CN109050662B - Trolley driven by flexible actuator - Google Patents
Trolley driven by flexible actuator Download PDFInfo
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- CN109050662B CN109050662B CN201810871628.7A CN201810871628A CN109050662B CN 109050662 B CN109050662 B CN 109050662B CN 201810871628 A CN201810871628 A CN 201810871628A CN 109050662 B CN109050662 B CN 109050662B
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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
Abstract
The invention discloses a trolley driven by a flexible actuator. The front wheel and the rear wheel are respectively arranged at the front part and the rear part of the middle of the chassis, the left wheel and the right wheel are respectively arranged at two sides of the rear wheel, the axes of the left wheel, the right wheel and the rear wheel are coaxially overlapped, the front wheel and the rear wheel play a supporting role, and the left wheel and the right wheel provide the driving force for the trolley to move forwards; the left wheel and the right wheel are symmetrically arranged at the center of the rear wheel; the left wheel and the right wheel respectively comprise a side wheel, a side one-way bearing, a torsion actuator and an actuator lower bottom surface connecting plate; the torsion actuator comprises an upper bottom surface, a side curved surface, a lower bottom surface and a silicone tube, and the rear wheel comprises a deep groove ball bearing and seat, a middle wheel, a middle one-way bearing and seat. The trolley converts the limited-angle torsion of the flexible actuator into continuous rotation through the one-way bearing, controls the deformation time sequence of the anticlockwise flexible torsion actuator and the clockwise flexible torsion actuator, drives the trolley to finish forward, left-turn and right-turn movement, can operate in severe environment, and has wide application prospect.
Description
Technical Field
The invention relates to a moving trolley, in particular to a trolley driven by a flexible actuator.
Background
Conventional motor-driven carts do not work in certain harsh environments and are easily damaged by external impacts. In view of the above, there is a lack in the art of a new flexible actuator driven cart to solve these problems.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a trolley driven by a flexible actuator, which is used for working in a severe environment and is not easy to damage under the action of external impact.
The technical scheme adopted by the invention is as follows:
the invention comprises a chassis, and a front wheel, a left wheel, a right wheel and a rear wheel which are arranged on the chassis; the front wheel and the rear wheel are respectively arranged at the front part and the rear part of the middle of the chassis, the left wheel and the right wheel are respectively arranged at two sides of the rear wheel, the axes of the left wheel, the right wheel and the rear wheel are coaxially overlapped, the front wheel and the rear wheel play a supporting role, and the left wheel and the right wheel provide the driving force for the trolley to move forwards; the left wheel and the right wheel are symmetrically arranged at the center of the rear wheel; the left wheel and the right wheel respectively comprise a side wheel, a side one-way bearing, a torsion actuator and an actuator lower bottom surface connecting plate; one end of the torsion actuator is fixed on the chassis through the actuator lower bottom surface connecting plate, the other end of the torsion actuator and the inner ring of the side one-way bearing are coaxially and fixedly connected with the actuator upper bottom surface connecting plate through the one-way bearing square connecting plate, and the outer ring of the side one-way bearing and the side wheel are coaxially and fixedly connected with the one-way bearing shell through the wheel connecting plate, so that the torsion actuator and the side wheel are coaxially and unidirectionally rotationally connected through the side one-way bearing; the rotation directions of the torsion actuators of the left wheel and the right wheel are opposite; the torsion actuator comprises an upper bottom surface, a side curved surface, a lower bottom surface and a silicone tube, wherein the size of the upper bottom surface is smaller than that of the lower bottom surface, the side curved surface is connected between the upper bottom surface and the periphery of the lower bottom surface in a sealing surrounding mode, so that the whole torsion actuator forms a sealed air chamber, a hole is formed in the middle of the upper bottom surface, the silicone tube is connected to the hole in an inserting mode, the silicone tube is connected to an external air source, after the air source vacuumizes the air chamber, the side curved surface twists forward and drives the distance between the upper bottom surface and the lower bottom surface to become short, namely, the height of the torsion actuator is reduced while rotating, and after the air source inflates the air chamber, the side curved surface twists backward and drives the distance.
The rear wheel comprises a deep groove ball bearing, a deep groove ball bearing seat, a deep groove ball bearing connecting plate, a middle wheel, a one-way bearing circular connecting plate, a one-way bearing seat and a middle one-way bearing; the disc surface of one side of the middle wheel is fixedly connected with the end surface of one side of the deep groove ball bearing connecting plate, a convex shaft is arranged in the middle of the end surface of the other side of the deep groove ball bearing connecting plate, and the convex shaft is sleeved on the inner ring of the deep groove ball bearing and is in tight fit connection; the deep groove ball bearing is sleeved in a deep groove ball bearing seat, an inner hole of the deep groove ball bearing seat is tightly matched with an outer ring of the deep groove ball bearing, and the deep groove ball bearing seat is fixed on the chassis; the wheel disc surface on the other side of the middle wheel is fixedly connected with the end surface on one side of the one-way bearing circular connecting plate, a convex shaft is arranged in the middle of the end surface on the other side of the one-way bearing circular connecting plate, and the convex shaft is sleeved on the inner ring of the middle one-way bearing and is in tight fit connection; the middle one-way bearing is sleeved in the one-way bearing seat, an inner hole of the one-way bearing seat is tightly matched with an outer ring of the middle one-way bearing, and the one-way bearing seat is fixed on the chassis.
The right wheel torsion actuator adopts a clockwise flexible torsion actuator, the left wheel torsion actuator adopts an anticlockwise flexible torsion actuator, the installation requirements of the left wheel side one-way bearing and the anticlockwise flexible torsion actuator are the same as the installation requirements of the right wheel side one-way bearing and the clockwise flexible torsion actuator, and the left wheel is taken as an example: when the side one-way bearing and the anticlockwise flexible torsion actuator of the left wheel are installed, the allowable rotating direction of the side one-way bearing is opposite to the rotating direction of the upper bottom surface of the anticlockwise flexible torsion actuator after being connected with negative pressure, the anticlockwise flexible torsion actuator is connected with the negative pressure, the upper bottom surface drives the inner ring and the outer ring of the side one-way bearing to rotate positively, and the air chamber pressure of the anticlockwise flexible torsion actuator is changed from the negative pressure to the atmospheric pressure, and then the upper bottom surface only drives the inner ring of the side one-way bearing to rotate reversely.
The left wheel and the right wheel are driven to rotate around the same direction or one of the left wheel and the right wheel is driven to rotate through the torsion actuator, so that the trolley is driven to advance or turn, and the front wheel and the right wheel on the trolley do driven motion; meanwhile, the limited-angle torsion of the torsion actuator is converted into continuous rotation through the side one-way bearing, the deformation time sequence of the torsion actuator is controlled, and the trolley is driven to finish forward, left-turn and right-turn motions.
The lower bottom surface of the torsion actuator is fixed on an actuator lower bottom surface connecting plate through a lower bottom surface fixing plate, the actuator lower bottom surface connecting plate is fixed on the chassis, and the upper bottom surface of the torsion actuator is connected with a side wheel through a side one-way bearing.
The actuator upper bottom surface connecting plate is fixed on the end surface of the torsion actuator, the one-way bearing square connecting plate is fixed on the actuator upper bottom surface connecting plate, a convex shaft is arranged at the center of the one-way bearing square connecting plate, and the convex shaft is tightly sleeved on the inner ring of the side one-way bearing; the wheel connecting plate is fixed on the wheel disc face of the side wheel, the one-way bearing shell is fixed on the wheel connecting plate, the side one-way bearing is arranged in the one-way bearing shell, and the outer ring of the side one-way bearing is tightly matched with the one-way bearing shell, so that the torsion actuator and the side wheel are coaxially connected through the side one-way bearing, and the torsion actuator can only drive the side wheel to rotate around a single direction.
The deep groove ball bearing connecting plate and the one-way bearing circular connecting plate are fixed on the wheel through bolts.
The invention has the beneficial effects that:
the invention converts the limited-angle torsion of the flexible actuator into continuous rotation through the one-way bearing, controls the deformation time sequence of the anticlockwise flexible torsion actuator and the clockwise flexible torsion actuator, and can drive the trolley to finish forward, left-turn and right-turn motions.
