CN109733133A - A kind of flexible trailer auxiliary alignment and drawn - Google Patents
A kind of flexible trailer auxiliary alignment and drawn Download PDFInfo
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- CN109733133A CN109733133A CN201811550650.8A CN201811550650A CN109733133A CN 109733133 A CN109733133 A CN 109733133A CN 201811550650 A CN201811550650 A CN 201811550650A CN 109733133 A CN109733133 A CN 109733133A
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- handgrip
- fixed
- motor
- fixed frame
- outer framework
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Abstract
The invention discloses the flexible trailers of a kind of auxiliary alignment and traction, including handgrip motion control mechanism, handgrip mechanism, pallet and electromagnetic assembly, the handgrip motion control mechanism includes synchronous belt, motor, two synchronous pulleys, main vehicle outer framework and two groups of fixed plates, main vehicle outer framework is square frame, two rectangular slide bars being parallel to each other are equipped in it, two groups of fixed plates are symmetricly set on a pair of of opposite side of square frame, and it is located between two slide bars, a synchronous pulley is equipped between every group of fixed plate, two synchronous pulleys pass through synchronous band connection, motor is fixed on one group of fixed plate top surface, the output shaft of motor is connected with synchronous pulley thereon, pallet is strip, across two slide bars, and it is located at the lower section of two slide bars, handgrip mechanism is along two sliding bars, and it is fixed on pallet, electromagnetic assembly is held away from On the side of the main vehicle outer framework of motor.The present invention solves the problems, such as that conventional trailer needs artificial scene intervention and alignment connection difficult.
Description
Technical field
The invention belongs to the robot fields that competes, and in particular to a kind of flexible trailer auxiliary alignment and drawn.
Background technique
As the athletic competition of domestic first fierce fighting class robot, RoboMaster contest is at the beginning of its birth just by its top
Traditional match mode, fierce hale and hearty sports style are covered, institution of higher learning, national hundreds of institutes, nearly thousand high and new technology enterprises are attracted to
Industry and the concern of the depth of ten hundreds of scientific and technological fans.All robots in match are equipped with the armoring system of official's offer
System, internal to be furnished with blood volume mechanism, robot, which is hit, can repeatedly fall in battle.In Robomaster laws of the game in 2018, newly
Be added to a rescue function i.e. rescue mechanism, by the robot fallen in battle tow back to resurrection point can blood back bring back to life, and engineering truck is
Unique a robot with deliverance apparatus on competition field.Since the pace of the game is quite fast and there is ramp in place, so it is rescued
Shaking apparatus allows for rapid abutting joint and adapts to certain topography variation.
Summary of the invention
The purpose of the present invention is to provide the flexible trailers of a kind of auxiliary alignment and traction, solve conventional trailer and need people
Intervene for scene and alignment connects difficult problem.
The technical solution for realizing the aim of the invention is as follows: a kind of flexible trailer auxiliary alignment and drawn, including handgrip
Motion control mechanism, handgrip mechanism, pallet and electromagnetic assembly, the handgrip motion control mechanism include synchronous belt, motor, two
Synchronous pulley, main vehicle outer framework and two groups of fixed plates, main vehicle outer framework is square frame, interior to be equipped with two sides being parallel to each other
The slide bar of shape, two groups of fixed plates are symmetricly set on a pair of of opposite side of square frame, and are located between two slide bars, and every group is fixed
A synchronous pulley is equipped between plate, two synchronous pulleys pass through synchronous band connection, and motor is fixed on one group of fixed plate top surface, electricity
The output shaft of machine is connected with synchronous pulley thereon, and pallet is strip, across two slide bars, and is located under two slide bars
Side, handgrip mechanism are fixed on pallet along two sliding bars, and electromagnetic assembly is held away from the main vehicle outer framework of motor
On side.
Compared with prior art, the present invention its remarkable advantage is: (1) alignment is convenient；(2) landform is adaptable；(3)
Dual dragging does not depart from；It (4) can remote control realization docking.
Detailed description of the invention
Fig. 1 is the flexible trailer overall structure figure of the alignment of present invention auxiliary and traction.
Fig. 2 is that trailer handgrip stretches out structure chart.
Fig. 3 is trailer handgrip retraction structure figure.
Fig. 4 is handgrip constitutional diagram.
Fig. 5 is handgrip explosive view.
Fig. 6 is work of electromagnet structure chart.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 6, the present invention is a kind of flexible trailer auxiliary alignment and drawn, suitable for there is the complexity in ramp
Landform face, including handgrip motion control mechanism, handgrip mechanism, pallet 9 and electromagnetic assembly, the handgrip motion control mechanism include
Synchronous belt 1,3, two synchronous pulleys 4 of motor, main vehicle outer framework 11 and two groups of fixed plates 2, main vehicle outer framework 11 are square frame,
Two rectangular slide bars 23 being parallel to each other are equipped in it, two groups of fixed plates 2 are symmetricly set on a pair of of opposite side of square frame,
And be located between two slide bars 23, a synchronous pulley 4 is equipped between every group of fixed plate 2, two synchronous pulleys 4 pass through synchronous belt
1 connection, motor 3 are fixed on one group of 2 top surface of fixed plate, and the output shaft of motor 3 is connected with synchronous pulley 4 thereon, and pallet 9 is length
Bar shaped across two slide bars 23, and is located at the lower section of two slide bars 23, and handgrip mechanism is slided along two slide bars 23, and is fixed on
On pallet 9, electromagnetic assembly is held away from the side of main vehicle outer framework 11 of motor 3.
The handgrip mechanism includes that steering engine 5, first connecting rod 6, second connecting rod 24, crank 7, synchronous belt are fixed plate 8, two
A auxiliary is slided 10, two handgrip groups of square sleeve (with shared bicycle lock principle), is cased with an auxiliary on every slide bar 23
Square sleeve 10 is slided, auxiliary sliding square sleeve 10 is fixed on 9 top surface of pallet, each auxiliary sliding square sleeve 10 connected one
A handgrip group, handgrip group include handgrip outer annular lid 12, the interior survey circular ring cover 13 of handgrip and handgrip annulus 14, handgrip outer annular
Lid 12 is equipped with connecting plate, and for connecting auxiliary sliding square sleeve 10, connecting plate opposite is equipped with notch, along handgrip outer annular
Arc-shaped slot is provided on the side wall of lid 12, arc-shaped slot bottom is provided with one end arc-shaped through-hole, surveys circular ring cover 13 and handgrip in handgrip
12 structure of outer annular lid, size are all the same, and circular ring cover 13 and handgrip outer annular lid 12 are surveyed in handgrip with arc-shaped slot
Side is connected and forms arc cavity, and protrusion cylinder is symmetrically arranged in 14 two side walls of handgrip annulus, and handgrip annulus 14 is arranged upper
It states in arc cavity, two protrusion cylinders stretch out arc-shaped through-hole respectively, the 5 drive shaft connecting crank 7 of steering engine being fixed on pallet 9
One end, the other end of crank 7 with connecting rod 6 one end by rotation connection, the other end of connecting rod 6 and 24 center of second connecting rod are solid
Even, respectively with the protrusion cylinder of two handgrip annulus 14 by being rotatably assorted, synchronous belt is fixed plate 8 at second connecting rod 24 both ends
It is located at the two sides of synchronous belt 1 with an auxiliary sliding square sleeve 10, plate 8 is fixed for a synchronous belt 1 by synchronous belt
It is connected with above-mentioned auxiliary sliding square sleeve 10, when rotating under drive of the synchronous belt 1 in motor 3, drives two auxiliary slidings
Square sleeve 10 slides on slide bar 23, and then drives handgrip mechanism mobile.
The electromagnetic assembly includes spring 15, electromagnet fixed frame 16, candan universal joint fixed frame 17, candan universal joint 18
With electromagnet 19, candan universal joint fixed frame 17 is held away from the side of main vehicle outer framework 11 of motor 3, candan universal joint
18 one end are connect with electromagnet fixed frame 16, and the other end is connect with candan universal joint fixed frame 17, and electromagnet 19 is fixed on electromagnetism
On ferropexy frame 16, spring 15 includes horizontal U-shaped end and two open ends straight up connecting with horizontal U-shaped end, water
Flat U-shaped end is fixed on candan universal joint fixed frame 17, and symmetrical insertion electromagnet is solid simultaneously for two open ends straight up
Determine frame 16, for keeping the electromagnet 19 being connected with electromagnet fixed frame 16 is whole to hit exactly direction in horizontal always when not used,
And play the role of compliance steer when pulling.
The flexible trailer mechanism with auxiliary alignment and traction of the present invention further includes armature 20, rear headstock outer framework
21 and armature fixed frame 22, one end of armature fixed frame 22 be fixed on the lower section of rear headstock outer framework 21, the other end passes through bolt
It is connected with armature 20, when trailer, armature 20 and electromagnet 19 are adsorbed.
The course of work is as follows: reaching immediately ahead of rear headstock outer framework 21 main vehicle stop first, then open electromagnet
19 power supplys are simultaneously slightly adjusted to face armature 20 and suct, and the crawl that the state after being sucked can effectively ensure that handgrip stretches out is fallen
Secondly pin point starts motor 3 and drives synchronous belt 1 to rotate and then make to grab in the ring of a quarter of rear headstock outer framework 21
Mobile phone structure moves integrally, and stops when handgrip mechanism is moved integrally to main 11 outline border edge of vehicle outer framework, moreover in the drive of steering engine 5
The rotation of crank 7 can be made to drive connecting rod 6 mobile under dynamic in succession, to push the circle for falling in a quarter of rear headstock outer framework 21
Two handgrip annulus 14 right above circle, which rotate, to be lockked, and last front truck can arbitrarily drag rear car on the ground for having ramp rugged
It walks.
Claims (4)
1. it is a kind of auxiliary alignment and traction flexible trailer, it is characterised in that: including handgrip motion control mechanism, handgrip mechanism,
Pallet (9) and electromagnetic assembly, the handgrip motion control mechanism include synchronous belt (1), motor (3), two synchronous pulleys (4),
Main vehicle outer framework (11) and two groups of fixed plates (2), main vehicle outer framework (11) are square frame, in be equipped with two and be parallel to each other
Rectangular slide bar (23), two groups of fixed plates (2) are symmetricly set on a pair of of opposite side of square frame, and are located at two slide bars (23)
Between, a synchronous pulley (4) is equipped between every group of fixed plate (2), two synchronous pulleys (4) are connected by synchronous belt (1), electricity
Machine (3) is fixed on one group of fixed plate (2) top surface, and the output shaft of motor (3) is connected with synchronous pulley (4) thereon, and pallet (9) is
Strip across two slide bars (23), and is located at the lower section of two slide bars (23), and handgrip mechanism is slided along two slide bars (23),
And be fixed on pallet (9), electromagnetic assembly is held away from the side of main vehicle outer framework (11) of motor (3).
2. the flexible trailer of auxiliary alignment according to claim 1 and traction, it is characterised in that: the handgrip mechanism includes
It is rectangular that steering engine (5), first connecting rod (6), second connecting rod (24), crank (7), synchronous belt are fixed plate (8), the sliding of two auxiliary
Sleeve (10), two handgrip groups are cased with auxiliary sliding square sleeve (10), auxiliary sliding square sleeve on every slide bar (23)
Cylinder (10) is fixed on pallet (9) top surface, and each connected handgrip group of auxiliary sliding square sleeve (10), handgrip group includes concentric
Handgrip outer annular lid (12), the handgrip of setting are interior to survey circular ring cover (13) and handgrip annulus (14), the rudder being fixed on pallet (9)
One end of one end of machine (5) drive shaft connecting crank (7), the same connecting rod of the other end (6) of crank (7) passes through rotation connection, connecting rod
(6) the other end and second connecting rod (24) center are connected, and second connecting rod (24) both ends are convex with two handgrip annulus (14) respectively
By being rotatably assorted, synchronous belt is fixed plate (8) and is located at synchronous belt (1) with auxiliary sliding square sleeve (10) cylinder out
Two sides, by synchronous belt be fixed plate (8) by a synchronous belt (1) and above-mentioned auxiliary sliding square sleeve (10) be connected,
When synchronous belt (1) rotates under the drive of motor (3), drive two auxiliary slidings square sleeve (10) sliding on slide bar (23)
It is dynamic, and then drive handgrip mechanism mobile.
3. the flexible trailer of auxiliary alignment according to claim 1 and traction, it is characterised in that: the electromagnetic assembly includes
Spring (15), electromagnet fixed frame (16), candan universal joint fixed frame (17), candan universal joint (18) and electromagnet (19), ten
Word universal joint fixed frame (17) is held away from the side of main vehicle outer framework (11) of motor (3), candan universal joint (18) one
End is connect with electromagnet fixed frame (16), and the other end is connect with candan universal joint fixed frame (17), and electromagnet (19) is fixed on electricity
On magnet fixed frame (16), spring (15) includes horizontal U-shaped end and two openings straight up connecting with horizontal U-shaped end
End, horizontal U-shaped end are fixed on candan universal joint fixed frame (17), the symmetrical insertion simultaneously of two open ends straight up
Electromagnet fixed frame (16), for keeping the electromagnet (19) being connected with electromagnet fixed frame (16) to be integrally in always when not used
Level center direction, and play the role of compliance steer when pulling.
4. it is according to claim 1 auxiliary alignment and traction flexible trailer, it is characterised in that: further include armature (20),
Rear headstock outer framework (21) is fixed in headstock outer framework (21) and armature fixed frame (22) afterwards, one end of armature fixed frame (22)
Lower section, the other end and armature (20) are connected, and when trailer, armature (20) and electromagnet (19) are adsorbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811550650.8A CN109733133B (en) | 2018-12-18 | 2018-12-18 | Flexible trailer for assisting alignment and traction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811550650.8A CN109733133B (en) | 2018-12-18 | 2018-12-18 | Flexible trailer for assisting alignment and traction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109733133A true CN109733133A (en) | 2019-05-10 |
| CN109733133B CN109733133B (en) | 2022-04-01 |
Family
ID=66360472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811550650.8A Active CN109733133B (en) | 2018-12-18 | 2018-12-18 | Flexible trailer for assisting alignment and traction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109733133B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114889665A (en) * | 2022-05-30 | 2022-08-12 | 广州羽扬物流科技有限公司 | Rear traction connecting device for trolley |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4890854A (en) * | 1988-08-31 | 1990-01-02 | Hoover Steven J | Hitch pin |
| US5558352A (en) * | 1995-03-01 | 1996-09-24 | Mills; Malcolm L. | Trailer hitch alignment device |
| CA2726679A1 (en) * | 2010-12-31 | 2012-02-29 | Daryl B. Neustater | Occam geophysical survey sled |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN106256684A (en) * | 2016-08-22 | 2016-12-28 | 南京理工大学 | A kind of grasping mechanism being equipped on unmanned plane |
| CN107531116A (en) * | 2015-04-13 | 2018-01-02 | 移动工业机器人私人有限责任公司 | Robot trailer drawing vehicle for automatic pull trailer |
| CN108621166A (en) * | 2018-06-15 | 2018-10-09 | 顺丰科技有限公司 | The unmanned delivery system of multirobot and method |
-
2018
- 2018-12-18 CN CN201811550650.8A patent/CN109733133B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4890854A (en) * | 1988-08-31 | 1990-01-02 | Hoover Steven J | Hitch pin |
| US5558352A (en) * | 1995-03-01 | 1996-09-24 | Mills; Malcolm L. | Trailer hitch alignment device |
| CA2726679A1 (en) * | 2010-12-31 | 2012-02-29 | Daryl B. Neustater | Occam geophysical survey sled |
| CN107531116A (en) * | 2015-04-13 | 2018-01-02 | 移动工业机器人私人有限责任公司 | Robot trailer drawing vehicle for automatic pull trailer |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN106256684A (en) * | 2016-08-22 | 2016-12-28 | 南京理工大学 | A kind of grasping mechanism being equipped on unmanned plane |
| CN108621166A (en) * | 2018-06-15 | 2018-10-09 | 顺丰科技有限公司 | The unmanned delivery system of multirobot and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114889665A (en) * | 2022-05-30 | 2022-08-12 | 广州羽扬物流科技有限公司 | Rear traction connecting device for trolley |
| CN114889665B (en) * | 2022-05-30 | 2024-04-09 | 广州羽扬物流科技有限公司 | Traction connection device behind trolley |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109733133B (en) | 2022-04-01 |
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Inventor after: Zhang Zhian Inventor after: Wu Qi Inventor after: Zhu Xinnian Inventor after: Wang Pengfei Inventor after: Cheng Zhi Inventor before: Wu Qi Inventor before: Zhang Zhian Inventor before: Zhu Xinnian Inventor before: Wang Pengfei Inventor before: Cheng Zhi |
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