CN215851543U - Standing execution structure, vehicle execution system and moving tool - Google Patents
Standing execution structure, vehicle execution system and moving tool Download PDFInfo
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- CN215851543U CN215851543U CN202121393193.3U CN202121393193U CN215851543U CN 215851543 U CN215851543 U CN 215851543U CN 202121393193 U CN202121393193 U CN 202121393193U CN 215851543 U CN215851543 U CN 215851543U
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Abstract
The embodiment of the utility model relates to a standing execution structure which is embedded in a vehicle body of a vehicle and is arranged on a vehicle chassis; the standing executing structure comprises a first base, a pressure bearing mechanism, a telescopic mechanism and a pressure triggering mechanism; the first base is fixed with a chassis of the vehicle; the pressure bearing mechanism is positioned above the first base, and the rear end of the pressure bearing mechanism is rotatably connected with the rear end of the first base; the bottom end of the telescopic mechanism is fixed on the first base, and the top end of the telescopic mechanism is abutted against the lower surface of the pressure bearing mechanism; the pressure trigger mechanism is fixed at the front end of the first base; when the pressure borne by the pressure bearing mechanism is greater than a preset threshold value, the pressure bearing mechanism compresses the telescopic mechanism and rotates downwards to trigger the pressure trigger mechanism; the pressure activated mechanism sends a signal instructing the vehicle to switch from an autonomous driving mode to a manual driving mode.
Description
Technical Field
The utility model relates to the technical field of automatic driving, in particular to a standing execution structure, a vehicle execution system and a moving tool.
Background
With the continuous development of the unmanned technology, engineering applications have been implemented in certain specific fields, such as unmanned sweeping vehicles, unmanned ground washing vehicles, unmanned logistics vehicles, and the like. Some unmanned products completely remove manual driving operation positions on the vehicle, adopt a remote control mode to control the vehicle under certain special conditions, and some products retain manual driving functions, for example, a teaching mode of the unmanned ground washing vehicle needs the manual driving vehicle to generate a route track, so a special manual driving execution mechanism is needed.
The driving type ground washing vehicle mainly has two modes of sitting driving and standing driving. The stand-type driving of the existing unmanned ground washing vehicle is mainly a hidden stand pedal. When the driver does not drive, the pedals are folded and hidden, when the driver drives the driver manually, the pedals are turned over and opened, and the driver stands on the pedals to drive.
Hidden standing steps, while foldable and hidden when unmanned, also pose problems: the length of the vehicle body is lengthened after the pedals are turned over and opened, the turning radius of the vehicle is influenced, and the passing performance of the vehicle is limited; people stand on the opened turnover pedal to easily cause the gravity center of the vehicle to move backwards and easily topple over under the conditions of uphill slope and the like; the turning pedal needs to be manually opened by a person, so that the turning pedal is inconvenient; when people get off the pedal, the pedal needs to be automatically turned and folded, and the force is large, so that the people are easy to hurt.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a standing execution structure, a vehicle execution system and a moving tool, wherein the standing execution structure can be embedded into a vehicle body of a vehicle, the length of the vehicle body of the vehicle is not increased, and manual standing driving can be realized by the vehicle execution system with the standing execution structure.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a standing implement structure that is embedded in a body of a vehicle and mounted on a vehicle chassis; the standing executing structure comprises a first base, a pressure bearing mechanism, a telescopic mechanism and a pressure triggering mechanism;
the first base is fixed with a chassis of the vehicle;
the pressure bearing mechanism is positioned above the first base, and the rear end of the pressure bearing mechanism is rotatably connected with the rear end of the first base;
the bottom end of the telescopic mechanism is fixed on the first base, and the top end of the telescopic mechanism abuts against the lower surface of the pressure bearing mechanism;
the pressure trigger mechanism is fixed at the front end of the first base;
when the pressure borne by the pressure bearing mechanism is greater than a preset threshold value, the pressure bearing mechanism compresses the telescopic mechanism and rotates downwards to trigger the pressure trigger mechanism; the pressure activated mechanism sends a signal indicating that the vehicle is switched from an autonomous driving mode to a manual driving mode.
Preferably, a stand column is arranged on the first base, and the telescopic mechanism is sleeved on the stand column.
Preferably, the pressure bearing mechanism is rotatably connected with the first base through a rotating shaft.
Preferably, the front end of the pressure bearing mechanism is provided with at least one limiting pin; the front end of the first base is provided with limiting grooves with the number corresponding to that of the limiting pins;
each limiting pin at the front end of the pressure bearing mechanism penetrates through a limiting groove at a corresponding position on the first base.
Preferably, the pressure bearing plate of the pressure bearing mechanism is provided with at least one hole, and each hole is provided with the anti-skidding mechanism.
A second aspect of the embodiments of the present invention provides a vehicle execution system, which is embedded in a vehicle body of a vehicle; the vehicle actuation system comprises a standing actuation structure, a speed control structure and a direction control structure as described in the first aspect above;
a pressure trigger mechanism in the standing execution structure sends a signal for indicating that the vehicle is switched from an automatic driving mode to a manual driving mode to a central processing unit of the vehicle; the central processing unit switches the driving mode of the vehicle to a manual driving mode, and controls the vehicle to travel according to the traveling speed information received from the speed control structure and the direction information received from the direction control structure.
Preferably, the speed control structure includes: the accelerator pedal comprises a second base, an accelerator sensor and a speed control pedal;
the second base is fixed with the front end of the first base of the standing execution structure; the bottom of the second base is provided with a throttle sensor bracket;
the throttle sensor comprises a signal acquisition end and a fixed end, and the fixed end is connected with the throttle sensor bracket;
one end of the speed control pedal is connected with the top of the second base through a second rotating shaft, and the other end of the speed control pedal is connected with a signal acquisition end of the accelerator sensor through a third rotating shaft.
Further preferably, the speed control pedal includes: a speed control pedal body and a second anti-slip structure;
one end of the speed control pedal body is connected with the second base, and the other end of the speed control pedal body is connected with the accelerator sensor;
the second anti-slip structure is fixed on the upper surface of the speed control pedal body.
Preferably, the direction control structure includes: the device comprises a bracket, a rotating shaft bearing seat, an encoder bracket, an encoder, a rotating shaft and a direction control structure;
the bracket is fixed on a box body of the vehicle;
the rotating shaft bearing block is fixed on the bracket;
the encoder bracket is positioned below the rotating shaft bearing seat and is coaxially arranged with the rotating shaft bearing seat;
the encoder is fixed on the encoder bracket;
the bottom end of the rotating shaft extends into the rotating shaft bearing seat to be connected with the encoder;
the direction control structure is fixedly connected with the top end of the rotating shaft.
Further preferably, the direction control structure further comprises a bidirectional damper;
the bidirectional damper is arranged between the rotating shaft bearing seat and the encoder bracket.
A third aspect of embodiments of the present invention provides a mobile tool comprising a vehicle actuation system according to the second aspect.
According to the standing execution structure, the vehicle execution system and the moving tool, the standing execution structure can be embedded into a vehicle, the length of the vehicle body of the vehicle cannot be increased, and the passing performance of the vehicle during turning is improved. The structure is provided with the pressure bearing mechanism, the telescopic mechanism and the pressure trigger mechanism, so that when the pressure borne by the pressure bearing mechanism is greater than a preset threshold value, the pressure bearing mechanism compresses the telescopic mechanism and downwards rotates to trigger the pressure trigger mechanism; the vehicle is switched from the automatic driving mode to the manual driving mode under the instruction of the signal sent by the pressure trigger mechanism, and the requirement of automatic driving is met. Under the manual driving mode, need not artifical manual upset footboard, can realize artifical the standing convenient operation.
Drawings
Fig. 1 is a schematic diagram of a standing executing structure according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a standing implement embedded in an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a speed control structure according to a second embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a connection relationship between a standing executing structure and a speed control structure according to a second embodiment of the present invention;
FIG. 5 is a schematic view of a direction control structure according to a second embodiment of the present invention;
fig. 6 is a second schematic view of a direction control structure according to a second embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The standing execution structure provided by the embodiment of the utility model is applied to an unmanned vehicle, such as an unmanned sweeper, an unmanned ground washing vehicle, an unmanned logistics vehicle, an unmanned dust collection vehicle and the like, and can be embedded into a vehicle body of the unmanned vehicle to realize standing manual driving of the unmanned vehicle. In the following embodiments, the technical solution of the present application is explained by taking an unmanned vehicle, specifically, an unmanned floor-washing vehicle 100 as an example.
Example one
Fig. 1 is a schematic diagram of a standing executing structure according to an embodiment of the present invention; fig. 2 is a schematic view of a standing executive structure embedded in an unmanned vehicle according to an embodiment of the utility model. Referring to fig. 1 and 2, the standing actuating structure 1 includes a first base 11, a pressure bearing mechanism 12, a telescoping mechanism 13 and a pressure triggering mechanism 14.
The first base 11 specifically includes a pressure trigger fixing portion 111, a pressure bearing mechanism connecting portion 112, and a pillar 113. In the embodiment, the standing executing structure 1 is fixedly connected with the chassis of the unmanned vehicle 100 through the pressure triggering mechanism fixing portion 111 (for example, the standing executing structure may be fixed by bolts or welding, and the standing executing structure may be flexibly configured by a person skilled in the art as required). The pressure bearing mechanism connecting portion 112 is located at the rear end of the first base 11. The post 113 is located between the pressure actuator fixing portion 111 and the pressure bearing mechanism connecting portion 112. By way of example and not limitation, the number of the columns 113 may be two, and the number of the columns 113 is not strictly limited in the present application.
In a preferred embodiment, the front end of the first base 11 has a fixing frame 114, and the fixing frame 114 is at an angle with the vertical direction and is integrally connected with the first base 11.
In another preferred embodiment, the first base 11 further has a limiting protrusion 115, and the limiting protrusion 115 is specifically located between the pressure trigger fixing portion 111 and the upright 113. The position-limiting protrusion 115 has at least one position-limiting groove (not shown).
The pressure bearing mechanism 12 is a direct contact component applied by external pressure, so that a driver can stand on the pressure bearing mechanism to control the unmanned ground washing vehicle, and the function of standing driving of the unmanned ground washing vehicle is realized.
In an alternative example, the pressure bearing mechanism 12 includes a pressure bearing plate 121 and a first anti-slip structure. The pressure bearing plate 121 includes a limiting portion and a rotating portion. The rotating part is located at the rear end of the pressure bearing plate 121, and the limiting part is arranged in front of the rotating part. Specifically, the pressure bearing plate 121 is located above the first base 11, and the rotating portion is connected to the pressure bearing mechanism connecting portion 112 of the first base 11 through the rotating shaft 200, so that the pressure bearing mechanism 12 can rotate relative to the first base 11. The limiting part is provided with limiting pins 300 with the number corresponding to that of the limiting grooves, and can limit the rotating angle of the pressure bearing mechanism 12 relative to the first base 11. It should be noted that the height of the upright 113 is smaller than the distance between the inner lower surface of the pressure bearing plate 121 and the upper surface of the first base 11. The column 113 supports the pressure bearing mechanism 12.
In a preferred example, the first anti-slip structure includes a pressure carrier plate exterior 1221 and a plurality of first anti-slip plugs 1222. The exterior trimming 1221 of the pressure bearing plate is fixed to the upper surface of the pressure bearing plate 121, and protects the pressure bearing plate 121. A plurality of first anti-slip plugs 1222 are embedded in the pressure carrier plate garnish 1221 so that the pressure carrier plate 121 has an anti-slip function.