The trolley driven by the flexible actuator can work in severe environments (strong magnetic environment and strong electric environment), is not easy to damage under the action of external impact, and has wide application prospect.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic diagram of a deformation of the counterclockwise flexible torque actuator;
FIG. 4 is a schematic diagram of a deformation of the clockwise flexible torsion actuator;
FIG. 5 is a schematic view of the forward gait of the cart;
FIG. 6 is a schematic illustration of a left turn gait of the cart;
figure 7 is a schematic diagram of a right turn gait of the cart.
In the figure: 1 is a front wheel, 2 is a left wheel, 3 is a right wheel, 4 is a rear wheel, and 5 is a chassis; 6 is a side wheel, 7 is a wheel connecting plate, 8 is a one-way bearing shell, 9 is a side one-way bearing, 10 is a one-way bearing square connecting plate, 11 is an actuator upper bottom connecting plate, 12 is an anticlockwise flexible torsion actuator, 13 is an actuator lower bottom connecting plate, 14 is an upper bottom fixing plate, 15 is a lower bottom fixing plate, 16 is a deep groove ball bearing, 17 is a deep groove ball bearing seat, 18 is a deep groove ball bearing connecting plate, 19 is a one-way bearing circular connecting plate, 20 is a one-way bearing seat, and 21 is a clockwise flexible torsion actuator; 22 is a silicone tube, 23 is an upper bottom surface, 24 is a side curved surface, 25 is a lower bottom surface, 26 is a middle wheel, and 27 is a middle one-way bearing.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
As shown in fig. 1, the present invention includes a chassis 5, and front wheels 1, left wheels 2, right wheels 3, and rear wheels 4 mounted on the chassis 5; the front wheel 1 and the rear wheel 4 are respectively arranged at the front part and the rear part of the middle of the chassis 5, the left wheel 2 and the right wheel 3 are respectively arranged at two sides of the rear wheel 4, the axes of the left wheel 2, the right wheel 3 and the rear wheel 4 are coaxially overlapped, the front wheel 1 and the rear wheel 4 play a supporting role, and the left wheel 2 and the right wheel 3 provide the driving force for the trolley to advance; all parts of the invention are bolted to the chassis 5.
As shown in fig. 2, the left wheel 2 and the right wheel 3 are arranged symmetrically with respect to the center of the rear wheel 4; the left wheel 2 and the right wheel 3 respectively comprise a side wheel 6, a wheel connecting plate 7, a one-way bearing shell 8, a side one-way bearing 9, a one-way bearing square connecting plate 10, an actuator upper bottom surface connecting plate 11, a torsion actuator 12/21, an actuator lower bottom surface connecting plate 13, an upper bottom surface fixing plate 14 and a lower bottom surface fixing plate 15; one end of a torsion actuator 12/21 is fixed on the chassis 5 through an actuator lower bottom surface connecting plate 13, the other end of the torsion actuator 12/21 is coaxially and fixedly connected with an inner ring of a side one-way bearing 9 through an one-way bearing square connecting plate 10 and an actuator upper bottom surface connecting plate 11, and an outer ring of the side one-way bearing 9 is coaxially and fixedly connected with a side wheel 6 through a wheel connecting plate 7 and a one-way bearing shell 8, so that the torsion actuator 12/21 is coaxially and unidirectionally rotationally connected with the side wheel 6 through the side one-way bearing 9; the rotation directions of the torsion actuators of the left wheel 2 and the right wheel 3 are opposite, and the side one-way bearings 9 of the left wheel 2 and the right wheel 3 allow the rotation directions to be correspondingly installed with the rotation directions of the own torsion actuators.
As shown in fig. 3 and 4, the torsion actuator 12/21 includes an upper bottom 23, a side curved surface 24, a lower bottom 25, and a silicone tube 22, wherein the size of the upper bottom 23 is smaller than that of the lower bottom 25, the side curved surface 24 is connected between the upper bottom 23 and the lower bottom 25 in a sealing manner, so that the whole torsion actuator 12/21 forms a sealed air chamber, and the torsion actuator 12/21 forms a cylindrical structure with a smaller top and a larger bottom, a hole is provided in the middle of the upper bottom 23, the silicone tube 22 is connected to the hole in an inserting manner, the silicone tube 22 is connected to an external air source, after the air source vacuums the air chamber, the side curved surface 24 is twisted forward and drives the distance between the upper bottom 23 and the lower bottom 25 to become shorter, i.e. when the height of the torsion actuator 12/21 is reduced while the air source inflates the air chamber to become atmospheric pressure, the side curved surface 24 is twisted backward, that is, the height of the torsion actuator 12/21 is increased while the torsion actuator 12/21 returns to its original normal shape.
