CN203681644U - Periodically meshed steering mechanism with incomplete teeth - Google Patents
Periodically meshed steering mechanism with incomplete teeth Download PDFInfo
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- CN203681644U CN203681644U CN201320825934.XU CN201320825934U CN203681644U CN 203681644 U CN203681644 U CN 203681644U CN 201320825934 U CN201320825934 U CN 201320825934U CN 203681644 U CN203681644 U CN 203681644U
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- 229920000742 Cotton Polymers 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 4
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- 239000002184 metal Substances 0.000 claims description 4
- 239000011148 porous material Substances 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model relates to a periodically meshed steering mechanism with incomplete teeth, and belongs to the technical field of mechanical innovation. The periodically meshed steering mechanism comprises a line wheel axle bearing seat, a cylindrical gear (phi 80), a vehicle bottom plate, a limiting screw I, a limiting nut, a swing rod with incomplete outer teeth, a swing rod with incomplete inner teeth, a limiting screw II, a joint bearing, an adjusting screw rod, a pin, a crank, a driving wheel, a rear wheel axle bearing seat, a rear wheel axle, a line wheel axle, a cylindrical gear (phi 12), a driven wheel, a supporting rod and a front wheel fork, wherein the joint bearing and the adjusting screw rod form a length-adjustable connecting rod; the swing rod with the incomplete inner teeth is a rocking rod part; a connecting rod mechanism formed by the crank, the connecting rod and the rocking rod serves as a planar crank rocking rod mechanism. The periodically meshed steering mechanism has a self-locking function; the periods of left and right angles of a front wheel can be randomly allocated; parameters can be conveniently calculated.
Description
Technical field
The utility model relates to a kind of with incomplete tooth rim phase engagement steering hardware, belongs to mechanical innovative technology field.
Background technology
Along with scientific and technical development and progress, increasing creative design is used in all trades and professions, has produced various mechanical mechanism, and particularly robot brain tool is favourably welcome.
Automatic operation occasion under people's daily life, commercial production and some dangerous bad borders is all widely used, for example, at an explosive scene, while there is the obstacle of some specific rules, one just cut-through is implemented explosive task by automatic disassembling equipment delivery to assigned address.This is undoubtedly mechanism highly significant.
But because the precision of traditional connecting rod steering mechanism self is limited and trajectory parameters calculation of complex, when more remote, be difficult to guarantee degree of precision operation.Therefore, just need a kind of new structure can guarantee that precision is convenient to again calculation of parameter.
Summary of the invention
It is a kind of with incomplete tooth rim phase engagement steering hardware that the utility model provides, for solving the problem of the limited and trajectory parameters calculation of complex of the precision of traditional connecting rod steering mechanism self.
The technical solution of the utility model is: a kind of with incomplete tooth rim phase engagement steering hardware, comprise wire wheel axis bearing seat 1, cylindrical wheel
2, car bottom plate 3, stop screw I 4, stop nut 5, with the fork 6 of incomplete external tooth, with not exclusively fork 7, stop screw II 8, oscillating bearing 9, adjusting screw(rod) 10, pin 11, crank 12, driving wheel 13, hind axle bearing seat 14, hind axle 15, wire wheel axis 16, the cylindrical wheel of internal tooth
17, flower wheel 18, strut bar 19, front-fork 20, wherein wire wheel axis bearing seat 1 is fixedly mounted on car bottom plate 3 by screw, cylindrical wheel
2 fixedly mount by interference fit with wire wheel axis 16 one end, stop screw I 4, stop screw II 8 is screwed in stop nut 5, stop nut 5 is fixedly bonded on car bottom plate 3 by metal adhesive, fork 6 with incomplete external tooth is fixedly connected with front-fork 20 by interference fit, fork 7 middle part nodes with incomplete internal tooth are arranged on car bottom plate 3 and are done cantilever configuration by revolute pair, connect by moving sets and oscillating bearing 9 internal ball pore chains with the incomplete other end of the fork 7 of internal tooth, adjusting screw(rod) 10 links with the thread end screw thread of oscillating bearing 9 by inner screw thread, one end of pin 11 and crank 12 are hinged by revolute pair, the other end of pin 11 links by revolute pair and adjusting screw(rod) 10, one end of crank 12 is by interference fit and wire wheel axis 16 fixed-link, the other end of crank 12 links fixing pin 11 by screw thread, driving wheel 13 links by interference fit and hind axle 15, hind axle bearing seat 14 is linked and is fixed on car bottom plate 3 rear portions by screw, hind axle 15 is fixed on hind axle bearing seat 14 by revolute pair, the two ends of hind axle 15 link respectively driving wheel 13 and flower wheel 18, on hind axle 15, by interference fit, cylindrical wheel is installed
17, wire wheel axis 16 is arranged on wire wheel axis bearing seat 1 by revolute pair and chains, and wire wheel axis 16 two ends are separately installed with crank 12, cylindrical wheel by interference fit
2, cylindrical wheel
17 are fixed on hind axle 15 and and cylindrical wheel by interference fit
2 engagements, flower wheel 18 is fixed on hind axle 15 one end by revolute pair, and strut bar 19 is fixed on car bottom plate 3 middle parts by interference fit, and front-fork 20 is arranged on car bottom plate 3 front portions by revolute pair.
Described oscillating bearing 9, adjusting screw(rod) 10 form the connecting rod of adjustable length; Fork 7 with incomplete internal tooth is rocking bar part; The connecting rod mechanism being made up of crank 12, connecting rod, rocking bar is as Planar Crank-and-rocker Mechanism.
Described oscillating bearing 9 is small-sized oscillating bearing, has three hand of rotation degree of freedom.
On described wire wheel axis 16, be wound with the cotton rope that is subject to pulling force.
Also comprise bearing 21, it is arranged on bearing 21 and is mounted on car bottom plate 3 with fork 6, the front-fork 20 of incomplete external tooth.
Described bearing 21 is deep groove ball bearing.
The number of described bearing 21 is 8-11, wherein between front-fork 20 and car bottom plate 3, install 1 or 2, between front-fork 20 and front-wheel, install 1, with installing 1 or 2 between the middle part rotating shaft of the incomplete fork 7 of internal tooth and car bottom plate 3, between wire wheel axis 16 and two wire wheel axis bearing seats 1, install respectively 1, between hind axle 15 and two hind axle bearing seats 14, install 1, between flower wheel 18 and wire wheel axis 16, install 1 or 2.
Principle of work of the present utility model is: described crank 12; Oscillating bearing 9, adjusting screw(rod) 10 forms the connecting rod of adjustable length; Fork 7 with incomplete internal tooth is rocking bar part; The connecting rod mechanism being made up of crank, connecting rod, rocking bar is as Planar Crank-and-rocker Mechanism.In the time that the rocking bar of Planar Crank-and-rocker Mechanism turns over 90 °, just become spatial crank-rocker mechanism.
Stop screw I 4, stop screw II 8 are fixed in stop nut 5, and stop nut 5 is fixed on car bottom plate 3, are used for finely tuning angle correction deviation.
In addition, owing to adopting the little gap of bearing 21 can coordinate cantilever configuration; Due to its anchor shaft to contact is short can be only with a bearing; In order to increase the axially length of contact of fixed end, make axially to rock and diminish, can add two bearings 21.
The beneficial effects of the utility model are:
1, setting after mechanism's oad, steering angle will be determined, avoid some unnecessary errors.
2, mechanism has auto-lock function, greatly weakens the deviation that dolly causes due to the unsmooth vibrations that cause on ground at operational process.
3, can distribute arbitrarily the shared cycle of front-wheel left and right angle, revise because driving wheel is surveyed the different different phenomenons of period allocated ratio that cause of track arc length inside and outside arching trajectory.
4, the arc track link that car load track is specific arc length forms, and is convenient to calculation of parameter, and by regulating stop screw can obtain a large amount of rule tracks, therefore, dolly also has good comformability.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model;
Fig. 2 is that the utility model is in self-locking stage schematic diagram;
Fig. 3 is that the utility model is in commutation phase schematic diagram;
Each label in figure: 1 is that wire wheel axis bearing seat, 2 is cylindrical wheel
, 3 be car bottom plate, 4 for stop screw I, 5 for stop nut, 6 for the fork with incomplete external tooth, 7 for the fork with incomplete internal tooth, 8 for stop screw II, 9 for oscillating bearing, 10 for adjusting screw(rod), 11 for pin, 12 for crank, 13 for driving wheel, 14 for hind axle bearing seat, 15 for hind axle, 16 for wire wheel axis, 17 be cylindrical wheel
, 18 be that flower wheel, 19 is for strut bar, 20 is for front-fork, 21 is for bearing.
The specific embodiment
Embodiment 1: as Figure 1-3, a kind of with incomplete tooth rim phase engagement steering hardware, comprise wire wheel axis bearing seat 1, cylindrical wheel
2, car bottom plate 3, stop screw I 4, stop nut 5, with the fork 6 of incomplete external tooth, with not exclusively fork 7, stop screw II 8, oscillating bearing 9, adjusting screw(rod) 10, pin 11, crank 12, driving wheel 13, hind axle bearing seat 14, hind axle 15, wire wheel axis 16, the cylindrical wheel of internal tooth
17, flower wheel 18, strut bar 19, front-fork 20, wherein wire wheel axis bearing seat 1 is fixedly mounted on car bottom plate 3 by screw, cylindrical wheel
2 fixedly mount by interference fit with wire wheel axis 16 one end, stop screw I 4, stop screw II 8 is screwed in stop nut 5, stop nut 5 is fixedly bonded on car bottom plate 3 by metal adhesive, fork 6 with incomplete external tooth is fixedly connected with front-fork 20 by interference fit, fork 7 middle part nodes with incomplete internal tooth are arranged on car bottom plate 3 and are done cantilever configuration by revolute pair, connect by moving sets and oscillating bearing 9 internal ball pore chains with the incomplete other end of the fork 7 of internal tooth, adjusting screw(rod) 10 links with the thread end screw thread of oscillating bearing 9 by inner screw thread, one end of pin 11 and crank 12 are hinged by revolute pair, the other end of pin 11 links by revolute pair and adjusting screw(rod) 10, one end of crank 12 is by interference fit and wire wheel axis 16 fixed-link, the other end of crank 12 links fixing pin 11 by screw thread, driving wheel 13 links by interference fit and hind axle 15, hind axle bearing seat 14 is linked and is fixed on car bottom plate 3 rear portions by screw, hind axle 15 is fixed on hind axle bearing seat 14 by revolute pair, the two ends of hind axle 15 link respectively driving wheel 13 and flower wheel 18, on hind axle 15, by interference fit, cylindrical wheel is installed
17, wire wheel axis 16 is arranged on wire wheel axis bearing seat 1 by revolute pair and chains, and wire wheel axis 16 two ends are separately installed with crank 12, cylindrical wheel by interference fit
2, cylindrical wheel
17 are fixed on hind axle 15 and and cylindrical wheel by interference fit
2 engagements, flower wheel 18 is fixed on hind axle 15 one end by revolute pair, and strut bar 19 is fixed on car bottom plate 3 middle parts by interference fit, and front-fork 20 is arranged on car bottom plate 3 front portions by revolute pair.
Described oscillating bearing 9, adjusting screw(rod) 10 form the connecting rod of adjustable length; Fork 7 with incomplete internal tooth is rocking bar part; The connecting rod mechanism being made up of crank 12, connecting rod, rocking bar is as Planar Crank-and-rocker Mechanism.
Described oscillating bearing 9 is small-sized oscillating bearing, has three hand of rotation degree of freedom.
On described wire wheel axis 16, be wound with the cotton rope that is subject to pulling force.
Embodiment 2: as Figure 1-3, a kind of with incomplete tooth rim phase engagement steering hardware, comprise wire wheel axis bearing seat 1, cylindrical wheel
2, car bottom plate 3, stop screw I 4, stop nut 5, with the fork 6 of incomplete external tooth, with not exclusively fork 7, stop screw II 8, oscillating bearing 9, adjusting screw(rod) 10, pin 11, crank 12, driving wheel 13, hind axle bearing seat 14, hind axle 15, wire wheel axis 16, the cylindrical wheel of internal tooth
17, flower wheel 18, strut bar 19, front-fork 20, wherein wire wheel axis bearing seat 1 is fixedly mounted on car bottom plate 3 by screw, cylindrical wheel
2 fixedly mount by interference fit with wire wheel axis 16 one end, stop screw I 4, stop screw II 8 is screwed in stop nut 5, stop nut 5 is fixedly bonded on car bottom plate 3 by metal adhesive, fork 6 with incomplete external tooth is fixedly connected with front-fork 20 by interference fit, fork 7 middle part nodes with incomplete internal tooth are arranged on car bottom plate 3 and are done cantilever configuration by revolute pair, connect by moving sets and oscillating bearing 9 internal ball pore chains with the incomplete other end of the fork 7 of internal tooth, adjusting screw(rod) 10 links with the thread end screw thread of oscillating bearing 9 by inner screw thread, one end of pin 11 and crank 12 are hinged by revolute pair, the other end of pin 11 links by revolute pair and adjusting screw(rod) 10, one end of crank 12 is by interference fit and wire wheel axis 16 fixed-link, the other end of crank 12 links fixing pin 11 by screw thread, driving wheel 13 links by interference fit and hind axle 15, hind axle bearing seat 14 is linked and is fixed on car bottom plate 3 rear portions by screw, hind axle 15 is fixed on hind axle bearing seat 14 by revolute pair, the two ends of hind axle 15 link respectively driving wheel 13 and flower wheel 18, on hind axle 15, by interference fit, cylindrical wheel is installed
17, wire wheel axis 16 is arranged on wire wheel axis bearing seat 1 by revolute pair and chains, and wire wheel axis 16 two ends are separately installed with crank 12, cylindrical wheel by interference fit
2, cylindrical wheel
17 are fixed on hind axle 15 and and cylindrical wheel by interference fit
2 engagements, flower wheel 18 is fixed on hind axle 15 one end by revolute pair, and strut bar 19 is fixed on car bottom plate 3 middle parts by interference fit, and front-fork 20 is arranged on car bottom plate 3 front portions by revolute pair.
Described oscillating bearing 9, adjusting screw(rod) 10 form the connecting rod of adjustable length; Fork 7 with incomplete internal tooth is rocking bar part; The connecting rod mechanism being made up of crank 12, connecting rod, rocking bar is as Planar Crank-and-rocker Mechanism.
Described oscillating bearing 9 is small-sized oscillating bearing, has three hand of rotation degree of freedom.
On described wire wheel axis 16, be wound with the cotton rope that is subject to pulling force.
Also comprise bearing 21, it is arranged on bearing 21 and is mounted on car bottom plate 3 with fork 6, the front-fork 20 of incomplete external tooth.
Described bearing 21 is deep groove ball bearing.
The number of described bearing 21 is 8-11, wherein between front-fork 20 and car bottom plate 3, install 1 or 2, between front-fork 20 and front-wheel, install 1, with installing 1 or 2 between the middle part rotating shaft of the incomplete fork 7 of internal tooth and car bottom plate 3, between wire wheel axis 16 and two wire wheel axis bearing seats 1, install respectively 1, between hind axle 15 and two hind axle bearing seats 14, install 1,1 or 2 (being desirable 8,9,10 or 11, bearing 21) are installed between flower wheel 18 and wire wheel axis 16.
By reference to the accompanying drawings the specific embodiment of the present utility model is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken possessing those of ordinary skills, can also under the prerequisite that does not depart from the utility model aim, make various variations.
Claims (7)
1. with an incomplete tooth rim phase engagement steering hardware, it is characterized in that: comprise wire wheel axis bearing seat (1), cylindrical wheel
(2), car bottom plate (3), stop screw I (4), stop nut (5), with the fork (6) of incomplete external tooth, with not exclusively fork (7), stop screw II (8), oscillating bearing (9), adjusting screw(rod) (10), pin (11), crank (12), driving wheel (13), hind axle bearing seat (14), hind axle (15), wire wheel axis (16), the cylindrical wheel of internal tooth
(17), flower wheel (18), strut bar (19), front-fork (20), wherein wire wheel axis bearing seat (1) is fixedly mounted on car bottom plate (3) above by screw, cylindrical wheel
(2) fixedly mount by interference fit with wire wheel axis (16) one end, stop screw I (4), stop screw II (8) is screwed in stop nut (5), stop nut (5) is fixedly bonded on car bottom plate (3) by metal adhesive, fork (6) with incomplete external tooth is fixedly connected with front-fork (20) by interference fit, fork (7) middle part node with incomplete internal tooth is arranged on car bottom plate (3) and is done cantilever configuration by revolute pair, connect by moving sets and oscillating bearing (9) internal ball pore chain with the incomplete other end of the fork (7) of internal tooth, adjusting screw(rod) (10) links with the thread end screw thread of oscillating bearing (9) by inner screw thread, one end of pin (11) and crank (12) are hinged by revolute pair, the other end of pin (11) links by revolute pair and adjusting screw(rod) (10), one end of crank (12) is by interference fit and wire wheel axis (16) fixed-link, the other end of crank (12) links fixing pin (11) by screw thread, driving wheel (13) links by interference fit and hind axle (15), hind axle bearing seat (14) is linked and is fixed on car bottom plate (3) rear portion by screw, hind axle (15) is fixed on hind axle bearing seat (14) by revolute pair, the two ends of hind axle (15) link respectively driving wheel (13) and flower wheel (18), hind axle (15) is upper is provided with cylindrical wheel by interference fit
(17), wire wheel axis (16) is arranged on wire wheel axis bearing seat (1) by revolute pair and chains, and wire wheel axis (16) two ends are separately installed with crank (12), cylindrical wheel by interference fit
(2), cylindrical wheel
(17) be fixed on hind axle (15) above and and cylindrical wheel by interference fit
(2) engagement, flower wheel (18) is fixed on hind axle (15) one end by revolute pair, and strut bar (19) is fixed on car bottom plate (3) middle part by interference fit, and front-fork (20) is arranged on car bottom plate (3) front portion by revolute pair.
2. according to claim 1 with incomplete tooth rim phase engagement steering hardware, it is characterized in that: the connecting rod of described oscillating bearing (9), adjusting screw(rod) (10) composition adjustable length; Fork (7) with incomplete internal tooth is rocking bar part; The connecting rod mechanism being made up of crank (12), connecting rod, rocking bar is as Planar Crank-and-rocker Mechanism.
3. according to claim 1 with incomplete tooth rim phase engagement steering hardware, it is characterized in that: described oscillating bearing (9) is small-sized oscillating bearing, has three hand of rotation degree of freedom.
4. according to claim 1 with incomplete tooth rim phase engagement steering hardware, it is characterized in that: described wire wheel axis is wound with the cotton rope that is subject to pulling force on (16).
5. according to claim 1 with not exclusively the tooth rim phase is engaged steering hardware, it is characterized in that: also comprise bearing (21), it is arranged on bearing (21) and is mounted on car bottom plate (3) with fork (6), the front-fork (20) of incomplete external tooth.
6. according to claim 5 with incomplete tooth rim phase engagement steering hardware, it is characterized in that: described bearing (21) is deep groove ball bearing.
7. according to claim 5 with not exclusively the tooth rim phase is engaged steering hardware, it is characterized in that: the number of described bearing (21) is 8-11, wherein between front-fork (20) and car bottom plate (3), install 1 or 2, between front-fork (20) and front-wheel, install 1, with installing 1 or 2 between the middle part rotating shaft of the incomplete fork (7) of internal tooth and car bottom plate (3), between wire wheel axis (16) and two wire wheel axis bearing seats (1), install respectively 1, between hind axle (15) and two hind axle bearing seats (14), install 1, between flower wheel (18) and wire wheel axis (16), install 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320825934.XU CN203681644U (en) | 2013-12-16 | 2013-12-16 | Periodically meshed steering mechanism with incomplete teeth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320825934.XU CN203681644U (en) | 2013-12-16 | 2013-12-16 | Periodically meshed steering mechanism with incomplete teeth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203681644U true CN203681644U (en) | 2014-07-02 |
Family
ID=51003586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320825934.XU Expired - Lifetime CN203681644U (en) | 2013-12-16 | 2013-12-16 | Periodically meshed steering mechanism with incomplete teeth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203681644U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661568A (en) * | 2013-12-16 | 2014-03-26 | 昆明理工大学 | Periodic meshing steering mechanism with incomplete teeth |
| CN104841140A (en) * | 2015-04-23 | 2015-08-19 | 昆明理工大学 | Trolley driven by gravitational potential energy to walk |
-
2013
- 2013-12-16 CN CN201320825934.XU patent/CN203681644U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661568A (en) * | 2013-12-16 | 2014-03-26 | 昆明理工大学 | Periodic meshing steering mechanism with incomplete teeth |
| CN104841140A (en) * | 2015-04-23 | 2015-08-19 | 昆明理工大学 | Trolley driven by gravitational potential energy to walk |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140702 Effective date of abandoning: 20151223 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140702 Effective date of abandoning: 20151223 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |