CN207462668U - A kind of intelligence avoidance carbon-free trolley - Google Patents
A kind of intelligence avoidance carbon-free trolley Download PDFInfo
- Publication number
- CN207462668U CN207462668U CN201721172182.6U CN201721172182U CN207462668U CN 207462668 U CN207462668 U CN 207462668U CN 201721172182 U CN201721172182 U CN 201721172182U CN 207462668 U CN207462668 U CN 207462668U
- Authority
- CN
- China
- Prior art keywords
- wheel
- carbon
- free trolley
- trolley
- counterweight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model provides a kind of intelligent avoidance carbon-free trolley.In order to solve the problems, such as that current carbon-free trolley can be only done particular track detour and can not realize arbitrary trajectory intelligent barrier avoiding and travel, the utility model increases automatic obstacle-avoiding system in original carbon-free trolley basic structure, Photoelectric infrared switch is installed in small front part, barrier has been detected whether to ambient enviroment after Photoelectric infrared switch is initialized, and the location information of barrier is transmitted to STC89C52 single chip, it is handled through STC89C52 single chip into line program, corresponding control signal is exported to steering engine according to different barrier situations, steering engine is controlled to realize intelligent barrier avoiding, so as to which carbon-free trolley be made to realize the intelligent barrier avoiding of arbitrary trajectory during traveling.Therefore the utility model improves the running efficiency of carbon-free trolley, capacity usage ratio, simplifies driving path, is a kind of more environmentally protective novel carbon-free trolley.
Description
Technical field
The utility model is related to a kind of carbon-free trolley, more particularly, to a kind of intelligent avoidance carbon-free trolley.
Background technology
With the continuous improvement of our people's living standard, carbon-free energy-efficient life style is increasingly by the joyous of people
It meets.The development of carbon-free trolley has many advantages, such as economic, environmental protection, facility, it will help we find the energy of more environment-friendly and green
Source, advantageous energy path for transformation and the utilization ratio for improving energy, and gradually taking to traditional energy to a certain extent
, there is profound significance in generation.Carbon-free trolley provides one as a kind of theoretical model, designing scheme for exploitation new traffic tool
Kind method.
The energy of carbon-free trolley walking comes from the gravitional force of weight decline, and the design currently for carbon-free trolley is main
There are two types of：One kind is " S " type carbon-free trolley, and such as Publication No. CN203355282U, publication date is on December 25th, 2013, name
The referred to as Chinese patent of " the displacement obstacle detouring carbon-free trolley of ' S ' shape walking ", carbon-free trolley is realized by crank and rocker mechanism
The function of serpentine track periodicity detour avoidance；Another is " 8 " font carbon-free trolley, such as Publication No.
CN204952255U, publication date are on January 13rd, 2016, the Chinese patent of entitled " a kind of 8 word track carbon-free trolleys ",
The function of carbon-free trolley figure of eight track detour avoidance is realized by duplicate gear.However they have common drawback：It can only
The detour of particular track is completed, can not realize the intelligent barrier avoiding of arbitrary trajectory.It is investigated by Literature Consult with practical, due to existing
Carbon-free trolley lack intelligent control module, carbon-free trolley cannot be travelled in the process of walking by arbitrary trajectory, therefore, existing nothing
Carbon trolley has the problems such as running efficiency is relatively low, capacity usage ratio is not high, driving path is complicated.
Utility model content
The technical problems to be solved in the utility model is：In view of the deficiencies of the prior art, the purpose of this utility model is that
A kind of intelligent avoidance carbon-free trolley is provided, the technology of arbitrary trajectory intelligence avoidance can not be realized to solve existing carbon-free trolley
Problem.
The technical solution of the utility model is：A kind of intelligent avoidance carbon-free trolley is provided, including：Vehicle frame, avoidance control
System processed.
Vehicle frame includes bottom plate, off hind wheel, left rear wheel, front-wheel, counterweight, counterweight frame, has rope sheave on bottom plate, is wrapped on rope sheave
Cord, one end connection counterweight of cord；Front-wheel is mounted on the lower section of bottom plate by bearing；
Counterweight frame includes three aluminum pipes and supporting table, and supporting table includes bobbin winoler, axis, platform, three aluminum pipes with
Platform connects, and has supporting rack, supporting rack support and fixing axle on platform, and axis is connected with bobbin winoler pairing, and bobbin winoler passes through axle suspension
The surface of platform is hung in, is provided with square hole on the platform, the cord on bobbin winoler is connect across square hole with the counterweight；
Trailing wheel is that counterweight is connect by cord with rope sheave, and rope sheave is meshed with gear wheel, gear wheel and trolley left rear wheel with
And hind axle links together, trolley off hind wheel is directly fixedly linked with hind axle；
Obstruction-avoiding control system includes main control module, power module, sensing module, steering module；
Including the STC89C52 single chip being connect respectively with bottom plate, STC89C52 single chip will be electric using 7805 voltage stabilizing chips
Source voltage is powered after being down to 5V for it；
Using three Photoelectric infrared switches as avoidance sensor, three Photoelectric infrared switches are mounted on to be fixed sensing module
On frame, respectively immediately ahead of trolley 180 ° be uniformly distributed, realize trolley to the detection of obstacles in the range of 180 ° of front；
Steering module passes through servos control front-wheel steer.
The carbon-free trolley includes the front-wheel being connect with bottom plate guiding and left rear wheel, off hind wheel driving, the front-wheel
Include rear-wheel hub and wheel shaft including preceding rim of wheel and with off hind wheel, left rear wheel.
The beneficial effects of the utility model are：Intelligent avoidance carbon-free trolley design based on STC89C52 single chip, leads to
It crosses and STC89C52 single chip governor circuit is built, under master control module controls, modules cooperate, and realize trolley
Intelligent barrier avoiding.The design increases the intelligent object based on STC89C52 single chip in traditional carbon-free trolley design basis,
Meet the intelligentized requirement of design, so as to which carbon-free trolley be made to realize the intelligent avoidance of arbitrary trajectory during traveling.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the control principle drawing of the utility model.
Fig. 3 is circuit model figure.
In figure：1- off hind wheels；2- left rear wheels；3- singlechip chips；4- steering engines；5- fixed frames；6- front-wheels；7- front-wheel branch
Frame；8- front axles；9- bottom plates；10- Photoelectric infrared switch supporting plates；11- Photoelectric infrared switches；12- drives bearing bracket stand；After 13-
Axle bracket；14- driving shaft bearing seats；15- gear wheels；16- hind axle bearing bracket stands；17- pinion gears；18- counterweight framves；19- weights
Code；20- supporting tables；21- platforms；22- bobbin winolers；23- axis.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing.
Fig. 1 is the overall structure diagram of carbon-free trolley that the utility model embodiment provides, and Fig. 2 is that the utility model is implemented
The control principle drawing of the obstacle avoidance system for the carbon-free trolley that mode provides, Fig. 3 provide carbon-free small for the utility model embodiment
The circuit model figure of vehicle.
As shown in Figure 1, carbon-free trolley provided by the utility model, including singlechip chip 3, Photoelectric infrared switch supporting plate
10 and Photoelectric infrared switch 11, Photoelectric infrared switch supporting plate 10 include being vertically arranged on bottom plate 9 and front axle 8 on, it is infrared
The singlechip chip 3 on optoelectronic switch supporting plate 10 is installed, while is connect with Photoelectric infrared switch 11, it is three described infrared
Optoelectronic switch 11 is uniformly distributed immediately ahead of carbon-free trolley, solves the detection of obstacles of different directions, and singlechip chip 3 receives
The signal that Photoelectric infrared switch 11 transmits, sends a signal to steering module, so as to control front-wheel steer by internal analysis.
Carbon-free trolley provided by the utility model, including three counterweight framves 18, counterweight 19 is connected on counterweight frame 18, prevents
Counterweight 19 is swung left and right during declining and causes the carbon-free trolley disequilibrium, meanwhile, it can be constrained for 18 times in three counterweight framves
The movement locus of counterweight ensures that the energy of output is steady, ensures that the carbon-free trolley can stablize advance, and fall in counterweight 19
Less potential energy is lost in journey so that carbon-free trolley has better performance.
Further, V-shaped groove is offered on bobbin winoler 22, chamfering is arranged at V-shaped groove bottom.Chamfering very little, slightly larger than cord
Diameter.V-shaped groove structure in present embodiment so that cord can be stablized passes through above-mentioned V-shaped groove glibly.
In addition, carbon-free trolley provided by the utility model includes the off hind wheel 1 and left rear wheel that are connect respectively with the bottom plate 9
2, off hind wheel 1 is fixedly connected with one end of hind axle bearing bracket stand 16, and left rear wheel 2 is another by supporting rack and hind axle bearing bracket stand 16
One end connects.Filament one end is fixedly connected with counterweight 19, and the other end connects after bypassing bobbin winoler 22 with the fixation of hind axle bearing bracket stand 16
It connects.Carbon-free trolley in present embodiment uses single wheel drive, wherein, the off hind wheel 1 being fixedly connected with hind axle bearing bracket stand 16
For driving wheel, power is provided for carbon-free trolley walking, is driven by the left rear wheel 2 that supporting rack is connect with hind axle bearing bracket stand 16
Wheel, to realize the differential motion of two-wheeled, avoids the carbon-free trolley in steering procedure, off hind wheel 1 and 2 speed of left rear wheel differ
Resistance caused by cause.
Specifically, using hollow processing, off hind wheel 1 and left rear wheel 2 respectively include wheel rim for off hind wheel 1 and left rear wheel 2
And along the wheel rim equally distributed four reinforcing ribs of circumferential direction two-by-two between reinforcing rib it is in 90 °, two-by-two between reinforcing rib
Part is hollow, in the case of proof strength, removes unnecessary load, and structure is simplified very much, by off hind wheel 1 and left rear wheel 2
Weight be reduced to minimum.
Further, the wheel rim of off hind wheel 1 and left rear wheel 2 uses the width of 45 ° of chamferings, wheel rim and ground contact portion
2mm is reduced to, greatly reduces rotary resistance of the wheel when turning to.
The generally approximately conical shape structure of bottom plate 9, the forepart of bottom plate 9 is narrower than rear portion, and it is carbon-free that this pyramidal structure reduces this
Rotary inertia of the trolley in steering procedure.Hollow processing has been done at forepart, middle part and the rear portion of bottom plate 9, is greatly alleviated
The quality of carbon-free trolley reduces the energy loss when turning to.
By foregoing description it is found that the carbon-free trolley that the utility model carries, structure are simplified, many places carry out hollow processing, will
The quality of entire carbon-free trolley reduces to the limit, thus the resistance of the carbon-free trolley in the process of walking has been also reduced to most
Low, the transformation efficiency of the gravitional force of counterweight 19 to kinetic energy is high, which can walk larger distance, in contest
More barriers can be passed through.
The motion process of carbon-free trolley provided by the utility model is as follows：
Counterweight 19 lands, and counterweight 19 drives bobbin winoler 22 to rotate, and cord one end is fixedly connected with counterweight 19, and the other end bypasses
It is fixedly connected after bobbin winoler 22 with hind axle.With the landing of counterweight 19, the distance between bobbin winoler 22 and counterweight 19 become larger, carefully
Rope band moves hind axle rotation, and the off hind wheel 1 being fixedly connected with hind axle is rotated as driving wheel, and left rear wheel 2 is revolved as driven wheel
Turn, carbon-free trolley is pushed to advance, the gravitional force of counterweight 19 is converted to the kinetic energy of carbon-free trolley.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, those of ordinary skill in the art should
Understand；It can still modify to the technical solution recorded in foregoing embodiments either to which part or whole
Technical characteristic carries out equivalent replacement；And these modifications or replacement, this practicality that it does not separate the essence of the corresponding technical solution are new
The range of each embodiment technical solution of type.
Claims (4)
1. a kind of intelligence avoidance carbon-free trolley, it is characterized in that：Including：Vehicle frame, obstruction-avoiding control system；
Vehicle frame includes bottom plate（9）, off hind wheel（1）, left rear wheel（2）, front-wheel（6）, counterweight（19）, counterweight frame（18）, feature exists
In the bottom plate（9）On have rope sheave, be wrapped cord on rope sheave, one end connection counterweight of cord（19）；The front-wheel（6）It is logical
Bearing is crossed mounted on bottom plate（9）Lower section；
Counterweight frame（18）Including three aluminum pipes and supporting table（20）, which is characterized in that the supporting table（20）Including bobbin winoler
（22）, axis（23）, platform（21）, three aluminum pipes and platform（21）Connection, the platform（21）On have a supporting rack, supporting rack support
And fixing axle（23）, axis（23）With bobbin winoler（22）Pairing connection, bobbin winoler（22）Pass through axis（23）It is suspended in platform（21）'s
Surface, the platform（21）On be provided with square hole, bobbin winoler（22）On cord pass through square hole and the counterweight（19）Connection；
The trailing wheel（1）It is the counterweight（19）It is connect by cord with the rope sheave, rope sheave and gear wheel（15）It is meshed, institute
State gear wheel（15）With trolley left rear wheel（2）And hind axle links together, trolley off hind wheel（1）It is directly fixed with hind axle
It is connected.
2. a kind of intelligent avoidance carbon-free trolley according to claim 1, it is characterized in that：Obstruction-avoiding control system includes master control
Module, power module, sensing module, steering module.
3. a kind of intelligent avoidance carbon-free trolley according to claim 2, it is characterized in that：Including respectively with the bottom plate
（9）The STC89C52 single chip of connection, after supply voltage is down to 5V by the STC89C52 single chip using 7805 voltage stabilizing chips
It powers for it；
Sensing module uses three Photoelectric infrared switches（11）As avoidance sensor, three Photoelectric infrared switches（11）Peace
Mounted in the fixed frame（5）On, respectively immediately ahead of trolley 180 ° be uniformly distributed, realize trolley in the range of 180 ° of front
Detection of obstacles；
Steering module passes through servos control front-wheel（6）It turns to.
4. a kind of intelligent avoidance carbon-free trolley according to claim 1-3 any one, it is characterized in that：It is described carbon-free small
Vehicle includes and the bottom plate（9）The front-wheel of connection（6）Guiding and left rear wheel（2）, off hind wheel（1）Driving, the front-wheel（6）Including
Preceding rim of wheel and with the off hind wheel（1）, left rear wheel（2）Including rear-wheel hub and wheel shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721172182.6U CN207462668U (en) | 2017-09-13 | 2017-09-13 | A kind of intelligence avoidance carbon-free trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721172182.6U CN207462668U (en) | 2017-09-13 | 2017-09-13 | A kind of intelligence avoidance carbon-free trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207462668U true CN207462668U (en) | 2018-06-08 |
Family
ID=62269340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721172182.6U Expired - Fee Related CN207462668U (en) | 2017-09-13 | 2017-09-13 | A kind of intelligence avoidance carbon-free trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207462668U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107376374A (en) * | 2017-09-13 | 2017-11-24 | 华东交通大学 | A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip |
| CN110215722A (en) * | 2019-04-30 | 2019-09-10 | 上海海事大学 | A kind of carbon-free trolley of Intelligent track identification |
-
2017
- 2017-09-13 CN CN201721172182.6U patent/CN207462668U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107376374A (en) * | 2017-09-13 | 2017-11-24 | 华东交通大学 | A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip |
| CN110215722A (en) * | 2019-04-30 | 2019-09-10 | 上海海事大学 | A kind of carbon-free trolley of Intelligent track identification |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866552B (en) | Wheel foot deformation type robot walking mechanism | |
| CN205924930U (en) | Electronic two -wheeled scooter | |
| CN204582543U (en) | The carbon-free trolley of a kind of serpentine path walking | |
| WO2023131205A1 (en) | Movable device, control method, control apparatus, and storage medium | |
| CN207462668U (en) | A kind of intelligence avoidance carbon-free trolley | |
| CN104724233A (en) | Directly-driven two-wheeled self-balancing electric vehicle | |
| CN104015864B (en) | A kind of kinetic energy recovery device | |
| CN204895721U (en) | Mini electric automobile that rides instead of walk | |
| CN205113555U (en) | Qxcomm technology's balance car removes structure based on mecanum wheel | |
| CN105109605A (en) | Mini electric scooter | |
| CN103386858A (en) | Solar wheels and vehicle | |
| CN206183974U (en) | Line drives tricycle carbon -free trolley who turns to away " 8 " font | |
| CN107376374A (en) | A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip | |
| CN203237028U (en) | Robot walking mechanism and robot using same | |
| CN204110244U (en) | Two-wheel balance truck | |
| CN208795508U (en) | Unmanned test simulation platform | |
| CN209221485U (en) | A kind of carbon-free trolley of the intelligent avoidance based on ultrasonic listening | |
| CN206107480U (en) | Bicycle of changeable mode of riding | |
| CN210605472U (en) | Infrared track-seeking obstacle-avoiding trolley | |
| CN103552474A (en) | Electric trackable solar car | |
| CN106310674A (en) | Self-control travel obstacle avoidance front wheel steering device | |
| CN202913380U (en) | Movable insulation fence mechanism | |
| CN208306777U (en) | A kind of full landform harvester chassis structure | |
| CN208181303U (en) | A kind of Two-wheeled standing Automatic Vehicle with navigation | |
| CN107890679B (en) | Carbon-free trolley with neutral gear sliding mechanism and capable of intelligently avoiding obstacles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180608 Termination date: 20190913 |