The lower bottom surface 25 of the torsion actuator 12/21 is fixed to the actuator lower bottom surface connecting plate 13 through the lower bottom surface fixing plate 15, the actuator lower bottom surface connecting plate 13 is fixed to the chassis 5, and the upper bottom surface 23 of the torsion actuator 12/21 is connected to the side wheel 6 through the side one-way bearing 9.
As shown in fig. 2, the rear wheel 4 comprises a deep groove ball bearing 16, a deep groove ball bearing seat 17, a deep groove ball bearing connecting plate 18, a middle wheel 26, a one-way bearing circular connecting plate 19, a one-way bearing seat 20 and a middle one-way bearing 27; the disc surface of one side of the middle wheel 26 is fixedly connected with the end surface of one side of the deep groove ball bearing connecting plate 18, the middle part of the end surface of the other side of the deep groove ball bearing connecting plate 18 is provided with a convex shaft, and the convex shaft is sleeved on the inner ring of the deep groove ball bearing 16 and is in tight fit connection; the deep groove ball bearing 16 is sleeved in a deep groove ball bearing seat 17, an inner hole of the deep groove ball bearing seat 17 is tightly matched with an outer ring of the deep groove ball bearing 16, and the deep groove ball bearing seat 17 is fixed on the chassis 5; the disc surface at the other side of the middle wheel 26 is fixedly connected with the end surface at one side of the one-way bearing circular connecting plate 19, the middle part of the end surface at the other side of the one-way bearing circular connecting plate 19 is provided with a convex shaft, and the convex shaft is sleeved on the inner ring of the middle one-way bearing 27 and is in tight fit connection; the middle one-way bearing 27 is sleeved in the one-way bearing seat 20, an inner hole of the one-way bearing seat 20 is tightly matched with an outer ring of the middle one-way bearing 27, and the one-way bearing seat 20 is fixed on the chassis 5. The deep groove ball bearing connecting plate 18 and the one-way bearing circular connecting plate 19 are fixed on the wheel 6 through bolts.
In a specific implementation, the structures of the front wheel 1 and the rear wheel 4 are substantially the same, and the difference is that the front wheel 1 adopts two deep groove ball bearings 16, and the rear wheel 4 adopts one deep groove ball bearing 16 and one middle one-way bearing 27, namely, the front wheel 1 replaces the middle one-way bearing 27 with the deep groove ball bearing 16 on the basis of the structure of the rear wheel 4.
The structure of the right wheel 3 is substantially the same as that of the left wheel 2, and the difference is that the torsion actuator of the right wheel 3 adopts a clockwise flexible torsion actuator 21, the torsion actuator of the left wheel 2 adopts a counterclockwise flexible torsion actuator 12, and the installation requirements of the side one-way bearing 9 and the counterclockwise flexible torsion actuator 12 of the left wheel 2 are the same as the installation requirements of the side one-way bearing 9 and the clockwise flexible torsion actuator 21 of the right wheel 3, taking the left wheel 2 as an example: when the side one-way bearing 9 and the anticlockwise flexible torsion actuator 12 of the left wheel 2 are installed, the allowable rotating direction of the side one-way bearing 9 (the outer ring of the side one-way bearing 9 is fixed, and the rotating direction of the inner ring) is opposite to the rotating direction of the upper bottom surface 23 after the anticlockwise flexible torsion actuator 12 is connected with negative pressure, the upper bottom surface 23 drives the inner ring and the outer ring of the side one-way bearing 9 to rotate positively after the anticlockwise flexible torsion actuator 12 is connected with negative pressure, and the upper bottom surface 23 only drives the inner ring of the side one-way bearing 9 to rotate reversely after the air chamber pressure of the anticlockwise flexible torsion actuator 12 is changed from the negative pressure.
