CN205055424U - Automatic walking " S " shape carbon -free trolley - Google Patents
Automatic walking " S " shape carbon -free trolley Download PDFInfo
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Abstract
自动行走“S”形无碳小车属于机械传动领域，其特征在于提供一种自动行走“S”形无碳小车，包括底板、后车轮、镶嵌在底板上的带传动机构、固定在底板上的通丝支撑杆、与通丝支撑杆配合的滑轮装置、使前轮转向的曲柄摇杆机构、滑轮支架、前轮支架、支撑架、绕线轮和重锤。重锤牵引绕线轮转动，绕线轮左右两侧分别为大带轮和偏心轮，同轴过盈连接，小带轮与两个后轮同轴过盈连接，带传动机构作为小车驱动机构；偏心轮、连杆、摇杆和前轮支架构成曲柄摇杆机构，偏心轮与连杆槽可调，连杆与摇杆连接可调，通过两级调节前轮运行转角，可精确调节小车多种S型半径轨迹路线的行走，该小车的结构紧凑、能量转化率高。
The self-propelling "S"-shaped carbon-free trolley belongs to the field of mechanical transmission, and is characterized in that a self-propelling "S"-shaped carbon-free trolley is provided, including a bottom plate, a rear wheel, a belt transmission mechanism embedded on the bottom plate, and a belt fixed on the bottom plate. A harness support rod, a pulley device matched with the harness support rod, a crank rocker mechanism for turning the front wheels, a pulley bracket, a front wheel support, a support frame, a winding wheel and a weight. The heavy hammer pulls the winding wheel to rotate. The left and right sides of the winding wheel are respectively a large pulley and an eccentric wheel, which are coaxially interfering with each other, and the small pulley is coaxially interfering with the two rear wheels. The belt transmission mechanism is used as the driving mechanism of the trolley. ;The eccentric wheel, connecting rod, rocker and front wheel bracket constitute the crank rocker mechanism. The eccentric wheel and the connecting rod groove are adjustable, and the connection between the connecting rod and the rocker is adjustable. The running angle of the front wheel can be adjusted in two stages, and the trolley can be precisely adjusted. A variety of S-shaped radius trajectory routes, the car has a compact structure and a high energy conversion rate.
Description
技术领域 technical field
本实用新型属于机械传动领域，特别涉及一种自动行走“S”形无碳小车。 The utility model belongs to the field of mechanical transmission, in particular to a self-propelled "S" shaped carbon-free trolley.
背景技术 Background technique
传统能源的日益枯竭以及其所带来的环境污染问题严重制约了社会生产力的发展。基于此，寻求新的能源作为动力源，利用重力势能转化为动能。给定一重力势能，根据能量转换原理，设计一种可将该重力势能转化为动能并驱动小车运行和周期性转向，按预定轨迹行走。自动行走“S”形无碳小车采用带传动机构驱动后车轮前进，曲柄摇杆机构控制前车轮周期性转向，通过调整连杆和摇杆的长度，精确控制前轮转向角度，结构紧凑、转向灵活、效率高。 The depletion of traditional energy sources and the environmental pollution problems it brings seriously restrict the development of social productivity. Based on this, a new energy source is sought as a power source, and the gravitational potential energy is converted into kinetic energy. Given a gravitational potential energy, according to the principle of energy conversion, design a vehicle that can convert the gravitational potential energy into kinetic energy and drive the trolley to run and periodically turn, and walk according to the predetermined trajectory. The self-propelled "S"-shaped carbon-free trolley uses a belt transmission mechanism to drive the rear wheels forward, and the crank rocker mechanism controls the periodic steering of the front wheels. By adjusting the length of the connecting rod and rocker, the steering angle of the front wheels can be precisely controlled. Flexible and efficient.
发明内容 Contents of the invention
针对上述存在的技术问题，本实用新型提出了采用带传动机构驱动后车轮前进，曲柄摇杆机构控制前车轮周期性转向，通过调整连杆和摇杆的长度，精确控制前轮转向角度，具有结构简单、稳定、可操作性强、拆装性好、行走不同半径S型轨迹等优点。 In view of the above-mentioned technical problems, the utility model proposes to use a belt transmission mechanism to drive the rear wheels forward, and a crank rocker mechanism to control the periodic steering of the front wheels. By adjusting the length of the connecting rod and the rocker, the steering angle of the front wheels can be precisely controlled. It has the advantages of simple structure, stability, strong operability, good disassembly and assembly, and walking S-shaped tracks with different radii.
本发明采用的技术方案是：一种自动行走“S”形无碳小车，包括底板、后车轮、镶嵌在底板上的带传动机构、固定在底板上的通丝支撑杆、与通丝支撑杆配合的滑轮装置、使前轮转向的曲柄摇杆机构、滑轮支架、前轮支架、各轴支撑架、绕线轮和重锤。 The technical solution adopted in the present invention is: a self-propelled "S" shaped carbon-free trolley, including a bottom plate, a rear wheel, a belt transmission mechanism inlaid on the bottom plate, a threaded support rod fixed on the bottom plate, and a threaded support rod Cooperating pulley device, the crank rocker mechanism that makes front wheel turn, pulley support, front wheel support, each axle support frame, reel and weight.
所述支架系统包括三根通丝支撑杆、三角支撑板和底板，通丝杆上端与三角支撑板三个角固定，下端固定在底板上，三个通丝杆形成的几何中心与底板的几何中心重合，三角支撑板上端固定一个小滑轮，小滑轮、三个通丝杆形成导槽辅助重锤运动，所述支架系统的零部件采用螺纹连接，可调节性好，车体结构稳定。所述支撑架有两组，第一组支撑架支撑后车轴，后轴上过盈连接两个后车轮和小带轮；第二组支撑架支撑前轴，前轴上过盈连接大带轮、绕线轮和偏心轮，两组支撑架的轴孔均为通孔，内嵌滚动轴承，滚动轴承外圈与支撑架过盈配合，滚动轴承内圈与轴过盈配合。所述带轮装置包括大带轮、小带轮和带。所述曲柄摇杆机构包括偏心轮、连杆、摇杆和前轮支架，偏心轮上的偏心轴在连杆槽中可调，连杆轴在摇杆槽中可调，摇杆与前轮支架螺纹连接。所述重锤牵引绕线轮转动，绕线轮带动同轴的大带轮和偏心轮运动，大带轮通过带传动机构，将运动传递给小带轮，小带轮与两个后轮同轴过盈连接，驱动小车运动；偏心轮运动，通过连杆、摇杆和前轮支架，控制小车前轮周期性转动，通过调节偏心轮上偏心轴在连杆槽中的位置，连杆轴在摇杆槽中的位置，两级调节前轮运行转角，可精确调节小车多种S型半径轨迹路线的行走。 The support system includes three wire support rods, a triangular support plate and a base plate. The upper ends of the wire rods are fixed to the three corners of the triangular support plate, and the lower ends are fixed on the base plate. The geometric center formed by the three wire rods is connected to the geometric center of the base plate. Coincidentally, a small pulley is fixed on the top of the triangular support plate, and the small pulley and three threaded rods form a guide groove to assist the movement of the weight. The parts of the bracket system are threaded, with good adjustability and stable car body structure. There are two sets of support frames, the first set of support frames supports the rear axle, and the two rear wheels and the small pulley are connected with interference on the rear axle; the second set of support frames supports the front axle, and the large pulley is connected with interference on the front axle , Winding wheel and eccentric wheel, the shaft holes of the two sets of support frames are all through holes, embedded with rolling bearings, the outer ring of the rolling bearing is interference fit with the support frame, and the inner ring of the rolling bearing is interference fit with the shaft. The pulley device includes a large pulley, a small pulley and a belt. Described crank rocker mechanism comprises eccentric wheel, connecting rod, rocking bar and front wheel support, and the eccentric shaft on the eccentric wheel is adjustable in the connecting rod groove, and connecting rod shaft is adjustable in the rocking bar groove, and rocking bar and front wheel Bracket threaded. The heavy hammer pulls the winding wheel to rotate, and the winding wheel drives the coaxial large pulley and eccentric wheel to move, and the large pulley transmits the motion to the small pulley through the belt transmission mechanism, and the small pulley is the same as the two rear wheels. The shaft interference connection drives the trolley to move; the movement of the eccentric wheel controls the periodic rotation of the front wheel of the trolley through the connecting rod, rocker and front wheel bracket. By adjusting the position of the eccentric shaft on the eccentric wheel in the groove of the connecting rod, the connecting rod shaft At the position in the rocker slot, the front wheel running angle can be adjusted in two stages, which can precisely adjust the trolley's walking of various S-shaped radius trajectory routes.
本实用新型优点：本实用新型采用带传动机构驱动后轮、曲柄摇杆机构控制前轮转向，具有结构简单、成本低，调节灵活，传动效率高等优点。 The utility model has advantages: the utility model adopts a belt transmission mechanism to drive the rear wheel, and a crank rocker mechanism controls the steering of the front wheel, and has the advantages of simple structure, low cost, flexible adjustment and high transmission efficiency.
本实用新型可通过调节偏心轮上偏心轴在连杆槽中的位置和连杆轴在摇杆槽中的位置，两级调节前轮运行转角，可精确调节小车多种S型半径轨迹路线的行走。 The utility model can adjust the running angle of the front wheel in two stages by adjusting the position of the eccentric shaft on the eccentric wheel in the groove of the connecting rod and the position of the connecting rod shaft in the groove of the rocker. walk.
附图说明 Description of drawings
图1为自动行走“S”形无碳小车的整体结构示意图。 Figure 1 is a schematic diagram of the overall structure of the self-propelled "S" shaped carbon-free trolley.
图2为自动行走“S”形无碳小车滑轮支架系统示意图。 Fig. 2 is a schematic diagram of the pulley bracket system of the self-propelled "S" shaped carbonless trolley.
图3为自动行走“S”形无碳小车带轮机构示意图。 Fig. 3 is a schematic diagram of the pulley mechanism of the self-propelled "S" shaped carbonless trolley.
图4为自动行走“S”形无碳小车曲柄摇杆机构示意图。 Fig. 4 is a schematic diagram of the crank-rocker mechanism of the self-propelled "S" shaped carbonless trolley.
图中：1底板、2后车轮、3带传动机构、3.1大带轮、3.2小带轮、3.3带、4通丝支撑杆、5滑轮装置、5.1滑轮支架、5.2三角支撑板、5.3定滑轮、6前轮、7前轮支架、8曲柄摇杆机构、8.1偏心轮、8.2连杆、8.3摇杆、9支撑架、10绕线轮、11重锤。 In the figure: 1 bottom plate, 2 rear wheels, 3 belt transmission mechanism, 3.1 large pulley, 3.2 small pulley, 3.3 belt, 4 wire support rod, 5 pulley device, 5.1 pulley bracket, 5.2 triangular support plate, 5.3 fixed pulley , 6 front wheels, 7 front wheel supports, 8 crank rocker mechanism, 8.1 eccentric wheel, 8.2 connecting rod, 8.3 rocker, 9 support frame, 10 reel, 11 weight.
具体实施方式 detailed description
为更进一步说明本实用新型为达成预定发明目的所采取的技术手段，以下结合附图及实例，对本实用新型提出的其具体实施方式、结构、特征，详细说明如下。 In order to further illustrate the technical means adopted by the utility model to achieve the intended purpose of the invention, the specific implementation, structure and characteristics of the utility model are described in detail below in conjunction with the accompanying drawings and examples.
参见图1、图2、图3和图4，本实用新型所述支架系统包括三根通丝支撑杆4、三角支撑板5.2和底板1，通丝杆上端与三角支撑板三个角固定，下端固定在底板1上，三个通丝杆形成的几何中心与底板的几何中心重合，三角支撑板上端固定一个小滑轮5.3，小滑轮、三个通丝杆形成导槽辅助重锤11运动，所述支架系统的零部件采用螺纹连接，可调节性好，车体结构稳定。所述支撑架9有两组，第一组支撑架支撑后车轴，后轴上过盈连接两个后车轮2和小带轮3.2；第二组支撑架支撑前轴，前轴上过盈连接大带轮3.1、绕线轮10和偏心轮8.1，两组支撑架的轴孔均为通孔，内嵌滚动轴承，滚动轴承外圈与支撑架过盈配合，滚动轴承内圈与轴过盈配合。所述带轮装置包括大带轮3.1、小带轮3.2和带3.3。所述曲柄摇杆机构包括偏心轮8.1、连杆8.2、摇杆8.3和前轮支架7，偏心轮8.1上的偏心轴在连杆8.2槽中可调，连杆8.2轴在摇杆8.3槽中可调，摇杆8.3与前轮支架7螺纹连接。所述重锤11牵引绕线轮10转动，绕线轮10带动同轴的大带轮3.1和偏心轮8.1运动，大带轮3.1通过带传动机构3，将运动传递给小带轮3.2，小带轮3.2与两个后轮2同轴过盈连接，驱动小车运动；偏心轮8.1运动，通过连杆8.2、摇杆8.3和前轮支架7，控制小车前轮6周期性转动，通过调节偏心轮8.1上偏心轴在连杆8.2槽中的位置，连杆8.2轴在摇杆8.3槽中的位置，两级调节前轮6运行转角，可精确调节小车多种S型半径轨迹路线的行走。 Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the support system described in the utility model comprises three threaded support rods 4, a triangular support plate 5.2 and a base plate 1, and the upper end of the threaded rod is fixed with three angles of the triangular support plate, and the lower end Fixed on the bottom plate 1, the geometric center formed by the three threaded rods coincides with the geometric center of the bottom plate, a small pulley 5.3 is fixed on the top of the triangular support plate, and the small pulley and the three threaded rods form a guide groove to assist the movement of the weight 11. The components of the support system are connected by threads, so the adjustability is good and the structure of the car body is stable. The support frame 9 has two groups, the first group of support frames supports the rear axle, and the two rear wheels 2 and the small pulley 3.2 are connected with interference on the rear axle; the second group of support frames supports the front axle, and the interference connection on the front axle Large pulley 3.1, winding wheel 10 and eccentric wheel 8.1, the shaft holes of the two sets of support frames are all through holes, embedded with rolling bearings, the outer ring of the rolling bearing is in interference fit with the support frame, and the inner ring of the rolling bearing is in interference fit with the shaft. The pulley device includes a large pulley 3.1, a small pulley 3.2 and a belt 3.3. Described crank rocker mechanism comprises eccentric wheel 8.1, connecting rod 8.2, rocking bar 8.3 and front wheel bracket 7, the eccentric shaft on eccentric wheel 8.1 is adjustable in connecting rod 8.2 groove, and connecting rod 8.2 axle is in rocking bar 8.3 groove Adjustable, rocking bar 8.3 is threadedly connected with front wheel support 7. The heavy hammer 11 pulls the winding wheel 10 to rotate, and the winding wheel 10 drives the coaxial large pulley 3.1 and the eccentric pulley 8.1 to move, and the large pulley 3.1 transmits the motion to the small pulley 3.2 through the belt transmission mechanism 3, and the small pulley 3.2 The pulley 3.2 is coaxially connected with the two rear wheels 2 to drive the trolley; the movement of the eccentric wheel 8.1 controls the periodic rotation of the front wheel 6 of the trolley through the connecting rod 8.2, the rocker 8.3 and the front wheel bracket 7. By adjusting the eccentric The position of the eccentric shaft on the wheel 8.1 in the groove of the connecting rod 8.2, the position of the shaft of the connecting rod 8.2 in the groove of the rocker 8.3, and the two-stage adjustment of the front wheel 6 running angle can accurately adjust the walking of the various S-shaped radius trajectory routes of the trolley.
本实用新型的工作过程： Working process of the present utility model:
识别过程：所述重锤11在后车轮2悬空条件下，由底板1上升至通丝支撑架4顶部，绕线轮10绕线。根据障碍物间距和小车出发方向调节偏心轮8.1上的偏心轴在连杆8.2槽中位置，连杆8.2轴在摇杆8.3槽中位置，确定前轮6偏转角度。 Identification process: the weight 11 rises from the bottom plate 1 to the top of the harness support frame 4 under the condition that the rear wheel 2 is suspended, and the reel 10 is wound. Adjust the position of the eccentric shaft on the eccentric wheel 8.1 in the groove of the connecting rod 8.2 according to the distance between obstacles and the starting direction of the dolly, and the position of the shaft of the connecting rod 8.2 in the groove of the rocking bar 8.3 to determine the deflection angle of the front wheel 6.
释放过程：松开重锤11，重力经线传递，产生牵引力矩，驱动绕线轮10转动，进而带动带传动机构3，驱动后车轮2运行，同时使曲柄8.1转动，控制前轮周期性转向，实现绕障运行。 Release process: loosen the weight 11, the gravity is transmitted through the wire, generates traction torque, drives the reel 10 to rotate, and then drives the belt transmission mechanism 3, drives the rear wheel 2 to run, and at the same time makes the crank 8.1 rotate to control the periodic steering of the front wheel, Achieve obstacle bypass operation.
Claims (2)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520677911.8U CN205055424U (en) | 2015-09-06 | 2015-09-06 | Automatic walking " S " shape carbon -free trolley |
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| CN201520677911.8U CN205055424U (en) | 2015-09-06 | 2015-09-06 | Automatic walking " S " shape carbon -free trolley |
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| CN205055424U true CN205055424U (en) | 2016-03-02 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105788438A (en) * | 2016-03-07 | 2016-07-20 | 三峡大学 | S-type walking obstacle-crossing teaching trolley based on gravitational potential energy and operating method thereof |
| CN106474741A (en) * | 2016-12-16 | 2017-03-08 | 浙江理工大学 | The pure weight-driven environmental protection dolly of energy intelligent barrier avoiding |
| CN107097815A (en) * | 2017-06-07 | 2017-08-29 | 湖南工学院 | A kind of environmentally friendly dolly |
| CN109248449A (en) * | 2018-11-16 | 2019-01-22 | 华侨大学 | A kind of carbon-free trolley for S-shaped track of walking |
| CN109876468A (en) * | 2019-03-27 | 2019-06-14 | 燕山大学 | A double 8-shaped track carbon-free trolley |
| CN112502014A (en) * | 2020-12-16 | 2021-03-16 | 杨秋生 | Engineering trolley capable of drawing wavy lines |
-
2015
- 2015-09-06 CN CN201520677911.8U patent/CN205055424U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105788438A (en) * | 2016-03-07 | 2016-07-20 | 三峡大学 | S-type walking obstacle-crossing teaching trolley based on gravitational potential energy and operating method thereof |
| CN105788438B (en) * | 2016-03-07 | 2018-03-16 | 三峡大学 | A kind of S types moving obstacle-crossing teaching dolly and operating method based on gravitional force |
| CN106474741A (en) * | 2016-12-16 | 2017-03-08 | 浙江理工大学 | The pure weight-driven environmental protection dolly of energy intelligent barrier avoiding |
| CN107097815A (en) * | 2017-06-07 | 2017-08-29 | 湖南工学院 | A kind of environmentally friendly dolly |
| CN109248449A (en) * | 2018-11-16 | 2019-01-22 | 华侨大学 | A kind of carbon-free trolley for S-shaped track of walking |
| CN109876468A (en) * | 2019-03-27 | 2019-06-14 | 燕山大学 | A double 8-shaped track carbon-free trolley |
| CN112502014A (en) * | 2020-12-16 | 2021-03-16 | 杨秋生 | Engineering trolley capable of drawing wavy lines |
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