CN207466867U - More piece bicycle machines people based on castor principle - Google Patents
More piece bicycle machines people based on castor principle Download PDFInfo
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- CN207466867U CN207466867U CN201721338468.7U CN201721338468U CN207466867U CN 207466867 U CN207466867 U CN 207466867U CN 201721338468 U CN201721338468 U CN 201721338468U CN 207466867 U CN207466867 U CN 207466867U
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- 235000004443 Ricinus communis Nutrition 0.000 title claims abstract description 68
- 238000001514 detection method Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 235000012771 pancakes Nutrition 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000011295 pitch Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001416181 Axis axis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Abstract
The utility model discloses a kind of more piece bicycle machines people based on castor principle, including tractor and at least one section mounts vehicle, before the traction of tractor, trailing wheel respectively by traction before, before rear vehicle fork is mounted on traction vehicle frame, rear end, it draws front vehicle fork and is equipped with traction front-wheel drive system and traction front-wheel walking encoder, it draws vehicle frame and is equipped with traction front-wheel steer driving mechanism, the mounting castor of mounting vehicle is installed on mounting rear vehicle fork, mounting rear vehicle fork is connect by cradle head with mounting front vehicle fork, it mounts front vehicle fork and dress is cut with scissors at the wheel shaft of traction trailing wheel, it draws rear vehicle fork and is equipped with mounting castor pitching encoder, it mounts rear vehicle fork and is equipped with mounting castor walking encoder, cradle head is equipped with mounting castor course encoder component.The mounting vehicle of the utility model uses castor mechanism to provide large range of ground contact point offset distance, and vehicle is made to have better natural stability and directionality, so as to improve the security performance of system.
Description
Technical field
The utility model is related to bicycle walking mechanism, specially a kind of more piece bicycle machines based on castor principle
People.
Background technology
Bicycle is made of structure members such as vehicle frame, wheel, forks, is had the characteristics that simple in structure, movement is flexible, is one
The common means of transport of riding instead of walk of kind people.Bicycle machines people is that robot automatic control technology is combined with bicycle mechanism
Product, compared to pilotless automobile, it can more freely shuttle in streets and lanes.This advantage makes it be patrolled in security
It patrols, express delivery is sent with charge free etc., and fields have wide application prospects.
At present, representational bicycle machines people has automatic Pilot bicycle " C-1 " and unmanned bicycle
" DuBike " etc..However, for mechanism, there is underloading in existing bicycle machines per capita, if increasing vehicle merely
Wheel base can reduce system stability again to promote load capacity.Patent publication No is CN105539679A's《Pulling type more piece
Modular bicycle robot mechanism》Patent application is mounted using more piece single-wheel module, due to using cross axle structure,
Such design makes pitching and course move coupling seriously, is unfavorable for decoupling；In addition, its complex structural designs, and there is weight
The problems such as heart is excessively high, rigidity is relatively low.
Castor mechanism is a kind of auxiliary part of road walking mechanism, can be widely applied to trolley, workshop lorry etc.
Transport field.Research has shown that castor mechanism can provide large range of ground contact point as support wheel for walking mechanism
Offset distance so that wheel type traveling mechanism usually has good natural stability and directionality.
Utility model content
The utility model proposes a kind of more piece bicycle machines people based on castor principle, mainly solve existing pulling type
More piece modul bicycle machines people pitching and course movement, which couple seriously, and center of gravity is excessively high, complicated, rigidity is relatively low asks
Topic.
The more piece bicycle machines people based on castor principle of above-mentioned technical problem can be solved, technical solution includes leading
Draw vehicle and at least one section mounting vehicle, the tractor includes traction front-wheel and traction trailing wheel, the traction front-wheel and traction trailing wheel
Respectively by drawing front vehicle fork and drawing rear vehicle fork mounted on the front-end and back-end of traction vehicle frame, the traction front vehicle fork is equipped with
Front-wheel drive system and the traction front-wheel walking encoder of detection traction front wheel rotation speed are drawn, the traction vehicle frame is equipped with traction
Front-wheel steer driving mechanism, except that the mounting vehicle includes mounting castor, the mounting castor is installed on mounting rear car
On fork, the mounting rear vehicle fork is connect by cradle head with mounting front vehicle fork, and the mounting front vehicle fork is in the wheel of traction trailing wheel
Dress is cut with scissors at axis, the traction rear vehicle fork is equipped with the mounting castor pitching encoder of detection mounting vehicle pitch angle, the mounting
Rear vehicle fork is equipped with the mounting castor walking encoder of detection mounting castor rotating speed, and the cradle head is equipped with detection mounting vehicle
The mounting castor course encoder component of deflection angle.
A kind of structure of the cradle head includes the U-board being open backward and is installed on U-board by upper and lower bearing
Rotation axis between upper and lower plate body, the preceding plate body of the U-board connect mounting front vehicle fork, the rotation axis axis body by plate connector
The shaft coupling connection mounting rear vehicle fork of rear side, mounting castor course encoder component are set on the course encoder on upper plate body
On supporting rack, mounting castor course encoder component connects the rotation axis shaft end for stretching out upper plate body by gear-driven assembly.
The side that the mounting castor pitching encoder is installed on traction rear vehicle fork by pitching encoder stent is pitched on body,
Mount the pitching encoder pinion gear meshing segment gear wheel in castor pitching encoder shaft, the sector gear wheel and mounting
The preceding hinge end of front vehicle fork homonymy fork body is coaxially connected.
It pitches the side that the mounting castor walking encoder is installed on mounting rear vehicle fork by castor walking encoder stent
On body, the steel of respective side on the mounting castor encoder pinion gear engagement mounting castor on castor walking encoder output shaft is mounted
Enclose internal tooth.
A kind of structure of the traction front-wheel drive system includes the pancake motor being set on the fork body of traction front vehicle fork side,
The steel ring internal tooth of respective side on front-wheel drive driving gear engagement traction front-wheel on the pancake motor output shaft；The traction
Front-wheel walking encoder is installed on by front-wheel walking encoder stent on the fork body of traction front vehicle fork homonymy, traction front-wheel walking
Traction front-wheel walking encoder gear engagement steel ring internal tooth in encoder shaft.
A kind of structure of the traction front-wheel steer driving mechanism includes steering motor, and the steering motor is installed on traction
On the bogie of vehicle frame front end, the output shaft of steering motor is connected by the steering driver pinion and the driven gear wheel of steering of engagement
The steering shaft shaft end on traction front vehicle fork top is connect, the steering shaft connects with the turning sleeve rotation in traction vehicle frame front end bogie
It connects.
The mounting front vehicle fork is equipped with article carrying platform.
The beneficial effects of the utility model：
1st, in more piece bicycle machines people's structure of the utility model based on castor principle, using castor mechanism as mounting vehicle
Mount, by the working characteristics of castor it is found that castor mechanism can provide larger ground contact point retrodeviate away from, so as to make from
Driving has better natural stability and directionality, and then improves the security performance of system.
2nd, it in the utility model structure, both needs to realize that pitching fortune is realized in course movement again between tractor and mounting vehicle
It is dynamic, in structure design, it will realize two joint independent designs of pitching movement and course movement, such design can reduce
Coupling between the two reaches the simple purpose of complete vehicle structure, also achievees the effect that reduce the mounting car weight heart.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of embodiment of the utility model.
Fig. 2 is the dorsal view of Fig. 1 embodiments.
Fig. 3 is the diarthrodial structure diagram of Fig. 1, Fig. 2 transfer.
Figure number identifies：1st, tractor；2nd, vehicle is mounted；3rd, front-wheel is drawn；4th, trailing wheel is drawn；5th, front vehicle fork is drawn；6th, it draws
Rear vehicle fork；7th, vehicle frame is drawn；8th, castor is mounted；9th, rear vehicle fork is mounted；10th, front vehicle fork is mounted；11st, traction front-wheel walking coding
Device；12nd, cradle head；13rd, castor pitching encoder is mounted；14th, castor walking encoder is mounted；15th, U-board；16th, it rotates
Axis；17th, shaft coupling；18th, plate connector；19th, mounting castor course encoder component；20th, vehicle seat；21st, turning sleeve；22nd, it is fan-shaped big
Gear；23rd, pancake motor；24th, driven gear wheel is turned to；25th, steering motor；26th, bogie；27th, driver pinion is turned to；
28th, article carrying platform；29th, gear-driven assembly.
Specific embodiment
Illustrated embodiment is described further the technical solution of the utility model below in conjunction with the accompanying drawings.
More piece bicycle machines people of the utility model based on castor principle includes the section mounting vehicle 2 of tractor 1 and one.
The tractor 1 includes traction front-wheel 3 and traction trailing wheel 4, and the traction front-wheel 3 is installed by drawing front vehicle fork 5
In the front end of traction vehicle frame 7, the traction trailing wheel 4 is mounted on the rear end of traction vehicle frame 7 by drawing rear vehicle fork 6.