The left wheel 2 and the right wheel 3 are driven to rotate around the same direction or one of the left wheel 2 and the right wheel 3 is driven to rotate through the torsion actuator 12/21, so that the trolley is driven to advance or turn, and the front wheel 1 and the right wheel 3 on the trolley do driven motion; meanwhile, the torsion of the torsion actuator 12/21 with a limited angle is converted into continuous rotation through the lateral one-way bearing 9, the deformation time sequence of the torsion actuator 12/21 is controlled, and the trolley is driven to complete forward movement, left-turn movement and right-turn movement.
In specific implementation, an actuator upper bottom surface connecting plate 11 is fixed on the end surface of a torsion actuator 12/21, a one-way bearing square connecting plate 10 is fixed on the actuator upper bottom surface connecting plate 11, a convex shaft is arranged at the center of the one-way bearing square connecting plate 10, and the convex shaft is tightly sleeved on an inner ring of a side one-way bearing 9; the wheel connecting plate 7 is fixed on the wheel disc surface of the side wheel 6, the one-way bearing shell 8 is fixed on the wheel connecting plate 7, the side one-way bearing 9 is arranged in the one-way bearing shell 8, the outer ring of the side one-way bearing 9 is tightly matched with the one-way bearing shell 8, so that the torsion actuator 12/21 is coaxially connected with the side wheel 6 through the side one-way bearing 9, and the torsion actuator 12/21 can only drive the side wheel 6 to rotate around a single direction.
The working process of the invention is divided into forward gait, left turn gait and right turn gait, and the specific principle is as follows:
as shown in fig. 5, the vehicle is in a forward gait:
step 0: the counter-clockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 of the left wheel 2 and the right wheel 3 are simultaneously connected with atmospheric pressure, and the trolley is not moved in situ;
step 1: the anticlockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 are simultaneously connected with negative pressure, the upper bottom surfaces 23 of the two torsion actuators rotate around the lower bottom surface 25 fixed on the chassis 5, the inner ring and the outer ring of the driving side one-way bearing 9 rotate positively together, and then the side wheel 6 is driven to rotate, so that the left wheel 2 and the right wheel 3 are driven to synchronously advance;
step 2: the anticlockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 are simultaneously connected with atmospheric pressure, the upper bottom surfaces 23 of the two torsion actuators rotate around the lower bottom surface 25 fixed on the chassis 5, only the inner ring of the side one-way bearing 9 is driven to rotate reversely, and the outer ring of the side one-way bearing 9 and the side wheel 6 are fixed due to the action of the one-way bearing structure, so that the anticlockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 are restored to the initial states.
And (3) repeating the step 1-2 to enable the trolley to continuously move forwards.
As shown in fig. 6, the left turn gait of the cart:
step 0: the counter-clockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 of the left wheel 2 and the right wheel 3 are simultaneously connected with atmospheric pressure, and the trolley is not moved in situ;
step 1: the anticlockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 are simultaneously connected with negative pressure, the upper bottom surfaces 23 of the two torsion actuators rotate around the lower bottom surface 25 fixed on the chassis 5, the inner ring and the outer ring of the driving side one-way bearing 9 rotate positively together, and then the side wheel 6 is driven to rotate, so that the left wheel 2 and the right wheel 3 are driven to synchronously advance;
step 2: the clockwise flexible torsion actuator 21 of the right wheel 3 is connected with atmospheric pressure, the upper bottom surface 23 of the clockwise flexible torsion actuator 21 rotates around the lower bottom surface 25 fixed on the chassis 5, only the inner ring of the side one-way bearing 9 is driven to rotate reversely, and the outer ring of the side one-way bearing 9 of the right wheel 3 and the side wheel 6 are not moved, so that the clockwise flexible torsion actuator 21 is restored to the initial state;
and step 3: the anticlockwise flexible torsion actuator 12 of the left wheel 2 is connected with atmospheric pressure, the upper bottom surface 23 of the anticlockwise flexible torsion actuator 12 rotates around the lower bottom surface 25 fixed on the chassis 5, only the inner ring of the side one-way bearing 9 is driven to rotate reversely, and the outer ring of the side one-way bearing 9 of the left wheel 2 and the side wheel 6 are not moved, so that the anticlockwise flexible torsion actuator 12 is restored to the initial state;
meanwhile, the clockwise flexible torsion actuator 21 of the right wheel 3 is connected with negative pressure, the upper bottom surface 23 of the clockwise flexible torsion actuator 21 rotates around the lower bottom surface 25 fixed on the chassis 5, and the inner ring and the outer ring of the drive-side one-way bearing 9 rotate positively together, so that the right wheel 3 is driven to move forwards; the left wheel 2 is fixed, and the right wheel 3 advances, so that the whole trolley rotates leftwards.
And 4, step 4: the clockwise flexible torsion actuator 21 of the right wheel 3 is connected with atmospheric pressure, the upper bottom surface 23 of the clockwise flexible torsion actuator 21 only drives the inner ring of the one-way bearing 9 to reversely rotate together, and the outer ring of the side one-way bearing 9 of the right wheel 3 and the side wheel 6 are not moved, so that the clockwise flexible torsion actuator 21 is restored to the initial state;
and (5) repeating the steps 1-4 to continuously turn the trolley to the left.
As shown in fig. 7, right turn gait of the car:
step 0: the counter-clockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 of the left wheel 2 and the right wheel 3 are simultaneously connected with atmospheric pressure, and the trolley is not moved in situ;
step 1: the anticlockwise flexible torsion actuator 12 and the clockwise flexible torsion actuator 21 are simultaneously connected with negative pressure, the upper bottom surfaces 23 of the two torsion actuators rotate around the lower bottom surface 25 fixed on the chassis 5, the inner ring and the outer ring of the driving side one-way bearing 9 rotate positively together, and then the side wheel 6 is driven to rotate, so that the left wheel 2 and the right wheel 3 are driven to synchronously advance;
step 2: the counterclockwise flexible torsion actuator 12 of the left wheel 2 is connected with atmospheric pressure, the upper bottom surface 23 of the counterclockwise flexible torsion actuator 12 rotates around the lower bottom surface 25 fixed on the chassis 5, only the inner ring of the drive side one-way bearing 9 rotates reversely, the outer ring of the side one-way bearing 9 of the left wheel 2 and the wheel 6 are not moved, and thus the counterclockwise flexible torsion actuator 12 is restored to the initial state;
and step 3: the clockwise flexible torsion actuator 21 of the right wheel 3 is connected with atmospheric pressure, the upper bottom surface 23 of the clockwise flexible torsion actuator 21 rotates around the lower bottom surface 25 fixed on the chassis 5, only the inner ring of the side one-way bearing 9 is driven to rotate reversely, and the outer ring of the side one-way bearing 9 of the right wheel 3 and the wheel 6 are not moved, so that the clockwise flexible torsion actuator 21 is restored to the initial state; the anticlockwise flexible torsion actuator 12 of the left wheel 2 is connected with negative pressure, and the upper bottom surface 23 of the anticlockwise flexible torsion actuator 12 drives the inner ring and the outer ring of the one-way bearing 9 at the driving side to rotate positively together, so that the left wheel 2 is driven to advance; the left wheel 2 advances, and the right wheel 3 does not move, so that the whole trolley rotates rightwards.
And 4, step 4: the counterclockwise flexible torsion actuator 12 of the left wheel 2 is subjected to atmospheric pressure, the upper bottom surface 23 of the counterclockwise flexible torsion actuator 12 rotates around the lower bottom surface 25 fixed to the chassis 5, only the inner ring of the drive-side one-way bearing 9 rotates reversely, the outer ring of the side one-way bearing 9 of the left wheel 2 and the wheel 6 are not moved, and thus the counterclockwise flexible torsion actuator 12 is restored to the initial state.
And (5) repeating the steps 1-4 to continuously turn the trolley to the right.
The implementation of the invention can be applied to the severe environment of strong magnetism and strong electricity, the traditional motor can be influenced when working in the environment of strong magnetism and strong electricity, and the pneumatic flexible actuator can resist the interference of strong magnetism and strong electricity.
Claims (6)
1. A trolley driven by a flexible actuator is characterized in that: comprises a chassis (5), and a front wheel (1), a left wheel (2), a right wheel (3) and a rear wheel (4) which are arranged on the chassis (5); the front wheel (1) and the rear wheel (4) are respectively arranged at the front part and the rear part of the middle of the chassis (5), the left wheel (2) and the right wheel (3) are respectively arranged at two sides of the rear wheel (4), the axes of the left wheel (2), the right wheel (3) and the rear wheel (4) are coaxially overlapped, the front wheel (1) and the rear wheel (4) play a supporting role, and the left wheel (2) and the right wheel (3) provide driving force for the trolley to move forwards;
the left wheel (2) and the right wheel (3) are arranged in a central symmetry way by the rear wheel (4); the left wheel (2) and the right wheel (3) respectively comprise a side wheel (6), a side one-way bearing (9), a torsion actuator (12/21) and an actuator lower bottom surface connecting plate (13); one end of a torsion actuator (12/21) is fixed on a chassis (5) through an actuator lower bottom surface connecting plate (13), the other end of the torsion actuator (12/21) and an inner ring of a side one-way bearing (9) are coaxially and fixedly connected with an actuator upper bottom surface connecting plate (11) through a one-way bearing square connecting plate (10), an outer ring of the side one-way bearing (9) and a side wheel (6) are coaxially and fixedly connected with a one-way bearing shell (8) through a wheel connecting plate (7), and therefore the torsion actuator (12/21) and the side wheel (6) are coaxially and unidirectionally rotationally connected through the side one-way bearing (9); the rotation directions of the torsion actuators of the left wheel (2) and the right wheel (3) are opposite; the torsion actuator (12/21) comprises an upper bottom surface (23), a side curved surface (24), a lower bottom surface (25) and a silicone tube (22), wherein the size of the upper bottom surface (23) is smaller than that of the lower bottom surface (25), the side curved surface (24) is connected between the upper bottom surface (23) and the lower bottom surface (25) in a sealing surrounding manner, so that the whole torsion actuator (12/21) forms a sealed air chamber, a hole is formed in the middle of the upper bottom surface (23), the silicone tube (22) is connected to the hole in an inserting manner, the silicone tube (22) is connected to an external air source, after the air source vacuumizes the air chamber, the side curved surface (24) is positively twisted and simultaneously drives the distance between the upper bottom surface (23) and the lower bottom surface (25) to become short, namely, the height of the torsion actuator (12/21) is reduced while the air source is rotated, and the distance between the upper bottom surface (23) and the lower bottom surface (, that is, the torsion actuator (12/21) is made to increase in height while rotating;
the rear wheel (4) comprises a deep groove ball bearing (16), a deep groove ball bearing seat (17), a deep groove ball bearing connecting plate (18), a middle wheel (26), a one-way bearing circular connecting plate (19), a one-way bearing seat (20) and a middle one-way bearing (27); a wheel disc surface on one side of the middle wheel (26) is fixedly connected with an end surface on one side of the deep groove ball bearing connecting plate (18), a convex shaft is arranged in the middle of the end surface on the other side of the deep groove ball bearing connecting plate (18), and the convex shaft is sleeved on an inner ring of the deep groove ball bearing (16) and is in tight fit connection; the deep groove ball bearing (16) is sleeved in the deep groove ball bearing seat (17), an inner hole of the deep groove ball bearing seat (17) is tightly matched with an outer ring of the deep groove ball bearing (16), and the deep groove ball bearing seat (17) is fixed on the chassis (5); the disc surface on the other side of the middle wheel (26) is fixedly connected with the end surface on one side of the one-way bearing circular connecting plate (19), a convex shaft is arranged in the middle of the end surface on the other side of the one-way bearing circular connecting plate (19), and the convex shaft is sleeved on the inner ring of the middle one-way bearing (27) and is in tight fit connection; the middle one-way bearing (27) is sleeved in the one-way bearing seat (20), the inner hole of the one-way bearing seat (20) is tightly matched with the outer ring of the middle one-way bearing (27), and the one-way bearing seat (20) is fixed on the chassis (5).
2. The flexible actuator driven cart of claim 1,
the right wheel (3) torsion actuator adopts clockwise flexible torsion actuator (21), the left wheel (2) torsion actuator adopts anticlockwise flexible torsion actuator (12), the installation requirements of the left wheel (2) side one-way bearing (9) and the anticlockwise flexible torsion actuator (12) are the same as the installation requirements of the right wheel (3) side one-way bearing (9) and the anticlockwise flexible torsion actuator (21), and the left wheel (2) is taken as an example: when the side one-way bearing (9) and the anticlockwise flexible torsion actuator (12) of the left wheel (2) are installed, the allowable rotation direction of the side one-way bearing (9) is opposite to the rotation direction of the upper bottom surface (23) after the anticlockwise flexible torsion actuator (12) is connected with negative pressure, the inner ring and the outer ring of the side one-way bearing (9) driven by the upper bottom surface (23) rotate forwards together after the anticlockwise flexible torsion actuator (12) is connected with the negative pressure, and the air chamber pressure of the anticlockwise flexible torsion actuator (12) is changed from the negative pressure to the atmospheric pressure, and only the inner ring of the side one-way bearing (9) is driven by the upper bottom surface (23) to rotate reversely together.
3. The flexible actuator driven cart of claim 1,
the left wheel (2) and the right wheel (3) are driven to rotate around the same direction or one of the left wheel (2) and the right wheel (3) is driven to rotate through a torsion actuator (12/21), so that the trolley is driven to advance or turn, and the front wheel (1) and the right wheel (3) on the trolley do driven motion; meanwhile, the torsion of the torsion actuator (12/21) with a limited angle is converted into continuous rotation through the side one-way bearing (9), the deformation time sequence of the torsion actuator (12/21) is controlled, and the trolley is driven to finish forward, left-turn and right-turn motions.
4. The flexible actuator driven cart of claim 1, wherein:
the lower bottom surface (25) of the torsion actuator (12/21) is fixed on an actuator lower bottom surface connecting plate (13) through a lower bottom surface fixing plate (15), the actuator lower bottom surface connecting plate (13) is fixed on the chassis (5), and the upper bottom surface (23) of the torsion actuator (12/21) is connected with a side wheel (6) through a side one-way bearing (9).
5. The flexible actuator driven cart of claim 1, wherein:
the actuator upper bottom surface connecting plate (11) is fixed on the end surface of the torsion actuator (12/21), the one-way bearing square connecting plate (10) is fixed on the actuator upper bottom surface connecting plate (11), a convex shaft is arranged at the center of the one-way bearing square connecting plate (10), and the convex shaft is tightly sleeved on an inner ring of the side one-way bearing (9); the wheel connecting plate (7) is fixed on the wheel disc surface of the side wheel (6), the one-way bearing shell (8) is fixed on the wheel connecting plate (7), the side one-way bearing (9) is arranged in the one-way bearing shell (8), the outer ring of the side one-way bearing (9) and the one-way bearing shell (8) are installed in a tight fit mode, and therefore the torsion actuator (12/21) and the side wheel (6) are coaxially connected through the side one-way bearing (9), and the torsion actuator (12/21) can only drive the side wheel (6) to rotate around a single direction.
6. The flexible actuator driven cart of claim 1, wherein:
the deep groove ball bearing connecting plate (18) and the one-way bearing circular connecting plate (19) are fixed on the side wheel (6) through bolts.
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| CN201810871628.7A CN109050662B (en) | 2018-08-02 | 2018-08-02 | Trolley driven by flexible actuator |
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| CN201810871628.7A CN109050662B (en) | 2018-08-02 | 2018-08-02 | Trolley driven by flexible actuator |
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| CN109050662A CN109050662A (en) | 2018-12-21 |
| CN109050662B true CN109050662B (en) | 2020-07-17 |
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Citations (5)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2512059B (en) * | 2013-03-18 | 2016-08-31 | Rolls Royce Plc | An independently moveable machine tool |
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2018
- 2018-08-02 CN CN201810871628.7A patent/CN109050662B/en active Active
Patent Citations (5)
| 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 |
| 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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| CN109050662A (en) | 2018-12-21 |
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