CN114681928A - Gravity-driven automatic obstacle-crossing trolley - Google Patents
Gravity-driven automatic obstacle-crossing trolley Download PDFInfo
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- CN114681928A CN114681928A CN202111634710.6A CN202111634710A CN114681928A CN 114681928 A CN114681928 A CN 114681928A CN 202111634710 A CN202111634710 A CN 202111634710A CN 114681928 A CN114681928 A CN 114681928A
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- 230000005484 gravity Effects 0.000 title claims abstract description 18
- 230000008859 change Effects 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 43
- 238000000034 method Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 2
- 238000005381 potential energy Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/08—Driving mechanisms actuated by balls or weights
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Abstract
The invention discloses a gravity-driven automatic obstacle-crossing trolley which comprises a chassis, wherein rear wheels, steering front wheels, a driving mechanism, a multi-stage variable-speed transmission mechanism and a space steering mechanism are arranged on the chassis; the space steering mechanism comprises a steering driving shaft, a first speed change step pulley sleeved on the driving shaft and a second speed change step pulley sleeved on the steering driving shaft, a transmission belt is connected between the first speed change step pulley and the second speed change step pulley, an obstacle crossing control module is arranged at the steering driving shaft and comprises an adjustable eccentricity crank arranged at the driving shaft, a joint connecting rod connected with the adjustable eccentricity crank, a rocker swing arm connected with the joint connecting rod and a steering module connected with the rocker swing arm, and the steering module is connected with a steering front wheel so as to drive the steering front wheel to rotate left and right; the adjustable eccentricity crank is provided with an adjustable eccentricity crank groove arranged along the circle center direction of the adjustable eccentricity crank, and the adjusting end of the joint connecting rod is movably arranged at the adjustable eccentricity crank groove; the invention has simple structure and reliable performance, can shorten the debugging time and difficulty of the trolley, and can adjust the speed to adapt to different tracks.
Description
Technical Field
The invention relates to the technical field of trolleys, in particular to a gravity-driven automatic obstacle-crossing trolley.
Background
The automatic obstacle-crossing trolley is a three-wheel trolley which uses gravitational potential energy as unique energy and has a continuous obstacle-avoiding function. The principle is that a heavy object is lifted to a specified height, the heavy object falls down under the action of gravity, a flexible pull rope tied on the heavy object changes the direction of the pull force through a pulley arranged on a pulley seat, the other end of the pull rope is wound on a power input mechanism, the movement is transmitted to a driving shaft through a multi-stage variable speed transmission mechanism, and the rear wheel is driven to rotate, so that the forward movement of the trolley is completed; the space steering mechanism is used for enabling the front wheels to rotate leftwards or rightwards according to a sine cycle, enabling the trolley to walk out of an s-shaped path and avoid barrier rods arranged at a certain distance, and because gravitational potential energy is unique energy, the energy for completing actions of the space steering mechanism has no other source and must be associated with the driving mechanism to obtain energy.
Patent numbers: CN201721106986.6, patent name: a carbon-free obstacle-surmounting trolley driven by self gravitational potential energy and provided with direction control, and the carbon-free obstacle-surmounting trolley is disclosed in the patent number: CN201810556006.5, patent name: a self-control obstacle crossing trolley driven by gravitational potential energy is provided. But all can only adapt to the track with the same pile spacing, and have poor compatibility to different tracks, long debugging time and poor adaptability.
The automatic obstacle crossing trolley needs to change design parameters to set corresponding tracks to adapt to different obstacle tracks due to different reasons of obstacle setting, but the existing technology has the defects of long debugging period, poor debugging effect and incapability of quickly adapting to different obstacle tracks due to large debugging difficulty and less theoretical research, mainly based on field debugging and the like.
The invention provides a gravity-driven automatic obstacle crossing trolley which has the characteristics of simple structure, reliable performance and low engineering cost, greatly shortens the debugging time and difficulty of the trolley based on theoretical research, and obviously improves the quick adaptability of the trolley to different tracks.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a gravity-driven automatic obstacle-crossing trolley which is simple in structure, reliable in performance, capable of shortening the debugging time and difficulty of the trolley and adjusting the speed to adapt to different tracks.
The technical scheme adopted by the invention for solving the technical problems is as follows: a gravity-driven automatic obstacle-crossing trolley comprises a trolley body, wherein the trolley body comprises a chassis and a top plate arranged above the chassis through a vertical rod, the chassis is provided with rear wheels and steering front wheels, and the chassis is also provided with a prime mechanism, a multi-stage variable transmission mechanism and a space steering mechanism; the method is characterized in that: the driving mechanism comprises a fixed pulley arranged at the top plate, a rope wound on the fixed pulley and a balancing weight suspended at one end of the rope; the multi-stage variable speed transmission mechanism comprises a driving shaft arranged on a chassis, a reel of the driving shaft is sleeved with the driving shaft, the other end of a rope is wound on the reel, the multi-stage variable speed transmission mechanism also comprises a driving shaft arranged on the chassis and connected with a rear wheel, a gear set used for enabling the driving shaft to rotate along with the driving shaft is arranged between the driving shaft and the driving shaft, and the gear set comprises a first gear sleeved on the driving shaft and a second gear sleeved on the driving shaft and meshed with the first gear; the space steering mechanism comprises a steering driving shaft arranged on a chassis, a first speed change step pulley sleeved on a driving shaft and a second speed change step pulley sleeved on the steering driving shaft, a transmission belt is connected between the first speed change step pulley and the second speed change step pulley, the steering driving shaft is also provided with an obstacle crossing control module for realizing the rotation of a steering front wheel, the obstacle crossing control module comprises an adjustable eccentricity crank arranged at the driving shaft, a joint connecting rod connected with the adjustable eccentricity crank, a rocker swing arm connected with the joint connecting rod and a steering module connected with the rocker swing arm, and the steering module is connected with the steering front wheel so as to drive the steering front wheel to rotate left and right; the adjustable eccentricity crank is provided with an adjustable eccentricity crank groove arranged along the circle center direction of the adjustable eccentricity crank, and the joint connecting rod comprises an adjusting end and a fixed end, wherein the adjusting end is arranged in the adjustable eccentricity crank groove and can adjust and slide along the adjustable eccentricity crank groove; the first speed change cone pulley and the second speed change cone pulley are respectively provided with a plurality of wheel grooves for connecting a transmission belt, and the transmission belt is connected to different wheel grooves of the first speed change cone pulley and the second speed change cone pulley to realize the difference of the transmission ratio between the first speed change cone pulley and the second speed change cone pulley.
Preferably, the method comprises the following steps: the steering module comprises a front fork wheel frame connected to the front wheel to be steered and a steering cap arranged at the end part of the front fork wheel frame, and the rocker swing arm is connected with the steering cap.
Preferably, the method comprises the following steps: the rear wheel comprises a driving wheel fixedly connected to one end of the driving shaft and a free wheel nested at the other end of the driving shaft by a bearing, and the end part of the free wheel is positioned and fastened by a locking nut. The free wheel is transversely fixed on the driving shaft through a bearing and a limiting shaft sleeve and has a rotating speed difference with the driving shaft so as to counteract additional external force caused by the difference of the inner wheels during turning
Preferably, the method comprises the following steps: the reel comprises a large cylindrical section, an oblique table and a small cylindrical section, and a spiral groove is formed in the surface of the oblique table; one end of the rope wire is wound on the small cylindrical section and is wound to the large cylindrical section after passing through the spiral groove on the surface of the oblique table. As the starting torque of the trolley is larger than the running working torque, a larger torque needs to be provided in the starting stage. The reel is composed of a large cylindrical section, an oblique platform and a small cylindrical section, wherein the surface of the oblique platform is provided with a spiral groove for connecting the large cylindrical section and the small cylindrical section. The flexible pull rope is mainly wound on the small cylindrical section and is wound to the large cylindrical section through the groove part of the sloping platform, so that the input torque is improved, and the starting friction force is overcome to walk.
Preferably, the method comprises the following steps: the first speed change cone pulley is provided with 7 wheel grooves with different diameters, and the second speed change cone pulley is provided with 6 wheel grooves with different diameters; the transmission belt is wound in different wheel grooves at the first speed changing tower wheel and different wheel grooves of the second speed changing tower wheel respectively to realize different transmission ratios. By selecting different gear ratios, 42-step effective speed change can be realized.
Preferably, the method comprises the following steps: the first speed change cone pulley and the second speed change cone pulley are both cone pulley structures, and the installation directions of the first speed change cone pulley and the second speed change cone pulley are opposite.
Preferably, the method comprises the following steps: the adjusting end of the joint connecting rod is fixed at the position of the crank groove with the adjustable eccentricity through a bolt and a nut. The positions of the adjusting ends of the joint connecting rods in the crank slots with the adjustable eccentricity can be conveniently adjusted through bolts and nuts, so that the rotating amplitude of the steering front wheel is realized.
The invention has the beneficial effects that:
1. the invention relates to a gravity-driven automatic obstacle crossing trolley which adopts the modes of multi-stage speed change of a cone pulley, the arrangement of a crank groove adjusting crank, the multi-stage joint adjustment of a spiral groove of a winding wheel, torque adaptation, transmission, a space steering mechanism and the like;
the automatic adjusting device has the characteristics of simple structure, reliable performance and low construction cost, and can greatly shorten the adjusting time and difficulty of the trolley and remarkably improve the quick adaptability of the trolley to different tracks by arranging the first speed-changing cone pulley, the second speed-changing cone pulley and the obstacle crossing control module.
2. Meanwhile, the transmission ratio of the first speed change cone pulley and the second speed change cone pulley is controlled, so that the transmission can be realized more accurately, and the obstacle crossing capability of the toy car is more accurate; the space steering mechanism module is improved, so that the steering of the trolley is more accurate and easy to adjust.
3. When the adjusting device needs to be adjusted to adapt to different tracks, a user can adjust the position of the adjusting end of the joint connecting rod in the crank groove with the adjustable eccentricity by unscrewing the bolt and the nut and sliding the adjusting end of the joint connecting rod, and meanwhile, the positions of the conveyor belt in the wheel grooves of the first variable-speed cone pulley and the second variable-speed cone pulley are adjusted, so that the rotation amplitude of the trolley is realized. Is simple and efficient.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a chassis, rear wheels, steering front wheels, a multi-speed transmission mechanism and a space steering mechanism, which are arranged on the chassis according to an embodiment of the invention;
FIG. 3 is a schematic structural view of an obstacle crossing control module and a steering front wheel according to an embodiment of the present invention;
fig. 4 is a schematic structural view of the first and second shift sheaves.
In the figure, 1 chassis, 2 top plate, 3 prime motor mechanism, 31 fixed pulley, 32 vertical rod, 4 multi-stage speed change transmission mechanism, 41 prime motor shaft, 42 reels, 421 large cylinder segment, 422 ramp, 423 small cylinder segment, 43 first gear, 44 second gear, 45 driving shaft, 46 first speed change tower wheel, 5 space steering mechanism, 51 adjustable eccentricity crank, 511 adjustable eccentricity crank groove, 52 joint connecting rod, 53 steering module, 54 steering driving shaft, 55 second speed change tower wheel, 56 rocker swing arm, 6 rear wheel, 61 free wheel, 62 driving wheel, 7 steering front wheel, 8 driving belt and 9 wheel groove.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, 2 and 3, the present embodiment provides a gravity-driven automatic obstacle crossing trolley, which is a three-wheel mechanism, wherein the trolley includes a trolley body, the trolley body includes a chassis 1 and a top plate 2 disposed above the chassis 1 through a vertical rod 32, the chassis 1 is provided with two rear wheels 6 and a front steering wheel 7, a motive power mechanism 3 is disposed between the chassis 1 and the top plate 2, the motive power mechanism 3 is used for providing power for movement of the trolley, the chassis 1 is further provided with a multi-stage variable transmission mechanism 4 and a space steering mechanism 5, the multi-stage variable transmission mechanism 4 is used for applying the power generated by the motive power mechanism 3 to the rear wheels 6 and the front wheels, and a station of the space steering mechanism 5 is located between the multi-stage variable transmission mechanism 4 and the front steering wheel 7 and is used for converting the power into power for left-right rotation of the front steering wheel 7.
The driving mechanism 3 comprises a fixed pulley 31 arranged at the top plate 2, a rope wound on the fixed pulley 31 and a balancing weight suspended at one end of the rope; the other end of the rope is connected with the multi-stage variable speed transmission mechanism 4; the used clump weight falls downwards under the influence of gravity to generate power.
The multi-stage speed change transmission mechanism 4 includes a motive power shaft 41 provided on the chassis 1, the motive power shaft 41 is provided on the chassis 1 through a shaft seat provided on the upper end of the chassis 1, a reel 42 is sleeved on the motive power shaft 41, the other end of the cord is wound on the reel 42, and the cord is pulled through the falling of the counter weight block, so that the motive power shaft 41 is pulled to rotate by the cord. The reel 42 comprises a large cylindrical section 421, an inclined platform 422 and a small cylindrical section 423, and the surface of the inclined platform 422 is provided with a spiral groove; one end of the rope is wound on the small cylindrical section 423 and is wound to the large cylindrical section 421 after passing through the spiral groove on the surface of the sloping platform 422. Because the starting torque of the trolley is larger than the running working torque, a larger torque needs to be provided in the starting stage, so that the input torque can be improved, and the starting friction force is overcome to walk.
The multi-stage speed change transmission mechanism 4 further comprises a driving shaft 45 which is arranged on the chassis 1 and connected with the rear wheel 6, a gear set which is used for enabling the driving shaft 45 to rotate along with the driving shaft 41 is further arranged between the driving shaft 45 and the driving shaft 41, and the gear set comprises a first gear 43 which is sleeved on the driving shaft 41 and a second gear 44 which is sleeved on the driving shaft 45 and meshed with the first gear 43; the driving shaft 45 is driven to rotate by the rotation of the driving shaft 41, and finally the rear wheel 6 is driven to rotate to drive the trolley to advance.
The space steering mechanism 5 comprises a steering driving shaft 54 arranged on the chassis 1, a first speed change cone pulley 46 sleeved on the driving shaft 41, and a second speed change cone pulley 55 sleeved on the steering driving shaft 54, wherein a transmission belt 8 is connected between the first speed change cone pulley 46 and the second speed change cone pulley 55, the first speed change cone pulley 46 and the second speed change cone pulley 55 are both in cone pulley structures, the first speed change cone pulley 46 and the second speed change cone pulley 55 are arranged in opposite mounting directions, and meanwhile, a plurality of wheel grooves 9 for connecting and placing the transmission belt 8 are formed in the first speed change cone pulley 46 and the second speed change cone pulley 55, wherein 6 wheel grooves 9 with different diameters are formed in the first speed change cone pulley 46, and 7 wheel grooves 9 with different diameters are formed in the second speed change cone pulley 55; the transmission belt 8 is wound around different grooves 9 at the first speed change tower wheel 46 and different grooves 9 at the second speed change tower wheel 55 respectively to realize different transmission ratios. Wherein 42-stage effective speed change can be realized by selecting different transmission ratios, and the power transmitted to the front steering wheels 7 can be effectively controlled.
An obstacle crossing control module for realizing the rotation of the steering front wheel 7 is also arranged at the steering driving shaft 54, the obstacle crossing control module comprises an adjustable eccentricity crank 51 arranged at the driving shaft 45, a joint connecting rod 52 connected with the adjustable eccentricity crank 51, a rocker swinging arm 56 connected with the joint connecting rod 52, a steering module 53 connected with the rocker swinging arm 56 and driving the steering module 53 to swing left and right, and the steering module 53 is connected with the steering front wheel 7 so as to drive the steering front wheel 7 to rotate left and right;
the adjustable eccentricity crank 51 is provided with an adjustable eccentricity crank slot 511 arranged along the direction of the center of the circle of the adjustable eccentricity crank 51, and the joint connecting rod 52 comprises an adjusting end which is arranged in the adjustable eccentricity crank slot 511 and can slide along the adjustable eccentricity crank slot 511, and a fixed end which is arranged at the steering module 53; the steering module 53 comprises a front fork frame connected to the front wheel 7 and a steering cap arranged at the end of the front fork frame, and the rocker swing arm 56 is connected with the steering cap. Wherein the adjusting end of the joint connecting rod 52 is fixed at the position of the crank slot 511 with adjustable eccentricity by bolts and nuts.
The steering drive shaft 54 rotates, and the movement of the steering module 53 is controlled by the obstacle crossing control module. The obstacle crossing control module consists of a vertical eccentric distance adjustable crank 51, a joint connecting rod 52 and a rocker arm 56. The vertical eccentric crank 51 is fixed on the driven shaft, the inside of the vertical eccentric crank 51 is provided with an eccentric crank groove 511 which is arranged radially, one end of the joint connecting rod 52 is fixed on the vertical eccentric crank groove 511 through a pin, and the eccentric distance of the joint connecting rod 52 can be adjusted through the eccentric crank groove 511. The other end of the joint connecting rod 52 is connected with the rocker swing arm 56, so that the rocker swing arm 56 horizontally swings back and forth, and the steering module 53 is driven to swing left and right.
Wherein the rear wheel 6 includes a driving wheel 62 fixedly coupled to one end of the driving shaft 45 and a free wheel 61 hinged to the other end of the driving shaft 45 in order to offset an additional external force due to an inner wheel difference during a turn. The free wheel 61 is transversely fixed on the driving shaft 45 through a bearing and a limiting shaft sleeve, and has a rotation speed difference with the driving shaft 45.
The trolley in the embodiment can realize the coordination of power distribution, steering and driving of the walking and steering of the trolley by adjusting the transmission ratio of the spur gear pair, the diameters of the driving wheel 62 and the free wheel 61, the transmission ratio of the double tower wheels, the eccentricity of the joint connecting rod 52 and the arm length of the rocker swing arm 56 according to different obstacles, so that the trolley can realize the automatic steering control function of S-shaped obstacle avoidance under the condition of different obstacles. When the transmission ratio of the straight gear pair, the diameters of the driving wheel 62 and the free wheel 61 and the arm length of the arm are determined, the transmission ratio can be changed by adjusting the positions of the transmission belt 8 in the wheel grooves 9 of the first speed change step pulley 46 and the second speed change step pulley 55 in the embodiment, and meanwhile, the eccentric distance of the joint connecting rod 52 can be adjusted by adjusting the eccentric distance adjustable crank groove 511 to achieve the transmission ratio, so that the design of key mechanisms such as power, steering and the like of a trolley can be realized on the basis of track research, and the characteristics of simple structure, reliable performance and low engineering cost are realized. Meanwhile, the debugging time and difficulty of the trolley are greatly shortened, and the quick adaptability of the trolley to different tracks is obviously improved.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.
Claims (7)
1. A gravity-driven automatic obstacle-crossing trolley comprises a trolley body, wherein the trolley body comprises a chassis and a top plate arranged above the chassis through a vertical rod, the chassis is provided with rear wheels and steering front wheels, and the chassis is also provided with a prime mechanism, a multi-stage variable transmission mechanism and a space steering mechanism; the method is characterized in that: the prime mechanism comprises a fixed pulley arranged at the top plate, a rope wound on the fixed pulley and a balancing weight suspended at one end of the rope;
the multi-stage variable speed transmission mechanism comprises a prime shaft arranged on a chassis, a reel of the prime shaft is sleeved with the prime shaft, the other end of a rope is wound on the reel, the multi-stage variable speed transmission mechanism also comprises a driving shaft arranged on the chassis and connected with a rear wheel, a gear set for enabling the driving shaft to rotate along with the prime shaft is arranged between the driving shaft and the prime shaft, and the gear set comprises a first gear sleeved on the prime shaft and a second gear sleeved on the driving shaft and meshed with the first gear;
the space steering mechanism comprises a steering driving shaft arranged on a chassis, a first speed change step pulley sleeved on a driving shaft and a second speed change step pulley sleeved on the steering driving shaft, a transmission belt is connected between the first speed change step pulley and the second speed change step pulley, the steering driving shaft is also provided with an obstacle crossing control module for realizing the rotation of a steering front wheel, the obstacle crossing control module comprises an adjustable eccentricity crank arranged at the driving shaft, a joint connecting rod connected with the adjustable eccentricity crank, a rocker swing arm connected with the joint connecting rod and a steering module connected with the rocker swing arm, and the steering module is connected with the steering front wheel so as to drive the steering front wheel to rotate left and right;
the adjustable eccentricity crank is provided with an adjustable eccentricity crank groove which is arranged along the radial direction of the adjustable eccentricity crank, and the joint connecting rod comprises an adjusting end which is arranged in the adjustable eccentricity crank groove and can adjust and slide along the adjustable eccentricity crank groove and a fixed end which is arranged at the steering module;
the first speed change cone pulley and the second speed change cone pulley are respectively provided with a plurality of wheel grooves for connecting a transmission belt, and the transmission belt is connected to different wheel grooves of the first speed change cone pulley and the second speed change cone pulley to realize the difference of the transmission ratio between the first speed change cone pulley and the second speed change cone pulley.
2. A gravity-driven automatic obstacle detouring vehicle as claimed in claim 1, wherein: the steering module comprises a front fork wheel frame connected to the front wheel to be steered and a steering cap arranged at the end part of the front fork wheel frame, and the rocker swing arm is connected with the steering cap.
3. A gravity driven automatic obstacle detouring vehicle as claimed in claim 1, wherein: the rear wheel comprises a driving wheel fixedly connected to one end of the driving shaft and a free wheel nested at the other end of the driving shaft by a bearing, and the end part of the free wheel is positioned and fastened by a locking nut.
4. A gravity-driven automatic obstacle detouring vehicle as claimed in claim 1, wherein: the reel comprises a large cylindrical section, an oblique table and a small cylindrical section, and a spiral groove is formed in the surface of the oblique table; one end of the rope wire is wound on the small cylindrical section and is wound to the large cylindrical section after passing through the spiral groove on the surface of the oblique table.
5. A gravity-driven automatic obstacle detouring vehicle as claimed in claim 1, wherein: the first speed change cone pulley is provided with 6 wheel grooves with different diameters, and the second speed change cone pulley is provided with 7 wheel grooves with different diameters; the transmission belt is wound in different wheel grooves at the first speed changing tower wheel and different wheel grooves of the second speed changing tower wheel respectively to realize different transmission ratios.
6. A gravity-driven automatic obstacle detouring trolley according to claim 5, wherein: the first speed change cone pulley and the second speed change cone pulley are both cone pulley structures, and the installation directions of the first speed change cone pulley and the second speed change cone pulley are opposite.
7. A gravity-driven automatic obstacle detouring vehicle as claimed in claim 1, wherein: the adjusting end of the joint connecting rod is fixed at the position of the crank groove with the adjustable eccentricity through a bolt and a nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111634710.6A CN114681928A (en) | 2021-12-29 | 2021-12-29 | Gravity-driven automatic obstacle-crossing trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111634710.6A CN114681928A (en) | 2021-12-29 | 2021-12-29 | Gravity-driven automatic obstacle-crossing trolley |
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| CN114681928A true CN114681928A (en) | 2022-07-01 |
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| CN202111634710.6A Pending CN114681928A (en) | 2021-12-29 | 2021-12-29 | Gravity-driven automatic obstacle-crossing trolley |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203142029U (en) * | 2013-03-10 | 2013-08-21 | 朱亚雄 | Transmission mechanism |
| CN203507516U (en) * | 2013-07-23 | 2014-04-02 | 内蒙古科技大学 | Figure-8-shaped variable-distance obstacle-crossing carbon-free trolley driven to walk through gravitational potential energy |
| CN204428818U (en) * | 2015-01-09 | 2015-07-01 | 北华航天工业学院 | A kind of obstacle detouring automatic carriage |
| CN104952316A (en) * | 2015-05-25 | 2015-09-30 | 南京新辉科教仪器有限公司 | Centripetal force demonstrator |
| CN207221328U (en) * | 2017-08-31 | 2018-04-13 | 常州大学 | It is a kind of to be driven with self gravitation potential energy and there is the carbon-free obstacle detouring trolley of direction controlling |
-
2021
- 2021-12-29 CN CN202111634710.6A patent/CN114681928A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203142029U (en) * | 2013-03-10 | 2013-08-21 | 朱亚雄 | Transmission mechanism |
| CN203507516U (en) * | 2013-07-23 | 2014-04-02 | 内蒙古科技大学 | Figure-8-shaped variable-distance obstacle-crossing carbon-free trolley driven to walk through gravitational potential energy |
| CN204428818U (en) * | 2015-01-09 | 2015-07-01 | 北华航天工业学院 | A kind of obstacle detouring automatic carriage |
| CN104952316A (en) * | 2015-05-25 | 2015-09-30 | 南京新辉科教仪器有限公司 | Centripetal force demonstrator |
| CN207221328U (en) * | 2017-08-31 | 2018-04-13 | 常州大学 | It is a kind of to be driven with self gravitation potential energy and there is the carbon-free obstacle detouring trolley of direction controlling |
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