The traction front vehicle fork 5 is equipped with the traction front-wheel row of traction front-wheel drive system and detection traction 3 rotating speed of front-wheel
Encoder 11 is walked, the traction vehicle frame 7 is equipped with traction front-wheel steer driving mechanism, specifically：The traction front-wheel steer is driven
Motivation structure includes the steering driver pinion 27 of steering motor 25 and engagement with turning to driven gear wheel 24, the steering motor 25
It is installed on the bogie 26 of 7 front end of traction vehicle frame, turning sleeve 21, institute is additionally provided on 7 front end of traction vehicle frame in bogie 26
The top shaft for stating traction front vehicle fork 5 is installed on by bearing in turning sleeve 21, and the steering driver pinion 27, which is installed on, to be turned
On the output shaft of motor 25, the shaft for turning to driven gear wheel 24 and being installed on the traction front vehicle fork 5 for stretching out turning sleeve 21
Shaft end；The traction front-wheel drive system includes the pancake motor 23 being set on the fork body of 5 side of traction front vehicle fork, the pancake electricity
The front-wheel drive driving gear engagement traction front-wheel 3 installed on 23 output shaft of machine (is installed on the left and right of 5 lower part of traction front vehicle fork
Fork is internal) on respective side steel ring internal tooth, the traction front-wheel walking encoder 11 passes through front-wheel walking encoder stent and installs
In on the fork body of traction 5 homonymy of front vehicle fork, the traction front-wheel walking encoder gear in 11 shaft of traction front-wheel walking encoder
Corresponding steel ring internal tooth is engaged, as shown in Figure 1 and Figure 2.
The traction rear vehicle fork 6 is tilting backward, the rear end of the preceding upper end connection traction vehicle frame 7 of traction rear vehicle fork 6, the two
Junction is additionally provided with the vehicle seat 20 installed by seat board frame, the traction trailing wheel 4 be installed on 6 posterior end of traction rear vehicle fork a left side,
Right fork is internal, and the upper fork body of 6 side of traction rear vehicle fork is equipped with the mounting castor pitching encoder of detection mounting 2 pitch angle of vehicle
13, as shown in Figure 1 and Figure 2.
The mounting vehicle 2 includes mounting castor 8, mounting rear vehicle fork 9 (horizontally disposed) and mounting front vehicle fork 10, and (level is set
Put), mounting 9 front end of rear vehicle fork and mounting front vehicle fork are connected between 10 rear end by cradle head 12, the mounting castor 8
The left and right fork for being installed on 9 rear portion of mounting rear vehicle fork is internal, passes through castor walking encoder on the fork body of 9 side of mounting rear vehicle fork
Stent is equipped with mounting castor walking encoder 14, mounts the small tooth of mounting castor encoder in 14 shaft of castor walking encoder
The steel ring internal tooth of respective side on wheel engagement mounting castor 8；The traction trailing wheel 4 be also installed on mounting front vehicle fork 10 forepart a left side,
Right fork is internal, and the front end of the left and right fork body of mounting front vehicle fork 10 is hinged on the left and right end of traction 4 wheel shaft of trailing wheel, corresponding to mounting
Castor pitching encoder 13 is equipped with fan-shaped gear wheel 22, and the mounting front vehicle fork 10 of the sector gear wheel 22 and homonymy pitches body front end
Hinge point be co-axially mounted, the sector gear wheel 22 and the small tooth of pitching encoder in 13 shaft of mounting castor pitching encoder
Wheel engagement detects the pitch angle of mounting 2 pitching movement of vehicle with this, as shown in Figure 1 and Figure 2.
The cradle head 12 includes U-board 15, rotation axis 16 and mounting castor course encoder component 19, the U-shaped
The opening of plate 15 backward, between the rotation axis 16 is installed on the upper and lower plate body of U-board 15 by upper and lower bearing, the U-board
15 preceding plate body connects the rear end of mounting front vehicle fork 10 by plate connector 18, and mounting front vehicle fork is equipped on 10 rear portion by supporting rack
Article carrying platform 28, the front end of the connection mounting rear vehicle fork 9 of shaft coupling 17 on rear side of 16 axis body of rotation axis, the mounting castor boat
It is set on the course encoder supporting rack on upper plate body to encoder component 19, mounting castor course encoder component 19 is (left and right
Two) pass through the rotation axis 16 of gear-driven assembly 29 (left and right two pinion gear engages gear broad in the middle) connection stretching upper plate body
Shaft end detects the deflection angle of mounting vehicle 2 with this, as shown in Figure 1, Figure 2, Figure 3 shows.
Claims (7)
1. the more piece bicycle machines people based on castor principle, described to lead including tractor (1) and at least one section mounting vehicle (2)
Draw vehicle (1) and include traction front-wheel (3) and traction trailing wheel (4), the traction front-wheel (3) and traction trailing wheel (4) pass through traction respectively
Mounted on the front-end and back-end of traction vehicle frame (7), the traction front vehicle fork (5) is equipped with for front vehicle fork (5) and traction rear vehicle fork (6)
Draw the traction front-wheel walking encoder (11) of front-wheel drive system and detection traction front-wheel (3) rotating speed, the traction vehicle frame (7)
It is equipped with traction front-wheel steer driving mechanism, it is characterised in that：The mounting vehicle (2) includes mounting castor (8), the mounting foot
Wheel (8) is installed on mounting rear vehicle fork (9), and the mounting rear vehicle fork (9) passes through cradle head (12) and mounting front vehicle fork (10)
Connection, the mounting front vehicle fork (10) cut with scissors dress at the wheel shaft of traction trailing wheel (4), and the traction rear vehicle fork (6) is equipped with detection
The mounting castor pitching encoder (13) of vehicle (2) pitch angle is mounted, the mounting rear vehicle fork (9) is equipped with detection mounting castor
(8) the mounting castor walking encoder (14) of rotating speed, the cradle head (12) are equipped with detection mounting vehicle (2) deflection angle
Mount castor course encoder component (19).
2. the more piece bicycle machines people according to claim 1 based on castor principle, it is characterised in that：The rotation is closed
Section (12) U-board (15) backward and by upper and lower bearing is installed on the rotation between the upper and lower plate body of U-board (15) including being open
Axis (16), the preceding plate body of the U-board (15) connect mounting front vehicle fork (10), rotation axis (16) axis by plate connector (18)
Shaft coupling (17) connection mounting rear vehicle fork (9) on rear side of body, the mounting castor course encoder component (19) is set on upper plate body
On course encoder supporting rack (20) on, mounting castor course encoder component (19) pass through gear-driven assembly (29) connect
Stretch out rotation axis (16) shaft end of upper plate body.
3. the more piece bicycle machines people according to claim 1 based on castor principle, it is characterised in that：The mounting foot
The side that wheel pitching encoder (13) is installed on traction rear vehicle fork (6) by pitching encoder stent is pitched on body, and mounting castor is bowed
The pitching encoder pinion gear meshing segment gear wheel (22) in encoder (13) shaft is faced upward, the sector gear wheel (22) is with hanging
The preceding hinge end for connecing front vehicle fork (10) homonymy fork body is coaxially connected.
4. the more piece bicycle machines people according to claim 1 based on castor principle, it is characterised in that：The mounting foot
The side that wheel walking encoder (14) is installed on mounting rear vehicle fork (9) by castor walking encoder stent is pitched on body, mounts foot
It takes turns on the mounting castor encoder pinion gear engagement mounting castor (8) on walking encoder (14) output shaft in the steel ring of respective side
Tooth.
5. the more piece bicycle machines people according to claim 1 based on castor principle, it is characterised in that：Before the traction
Actuation includes the pancake motor (23) being set on the fork body of traction front vehicle fork (5) side, pancake motor (23) output
The steel ring internal tooth of respective side on front-wheel drive driving gear engagement traction front-wheel (3) on axis；The traction front-wheel walking coding
Device (11) is installed on by front-wheel walking encoder stent on the fork body of traction front vehicle fork (5) homonymy, traction front-wheel walking coding
Traction front-wheel walking encoder gear engagement steel ring internal tooth in device (11) shaft.
6. the more piece bicycle machines people according to claim 1 based on castor principle, it is characterised in that：Before the traction
It takes turns steering driving mechanism and includes steering motor (25), the steering motor (25) is installed on the bogie of traction vehicle frame (7) front end
(26) on, the output shaft of steering motor (25) is connected by the steering driver pinion (27) and the driven gear wheel (24) of steering of engagement
Connect the steering shaft shaft end on traction front vehicle fork (5) top, the steering shaft and the steering in traction vehicle frame (7) front end bogie (26)
Cover (21) rotation connection.
7. the more piece bicycle machines people based on castor principle according to any one in claim 1~6, feature exist
In：The mounting front vehicle fork (10) is equipped with article carrying platform (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721338468.7U CN207466867U (en) | 2017-10-17 | 2017-10-17 | More piece bicycle machines people based on castor principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721338468.7U CN207466867U (en) | 2017-10-17 | 2017-10-17 | More piece bicycle machines people based on castor principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207466867U true CN207466867U (en) | 2018-06-08 |
Family
ID=62266849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721338468.7U Withdrawn - After Issue CN207466867U (en) | 2017-10-17 | 2017-10-17 | More piece bicycle machines people based on castor principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207466867U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651080A (en) * | 2017-10-17 | 2018-02-02 | 桂林电子科技大学 | More piece bicycle machines people based on castor principle |
-
2017
- 2017-10-17 CN CN201721338468.7U patent/CN207466867U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651080A (en) * | 2017-10-17 | 2018-02-02 | 桂林电子科技大学 | More piece bicycle machines people based on castor principle |
| CN107651080B (en) * | 2017-10-17 | 2023-11-21 | 桂林电子科技大学 | Multisection bicycle robot based on truckle principle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180608 Effective date of abandoning: 20231121 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180608 Effective date of abandoning: 20231121 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |