CN111249749A - Intelligent trolley system with its own folding bridge to cross the pit - Google Patents

Intelligent trolley system with its own folding bridge to cross the pit Download PDF

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Publication number
CN111249749A
CN111249749A CN202010015840.0A CN202010015840A CN111249749A CN 111249749 A CN111249749 A CN 111249749A CN 202010015840 A CN202010015840 A CN 202010015840A CN 111249749 A CN111249749 A CN 111249749A
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bridge
folding bridge
folding
sensor
control module
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王丁
李中伟
孙书利
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Heilongjiang University
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Heilongjiang University
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63HTOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H18/00Highways or trackways for toys; Propulsion by special interaction between vehicle and track
    • A63H18/02Construction or arrangement of the trackway
    • A63H18/025Actuation of track parts by the vehicle

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  • Auxiliary Methods And Devices For Loading And Unloading (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

智能小车系统包括:车体(1)、翻桥电动机(2)、翻桥支架(3)、折叠桥(4)、锁钩(5)、凹陷传感器(6)、翻版状态传感器(7)和控制模块(8)组成;工作原理为:首先当车体(1)行走到凹陷边缘时,凹陷传感器(6)感知到凹陷将情况发送给控制模块(8),然后控制模块(8)驱动翻桥电动机(2)使翻板缓慢上升。当翻板升起约60度时锁钩(5)被打开使折叠桥(4)弹性展开。完成这些过程后,凹陷传感器(6)检测到地面平坦,车体(1)将继续前进。

Figure 202010015840

The intelligent trolley system includes: a vehicle body (1), a flipping motor (2), a flipping bracket (3), a folding bridge (4), a locking hook (5), a recess sensor (6), a flipping state sensor (7) and The control module (8) is composed; the working principle is as follows: first, when the vehicle body (1) walks to the edge of the depression, the depression sensor (6) senses the depression and sends the situation to the control module (8), and then the control module (8) drives the flipping The bridge motor (2) makes the flap rise slowly. When the flap is raised about 60 degrees, the locking hook (5) is opened so that the folding bridge (4) is elastically unfolded. After completing these processes, the sag sensor (6) detects that the ground is flat, and the vehicle body (1) will continue to move forward.

Figure 202010015840

Description

自带折叠桥过地坑的智能小车系统Intelligent trolley system with its own folding bridge to cross the pit

技术领域technical field

本发明属于自动化设备,涉及自带折叠桥自动过地坑的智能小车系统,用于家庭娱乐领域。The invention belongs to automation equipment, and relates to an intelligent trolley system with its own folding bridge to automatically pass through a pit, which is used in the field of home entertainment.

背景技术Background technique

在车类运行游戏中,有一类是闯关过障碍;过关过障碍的能力是车的重要性能。其中,在车道中有一个凹陷,就是地坑,是一种最基本的障碍。在一个车体中,本身具有较强的过地坑能力是很有必要的。为此,本发明提出一种自带折叠桥自动过地坑的智能小车系统。In the car running game, there is one type of passing through obstacles; the ability to pass through obstacles is an important performance of the car. Among them, there is a depression in the driveway, which is a pit, which is the most basic obstacle. In a car body, it is necessary to have a strong ability to pass through pits. To this end, the present invention proposes an intelligent trolley system with its own folding bridge to automatically pass through the pit.

发明内容SUMMARY OF THE INVENTION

所发明的自带折叠桥的智能小车系统,由车体1、翻桥电动机2、翻桥支架3、折叠桥4、锁钩5组成; 车体1下有车轮和驱动装置,可以行走;翻桥电动机2固定在车体1的前端,并带动翻桥支架3转动; 翻桥支架3用于折叠桥4的一端; 折叠桥4由三段组成,每两段之间用铰链连接,铰链轴套有扭力弹簧,使折叠桥4打开成一平面,作为桥面; 锁钩5是一个弯曲形钩,一端固定,另一端是钩,锁钩是个活销连接结构,它在翻板升起约60度的时,锁钩会被打开 ;折叠桥扭簧所储存的势能被释放,折叠桥弹性展开。The invented intelligent trolley system with its own folding bridge is composed of a car body 1, a turning bridge motor 2, a turning bridge bracket 3, a folding bridge 4 and a locking hook 5; The bridge motor 2 is fixed on the front end of the vehicle body 1, and drives the turning bridge bracket 3 to rotate; the turning bridge bracket 3 is used for one end of the folding bridge 4; There is a torsion spring, which makes the folding bridge 4 open into a plane as a bridge deck; the lock hook 5 is a curved hook, one end is fixed, and the other end is a hook. When the angle is reached, the lock hook will be opened; the potential energy stored by the torsion spring of the folding bridge is released, and the folding bridge is elastically unfolded.

基于前述的自带折叠桥的智能小车系统,还包括凹陷传感器6和翻板状态传感器7。凹陷传感器安装在车体1的车头位置,用以检测地面是否平坦;翻板状态传感器7安装在折叠桥4的下方,用以检测折叠桥4的状态情况。Based on the aforementioned intelligent trolley system with its own folding bridge, it also includes a depression sensor 6 and a flap state sensor 7 . The depression sensor is installed at the front of the vehicle body 1 to detect whether the ground is flat; the flap state sensor 7 is installed under the folding bridge 4 to detect the state of the folding bridge 4 .

控制模块8安装在车体1内部,直接控制车体1的运行状态,也可用来接收凹陷传感器6和翻板状态传感器7的检测信号用以判断地面情况和折叠桥4的状态,并根据判断的情况做出相应的反应。The control module 8 is installed inside the vehicle body 1 to directly control the running state of the vehicle body 1, and can also be used to receive the detection signals of the depression sensor 6 and the flap state sensor 7 to judge the ground conditions and the state of the folding bridge 4, and to judge the state according to the judgment. respond accordingly.

折叠桥4有两个状态,一个是折叠收起状态,另一个是打开放下作为桥面的状态;在折叠收起状态时, 折叠桥4折叠,一端固定在翻桥支架3上,另一端被锁钩5钩住而不能打开:当需要打开折叠桥4时,控制翻桥电动机2转动,而使翻桥支架3转动,则使折叠桥4有一定转动,而使锁钩5脱钩,则折叠桥4打开伸直成平面,作为桥面,这是伸直桥面状态。The folding bridge 4 has two states, one is the folded and retracted state, and the other is the state of opening and laying down as a bridge deck; in the folded and retracted state, the folding bridge 4 is folded, one end is fixed on the flip bridge bracket 3, and the other end is folded. The lock hook 5 is hooked and cannot be opened: when the folding bridge 4 needs to be opened, the motor 2 of the flip bridge is controlled to rotate, and the flip bridge bracket 3 is rotated, so that the folding bridge 4 has a certain rotation, and the lock hook 5 is unhooked, then the folding The bridge 4 is opened and straightened into a plane, as the bridge deck, which is the straightened bridge deck state.

自带折叠桥自动过地坑的智能小车系统的运行原理为:在系统运行过程中凹陷传感器6持续检测,当车体1运行到凹陷之前时,凹陷传感器6检测到地面凹陷,控制模块7接受到信号控制车体1停止,然后驱动翻桥电动机使折叠桥缓慢抬升直到大约60度。此时钩锁5被打开,折叠桥4扭簧所储存的势能被释放,折叠桥4弹性展开。当折叠桥4完全展开并作为桥将凹陷铺平时,翻板状态传感器7将检测信号传送到控制模块7,告知控制模块7折叠桥4已完全展开。此时凹陷传感器6将地面已平坦的检测信号传送到控制模块7中,控制模块7继续驱动车体1向前运行通过铺设的桥面。The operating principle of the intelligent trolley system with its own folding bridge to automatically pass through the pit is: during the operation of the system, the sag sensor 6 continues to detect, when the vehicle body 1 runs before the sag, the sag sensor 6 detects the ground sag, and the control module 7 accepts it. When the signal controls the car body 1 to stop, then drive the axle flip motor to slowly lift the folding axle up to about 60 degrees. At this time, the hook lock 5 is opened, the potential energy stored by the torsion spring of the folding bridge 4 is released, and the folding bridge 4 is elastically unfolded. When the folding bridge 4 is fully unfolded and flattens the depression as a bridge, the flap state sensor 7 transmits a detection signal to the control module 7 to inform the control module 7 that the folding bridge 4 is fully unfolded. At this time, the depression sensor 6 transmits a detection signal that the ground is flat to the control module 7, and the control module 7 continues to drive the vehicle body 1 to run forward through the paved bridge deck.

