fixed on chassis 5, and only the inner ring of driving side unilateral bearing 9 reversely rotates together, revolver 2
Side unilateral bearing 9 outer ring and side wheel 6 it is motionless, so that flexible torsional actuator 12 counterclockwise be made to return to original state；
Meanwhile the flexible torsional actuator 21 clockwise of right wheel 3 connects negative pressure, the upper bottom of flexible torsional actuator 21 clockwise
Face 23 is rotated around the bottom surface 25 for being fixed on chassis 5, and the inner ring and outer ring of driving side unilateral bearing 9 rotates in the forward direction together, thus
Right wheel 3 is driven to advance；Revolver 2 is motionless, and right wheel 3 is advanced, and entire trolley is made to turn left.
Step 4: the flexible torsional actuator 21 clockwise of right wheel 3 connects atmospheric pressure, flexible torsional actuator 21 clockwise
Upper bottom surface 23 only drives the inner ring of unilateral bearing 9 to reversely rotate together, and the outer ring of the side unilateral bearing 9 of right wheel 3 and side wheel 6 are not
It is dynamic, so that flexible torsional actuator 21 clockwise be made to return to original state；
Repeat step 1-4, so that it may so that trolley continuously turns to the left.
As shown in fig. 7, trolley right-hand rotation gait:
Step 0: revolver 2 and the respective flexible torsional actuator 12 counterclockwise of right wheel 3 and flexible torsional actuator clockwise
21 connect atmospheric pressure simultaneously, and trolley is motionless in situ；
Step 1: flexible torsional actuator 12 and flexible torsional actuator clockwise 21 counterclockwise connect negative pressure, two torsions simultaneously
The upper bottom surface 23 for turning actuator is rotated around the bottom surface 25 for being fixed on chassis 5, and the inner ring and outer ring of driving side unilateral bearing 9 is together
It rotates in the forward direction, and then side wheel 6 is driven to rotate, to drive 3 advanced in unison of revolver 2 and right wheel；
Step 2: the flexible torsional actuator 12 counterclockwise of revolver 2 connects atmospheric pressure, flexible torsional actuator 12 counterclockwise
Upper bottom surface 23 is rotated around the bottom surface 25 for being fixed on chassis 5, and only the inner ring of driving side unilateral bearing 9 reversely rotates together, revolver 2
Side unilateral bearing 9 outer ring and wheel 6 it is motionless, so that flexible torsional actuator 12 counterclockwise be made to return to original state；
Step 3: the flexible torsional actuator 21 clockwise of right wheel 3 connects atmospheric pressure, flexible torsional actuator 21 clockwise
Upper bottom surface 23 is rotated around the bottom surface 25 for being fixed on chassis 5, and only the inner ring of driving side unilateral bearing 9 reversely rotates together, right wheel 3
Side unilateral bearing 9 outer ring and wheel 6 it is motionless, so that flexible torsional actuator 21 clockwise be made to return to original state；It is left
The flexible torsional actuator 12 counterclockwise of wheel 2 connects negative pressure, and 23 driving side of upper bottom surface of flexible torsional actuator 12 counterclockwise is unidirectional
The inner ring and outer ring of bearing 9 rotates in the forward direction together, so that revolver 2 be driven to advance；Revolver 2 advances, and right wheel 3 is motionless, makes entire small
Vehicle turns right.
Step 4: the flexible torsional actuator 12 counterclockwise of revolver 2 connects atmospheric pressure, flexible torsional actuator 12 counterclockwise
Upper bottom surface 23 is rotated around the bottom surface 25 for being fixed on chassis 5, and only the inner ring of driving side unilateral bearing 9 reversely rotates together, revolver 2
Side unilateral bearing 9 outer ring and wheel 6 it is motionless, so that flexible torsional actuator 12 counterclockwise be made to return to original state.
Repeat step 1-4, so that it may so that trolley continuously turns to the right.
Present invention specific implementation can be applied in the adverse circumstances of strong magnetic, forceful electric power, and traditional motor is in strong magnetic, forceful electric power ring
It works in border and will receive influence, and pneumatic flexibly direct writing device can resist the interference of strong magnetic, forceful electric power.
Claims (6)
1. a kind of trolley of flexibly direct writing device driving, it is characterised in that: including chassis (5) and the front-wheel being mounted on chassis (5)
(1), revolver (2), right wheel (3) and rear-wheel (4)；Front-wheel (1) and rear-wheel (4) are separately mounted to the front middle part on chassis (5) in
Between rear portion, the two sides of rear-wheel (4) are separately installed with revolver (2) and right wheel (3), the axis of revolver (2), right wheel (3) and rear-wheel (4)
Same overlapping of axles, front-wheel (1) and rear-wheel (4) play a supportive role, and revolver (2) and right wheel (3) provide the driving force that trolley advances；
Revolver (2) and right wheel (3) structure are centrosymmetrically arranged with rear-wheel (4)；The revolver (2) and right wheel (3) include side vehicle
Take turns (6), side unilateral bearing (9), torsion actuator (12/21), actuator bottom surface connecting plate (13)；Reverse actuator (12/
21) one end is fixed on chassis (5) by actuator bottom surface connecting plate (13), reverses actuator (12/21) other end and side
The inner ring of unilateral bearing (9) connects by the way that unilateral bearing square connecting plate (10) and actuator upper bottom surface connecting plate (11) are coaxially fixed
It connects, the outer ring of side unilateral bearing (9) and side wheel (6) connect by the way that wheel connecting plate (7) and unilateral bearing shell (8) are coaxially fixed
It connects, so that torsion actuator (12/21) and side wheel (6) pass through side unilateral bearing (9) coaxially one-directional rotation connection；Revolver
(2) and the torsion actuator direction of rotation of right wheel (3) is opposite；The torsion actuator (12/21) includes upper bottom surface (23), side
Curved surface (24), bottom surface (25) and silicone tube (22), upper bottom surface (23) size are less than bottom surface (25) size, side curved surface (24)
Sealing is surrounded and is connected between upper bottom surface (23), bottom surface (25), so that entirely torsion actuator (12/21) forms blanket gas
Room, upper bottom surface (23) is intermediate to be equipped with a hole, and silicone tube (22) inserting is connected to hole, and silicone tube (22) is connected to external air source,
After gas source vacuumizes gas chamber, the positive torsion of side curved surface (24) and meanwhile drive between upper bottom surface (23) and bottom surface (25) away from
It is close from becoming, i.e., so that torsion actuator (12/21) reduces height, after gas source is to chamber inflated, side curved surface (24) in rotation
Turn-back drives the distance between upper bottom surface (23) and bottom surface (25) to become remote simultaneously, i.e., so that torsion actuator (12/21)
Increase height in rotation；
The rear-wheel (4) includes deep groove ball bearing (16), deep groove ball bearing seat (17), deep groove ball bearing connecting plate (18), centre
Wheel (26), unilateral bearing circle connecting plate (19), unilateral bearing seat (20) and intermediate unilateral bearing (27)；Intermediate wheel (26)
Side wheel face be fixedly connected with (18) one side end face of deep groove ball bearing connecting plate, deep groove ball bearing connecting plate (18) other side
Protruding shaft is equipped in the middle part of end face, protruding shaft is set in the inner ring of deep groove ball bearing (16) and close-fitting connects；Deep groove ball bearing (16) suit
In deep groove ball bearing seat (17), and deep groove ball bearing seat (17) inner hole and deep groove ball bearing (16) outer ring close-fitting, deep-groove ball axis
Seat (17) is held to be fixed on chassis (5)；Intermediate wheel (26) other side wheel face and unilateral bearing circle connecting plate (19) side
End face is fixedly connected, and protruding shaft is equipped in the middle part of another side end face of unilateral bearing circle connecting plate (19), and protruding shaft is set in intermediate unidirectional
The inner ring and close-fitting of bearing (27) connect；Intermediate unilateral bearing (27) is sleeved in unilateral bearing seat (20), and unilateral bearing seat
(20) inner hole and intermediate unilateral bearing (27) outer ring close-fitting, unilateral bearing seat (20) are fixed on chassis (5).
2. a kind of trolley of flexibly direct writing device driving according to claim 1, which is characterized in that
The torsion actuator of the right wheel (3) is held using flexible torsional actuator (21) clockwise, the torsion of revolver (2)
Row device is held using flexible torsional actuator (12) counterclockwise, the side unilateral bearing (9) of revolver (2) and flexible torsional counterclockwise
The installation requirement of row device (12) and the installation of the side unilateral bearing (9) and flexible torsional actuator clockwise (21) of right wheel (3) are wanted
Ask identical, by taking revolver (2) as an example are as follows: the side unilateral bearing (9) and flexible torsional actuator counterclockwise (12) of installation revolver (2)
When, the permission direction of rotation of side unilateral bearing (9) and flexible torsional actuator counterclockwise (12) connect upper bottom surface (23) after negative pressure
Direction of rotation is on the contrary, flexible torsional actuator (12) connects the interior of upper bottom surface (23) driving side unilateral bearing (9) after negative pressure counterclockwise
Circle and outer ring rotate in the forward direction together, and the air chamber pressure of flexible torsional actuator (12) counterclockwise goes up bottom after becoming atmospheric pressure from negative pressure
The inner ring of face (23) only driving side unilateral bearing (9) reversely rotates together.
3. a kind of trolley of flexibly direct writing device driving according to claim 1, which is characterized in that
Revolver (2) and right wheel (3) are driven to rotate or drive revolver (2) around identical direction by torsion actuator (12/21)
With the one of rotation of right wheel (3), and then trolley is driven to advance or turn to, the front-wheel (1) and right wheel (3) work on trolley from
Dynamic movement；The torsion for reversing actuator (12/21) limited angle is converted to by continuous rotation by side unilateral bearing (9) simultaneously,
Control torsion actuator (12/21) deforms timing, and driving trolley is completed to advance, turn left, right turn movements.
4. a kind of trolley of flexibly direct writing device driving according to claim 1, it is characterised in that:
The bottom surface (25) of the torsion actuator (12/21) is fixed on actuator bottom surface through bottom surface fixinig plate (15) and connects
Fishplate bar (13), actuator bottom surface connecting plate (13) are fixed on chassis (5), reverse the upper bottom surface (23) of actuator (12/21)
Through side unilateral bearing (9) connecting side wheel (6).
5. a kind of trolley of flexibly direct writing device driving according to claim 1, it is characterised in that:
The actuator upper bottom surface connecting plate (11) is fixed on torsion actuator (12/21) end face, the rectangular connection of unilateral bearing
Plate (10) is fixed on actuator upper bottom surface connecting plate (11), and unilateral bearing square connecting plate (10) center is equipped with protruding shaft, and protruding shaft is tight
With the inner ring for being set in side unilateral bearing (9)；Wheel connecting plate (7) is fixed on the wheel face of side wheel (6), outside unilateral bearing
Shell (8) is fixed on wheel connecting plate (7), and side unilateral bearing (9) is in unilateral bearing shell (8), and side unilateral bearing (9) is outside
Circle and the installation of unilateral bearing shell (8) close-fitting, so that torsion actuator (12/21) and side wheel (6) pass through side one-way shaft
It is coaxially connected to hold (9), so that torsion actuator (12/21) is only capable of driving side wheel (6) around single direction rotary motion.
6. a kind of trolley of flexibly direct writing device driving according to claim 1, it is characterised in that:
The deep groove ball bearing connecting plate (18) and unilateral bearing circle connecting plate (19) is bolted on wheel (6)
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| KR20010011262A (en) * | 1999-07-27 | 2001-02-15 | 정몽규 | Streering control apparatus for vehicle |
| US20140263883A1 (en) * | 2013-03-18 | 2014-09-18 | Rolls-Royce Plc | Machine tool |
| CN105619397A (en) * | 2016-03-17 | 2016-06-01 | 华东交通大学 | Flexible actuator and control method thereof |
| CN106272458A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学 | A kind of spiral torsion soft robot module |
| CN106393157A (en) * | 2016-10-18 | 2017-02-15 | 上海发那科机器人有限公司 | Hexahedron vacuum sucker type paw grabbing mechanism used on robot |
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2018
- 2018-08-02 CN CN201810871628.7A patent/CN109050662B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| KR20010011262A (en) * | 1999-07-27 | 2001-02-15 | 정몽규 | Streering control apparatus for vehicle |
| US20140263883A1 (en) * | 2013-03-18 | 2014-09-18 | Rolls-Royce Plc | Machine tool |
| CN105619397A (en) * | 2016-03-17 | 2016-06-01 | 华东交通大学 | Flexible actuator and control method thereof |
| CN106272458A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学 | A kind of spiral torsion soft robot module |
| CN106393157A (en) * | 2016-10-18 | 2017-02-15 | 上海发那科机器人有限公司 | Hexahedron vacuum sucker type paw grabbing mechanism used on robot |
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| CN109050662B (en) | 2020-07-17 |
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