附图说明Description of drawings

附图1是本发明所述的自带折叠桥自动过地坑的智能小车系统的示意图;Accompanying drawing 1 is the schematic diagram of the intelligent trolley system with its own folding bridge automatically crossing the pit according to the present invention;

附图2是本发明所述的自带折叠桥自动过地坑的智能小车系统中折叠桥的示意图。FIG. 2 is a schematic diagram of the folding bridge in the intelligent trolley system with its own folding bridge automatically passing through the pit according to the present invention.

具体实施方式Detailed ways

具体实施方式一Specific implementation one

参照附图1说明本实施方式,本实施方式中,所发明的自带折叠桥自动过地坑的智能小车系统的运行原理为:系统开机之后,车体1向前运行。在系统运行过程中凹陷传感器6持续检测地面是否平坦,当车体1运行到凹陷处时,凹陷传感器6会检测到地面凹陷,控制模块7接受到信号控制车体1停止,然后驱动翻桥电动机使折叠桥缓慢抬升直到大约60度。此时钩锁5被打开,折叠桥4扭簧所储存的势能被释放,折叠桥4弹性展开。当折叠桥4完全展开并作为桥将凹陷铺平时,翻板状态传感器7将检测信号传送到控制模块7,告知控制模块7折叠桥4已完全展开。此时凹陷传感器6将地面已平坦的检测信号传送到控制模块7中,控制模块7继续驱动车体1向前运行通过铺设的桥面。This embodiment is described with reference to FIG. 1 . In this embodiment, the operating principle of the invented intelligent trolley system with its own folding bridge to automatically pass through the pit is: after the system is turned on, the vehicle body 1 runs forward. During the operation of the system, the depression sensor 6 continuously detects whether the ground is flat. When the vehicle body 1 runs to the depression, the depression sensor 6 will detect the depression on the ground, and the control module 7 receives the signal to control the vehicle body 1 to stop, and then drives the flip motor. Raise the folding bridge slowly until about 60 degrees. At this time, the hook lock 5 is opened, the potential energy stored by the torsion spring of the folding bridge 4 is released, and the folding bridge 4 is elastically unfolded. When the folding bridge 4 is fully unfolded and flattens the depression as a bridge, the flap state sensor 7 transmits a detection signal to the control module 7 to inform the control module 7 that the folding bridge 4 is fully unfolded. At this time, the depression sensor 6 transmits a detection signal that the ground is flat to the control module 7, and the control module 7 continues to drive the vehicle body 1 to run forward through the paved bridge deck.

Claims (5)

1. Take intelligent vehicle system of folding bridge crossing pit, its characterized in that, it includes: the foldable bridge comprises a vehicle body (1), a bridge-overturning motor (2), a bridge-overturning bracket (3), a foldable bridge (4) and a locking hook (5); the folding bridge is characterized in that the vehicle body (1) is used as a main body part for carrying other parts, a bridge turning motor (2) and a bridge turning support (3) are installed on the vehicle body (1), and the bridge turning motor is used for lifting the folding bridge (4) and triggering the hook lock (5) to open and release the folding bridge (4) when a certain angle is reached.
2. The intelligent trolley system with the folding bridge pit-crossing function as claimed in claim 1, a depression sensor (6) and a flap state sensor (7) are added; the sinking sensor (6) is arranged at the head position of the vehicle body (1), and is characterized in that whether the road surface to be driven is flat or not can be detected; the flap state sensor (7) is arranged below the folding bridge (4) and is characterized in that the state of the folding bridge (4) is detected at any time.
3. The intelligent trolley system with folding bridge passing pit as claimed in claim 1 and claim 2, adding a control module (8); the control module (8) is arranged in the vehicle body (1) and used for receiving signals of the recess sensor (6) and the flap state sensor (7) and controlling the running state of the system.
4. The intelligent trolley system with a folding bridge passing through a pit as claimed in claim 1 to claim 3, the folding bridge (4) is a foldable three-section structure; the first section is 28 cm long, the second section is 22 cm long, the third section is 20 cm long, the two sections are connected through a hinge, and a torsion spring is sleeved on the hinge shaft; the diameter of the first section of torsion spring is 0.8 mm, and the diameter of the second section of torsion spring is 0.5 mm.
5. The intelligent trolley system with folding bridge pit according to claim 1 to claim 3, comprising a depression sensor (6), a flap state sensor (7) and a control module (8); the folding bridge is characterized in that a sunken sensor (6) installed at the head of a vehicle body (1) detects that a road surface is sunken and transmits signals to a control module (8), the control module (8) drives a system to stop advancing and starts a plate turning motor (2) to slowly lift the folding bridge, when the folding bridge rises to an included angle of about 60 degrees with the vehicle body (1), a hook lock (5) is unlocked, the folding bridge (4) is divided into three sections and is connected by a torsion spring, the torsion spring releases stored elastic potential energy to unfold the folding bridge after the hook lock (5) is unlocked, the folding bridge falls down and paves the ground, the sunken sensor (6) detects that the ground is flat and transmits the signals to the control module (8), a plate turning state sensor transmits unfolded signals of the folding bridge to the control module (8), and the control module (8) drives the vehicle body (1) to.
CN202010015840.0A 2020-01-08 2020-01-08 Intelligent trolley system with its own folding bridge to cross the pit Pending CN111249749A (en)

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Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3932742A1 (en) * 1989-09-30 1991-04-11 Goeppner Kaiserslautern Eisen Emergency short span bridge - is transported to site on motor vehicle which is equipped with crane
JPH11268665A (en) * 1998-03-23 1999-10-05 Kubota Corp Work vehicle
RU35346U1 (en) * 2003-08-20 2004-01-10 Федеральное государственное унитарное предприятие Конструкторское бюро транспортного машиностроения Bridge spreader on the base tank chassis (options)
US20090064427A1 (en) * 2007-06-05 2009-03-12 Lothar Emrich Method for laying a military bridge
EP2251486A2 (en) * 2009-05-06 2010-11-17 Pearson Engineering Limited Bridge deploying apparatus and bridge transporting vehicle incorporating such apparatus
WO2012059097A2 (en) * 2010-10-12 2012-05-10 Krauss-Maffei Wegmann Gmbh & Co. Kg Bridge laying vehicle, and method for laying a bridge
CN204023395U (en) * 2014-08-20 2014-12-17 青岛理工大学 Emergency rescue bridge girder erection vehicle
DE102014102431A1 (en) * 2014-02-25 2015-08-27 Pfister Waagen Bilanciai Gmbh Libra for land vehicles
US20150354152A1 (en) * 2014-06-10 2015-12-10 General Dynamics European Land Systems-Germany Gmbh Transportable foldable bridge
CN208809461U (en) * 2018-09-20 2019-05-03 浙江飞神车业有限公司 A kind of remote control model car facilitating ditch
EP3660217A1 (en) * 2018-11-29 2020-06-03 FFG Flensburger Fahrzeugbau Gesellschaft mbH Adapter for the boom of a vehicle for receiving, transporting and laying a bridge or a bridge element
CN111472244A (en) * 2020-04-21 2020-07-31 任刚 Automatic repairing auxiliary device for road surface depression

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3932742A1 (en) * 1989-09-30 1991-04-11 Goeppner Kaiserslautern Eisen Emergency short span bridge - is transported to site on motor vehicle which is equipped with crane
JPH11268665A (en) * 1998-03-23 1999-10-05 Kubota Corp Work vehicle
RU35346U1 (en) * 2003-08-20 2004-01-10 Федеральное государственное унитарное предприятие Конструкторское бюро транспортного машиностроения Bridge spreader on the base tank chassis (options)
US20090064427A1 (en) * 2007-06-05 2009-03-12 Lothar Emrich Method for laying a military bridge
EP2251486A2 (en) * 2009-05-06 2010-11-17 Pearson Engineering Limited Bridge deploying apparatus and bridge transporting vehicle incorporating such apparatus
WO2012059097A2 (en) * 2010-10-12 2012-05-10 Krauss-Maffei Wegmann Gmbh & Co. Kg Bridge laying vehicle, and method for laying a bridge
DE102014102431A1 (en) * 2014-02-25 2015-08-27 Pfister Waagen Bilanciai Gmbh Libra for land vehicles
US20150354152A1 (en) * 2014-06-10 2015-12-10 General Dynamics European Land Systems-Germany Gmbh Transportable foldable bridge
CN204023395U (en) * 2014-08-20 2014-12-17 青岛理工大学 Emergency rescue bridge girder erection vehicle
CN208809461U (en) * 2018-09-20 2019-05-03 浙江飞神车业有限公司 A kind of remote control model car facilitating ditch
EP3660217A1 (en) * 2018-11-29 2020-06-03 FFG Flensburger Fahrzeugbau Gesellschaft mbH Adapter for the boom of a vehicle for receiving, transporting and laying a bridge or a bridge element
CN111472244A (en) * 2020-04-21 2020-07-31 任刚 Automatic repairing auxiliary device for road surface depression

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