The telescoping mechanism 13 is an important part of the standing actuating structure 1 for transmitting and releasing pressure, preferably a compression spring, the spring force of which is greater than the weight force of the pressure-bearing mechanism 12. In an alternative embodiment, the compression spring is sleeved on the upright post 113, one end of the compression spring abuts against the lower surface of the pressure bearing mechanism 12, and the other end of the compression spring is fixed with the upright post 113. In another alternative embodiment, the upright 113 is fixed on the lower surface of the pressure bearing mechanism 12, one end of the compression spring is sleeved on the upright 113, and the other end of the compression spring abuts against the upper surface of the first base 11. In another alternative embodiment, one end of the compression spring is fixed to the lower surface of the pressure bearing mechanism 12, and the other end is fixed to the upper surface of the first base 11. The technical personnel in the field can flexibly set according to the actual requirement.
The pressure actuator 14 is fixed to the pressure actuator fixing portion 111. The pressure activated mechanism 14 may be a microswitch. The micro-switch may be in communication with a central processing unit of the unmanned floor scrubbing vehicle 100.
The standing execution structure 1 can be fixed with the base of the unmanned ground washing vehicle 100 through the first base 11, so that the standing execution structure is embedded into the unmanned ground washing vehicle 100, the length of the vehicle body of the vehicle cannot be increased, and the passing performance of the vehicle during turning is improved.
The working principle of the standing execution structure 1 is as follows:
when the pressure borne by the pressure bearing mechanism is greater than a preset threshold value, the pressure bearing mechanism compresses the telescopic mechanism and rotates downwards to trigger the pressure trigger mechanism; the pressure trigger mechanism sends a signal for indicating that the vehicle is switched from an automatic driving mode to a manual driving mode, and the requirement of automatic driving is met. Under the manual driving mode, need not artifical manual upset footboard, can realize artifical the standing convenient operation.
The standing execution structure provided by the embodiment of the utility model can be embedded into a vehicle, the length of the vehicle body of the vehicle cannot be increased, and the passing performance of the vehicle during turning is improved. The structure is provided with the pressure bearing mechanism, the telescopic mechanism and the pressure trigger mechanism, so that when the pressure borne by the pressure bearing mechanism is greater than a preset threshold value, the pressure bearing mechanism compresses the telescopic mechanism and downwards rotates to trigger the pressure trigger mechanism; the vehicle is switched from the automatic driving mode to the manual driving mode under the instruction of the signal sent by the pressure trigger mechanism, and the requirement of automatic driving is met. Under the manual driving mode, need not artifical manual upset footboard, can realize artifical the standing convenient operation.
Example two
The vehicle execution system provided by the second invention can be embedded in a vehicle body of an unmanned ground washing vehicle, and specifically comprises a standing execution structure 1, a speed control structure 2 and a direction control structure 3 in the first embodiment, as shown in fig. 2.
The standing execution structure 1 is a key module for detecting an external pressure signal by the vehicle execution system, converting the pressure signal into a manual driving mode signal of the unmanned ground washing vehicle and sending the manual driving mode signal. By way of example and not limitation, the number of the standing executive structures 1 may be two, and any one of the detected pressure signals may be converted and transmitted.
The speed control structure 2, also called throttle module, is shown in connection with fig. 3, the speed control structure 2 comprising in particular a second seat 21, a throttle sensor 22 and a speed control pedal 23.
The second base 21 includes a top attachment lug 211, a middle bolt hole 212, and a bottom throttle sensor bracket 213.
The throttle sensor 22 includes a signal collecting end 221 and a fixing end 222. Wherein the fixed end 222 is connected with the throttle sensor bracket 213.
The speed control pedal 23 includes a speed control pedal body 231 and a second anti-slip structure.
One end of the speed control pedal body 231 is connected with the connecting lug 211 of the second base 21 through the second rotating shaft 400, and the other end is connected with the signal acquisition end 221 of the accelerator sensor 22 through the third rotating shaft 500.
The second anti-skid structure includes a speed control pedal exterior 2321 and a plurality of second anti-skid plugs 2322. The speed control pedal exterior 2321 is fixed to the upper surface of the speed control pedal body 231. The second anti-slip plug 2322 is embedded in the speed control pedal exterior 2321.
As shown in fig. 4, bolts pass through the bolt holes 213 to fix the second base 21 on the fixing frame 114 at the front end of the first base 11, so as to realize the connection between the speed control structure 2 and the standing execution structure 1, and the fixing frame 114 is disposed at a certain angle, so that the speed control structure 2 and the standing execution structure 1 are at a certain angle on the horizontal plane, and a driver standing on the standing execution structure 2 can conveniently perform standing driving control on the unmanned floor washing vehicle 100.
As further shown in fig. 2, the direction control structure 3 is fixed on the cabinet of the unmanned floor washing vehicle 100, and the module mainly implements the steering control of the unmanned floor washing vehicle 100.
Fig. 5 is a schematic view of a direction control structure according to an embodiment of the present invention. As shown in fig. 5, the direction control structure 3 includes a bracket 31, a rotating shaft bearing seat 32, an encoder bracket 33, an encoder 34, a rotating shaft 35, and a direction control structure 36.
The bracket 31 is fixed to the housing of the unmanned vehicle 100. The rotating shaft bearing seat 32 is fixed on the bracket 31. The encoder bracket 33 is located below the rotary shaft bearing seat 32, and is disposed coaxially with the rotary shaft bearing seat 32. The encoder 34 is fixed to the encoder bracket 33. The bottom end of the shaft 35 extends into the shaft bearing seat 32 to connect with the encoder 34, and the encoder 24 communicates with the central processing unit of the unmanned floor washing vehicle 100. The direction control structure 36 is fixedly connected to the top end of the rotating shaft 35, and in this example, the direction control structure 35 is a steering wheel.
To increase the rotational damping of the direction control structure 3 and to prevent the direction control structure 3 from rotating too fast, the direction control structure 3 preferably further comprises a bi-directional damper 37. A bidirectional damper 37 is provided between the rotary shaft bearing housing 32 and the encoder bracket 33.
Fig. 6 is a second schematic view of a direction control structure according to an embodiment of the present invention, and as shown in fig. 6, the direction control structure 3 further includes a housing 38. The cover 38 is fixed to the outside of the bracket 31, and plays a role of dust prevention and protection for components connected to the bracket 31.
In an alternative example, the direction control structure 3 further comprises a handle 39. The handle 39 is fixed on the box body of the unmanned ground washing vehicle 100, so as to provide an auxiliary gripping point for a standing driver and improve the safety of manual driving of the unmanned ground washing vehicle 100.
The above describes the constituent modules of a vehicle actuator system and their connection relationships, and the operation principle of the vehicle actuator system is described below.
When external pressure is applied to the pressure bearing plate 121, for example, when a driver stands on the pressure bearing plate, the pressure bearing plate 121 rotates downward around the first rotating shaft 200, the telescopic mechanism 13 is compressed, the front portion of the pressure bearing plate contacts with the pressure trigger mechanism 14 (for example, the pressure trigger mechanism 14 is a microswitch), the pressure trigger mechanism 14 is triggered, and the pressure signal is converted into a manual driving mode signal of the unmanned ground washing vehicle 100 and sent to the central processing unit; the central processing unit switches the driving mode of the unmanned floor washing vehicle 100 to the manual driving mode. When the driving mode of the unmanned ground washing vehicle is manual driving mode, pressure can be applied to the speed control pedal 23, the pressure is collected by the accelerator sensor 22 and converted into an accelerator signal, so as to control longitudinal acceleration or deceleration of the unmanned ground washing vehicle 100, and/or the rotation of the direction control structure 3 (such as a steering wheel) is controlled, the rotation angle signal of the direction control structure 3 is transmitted to the encoder by the rotating shaft 35, the rotation angle signal is transmitted to the encoder 34 by the rotating shaft 35, the rotation angle signal is converted into a steering signal by the encoder 34 and is transmitted to the central processing unit, so as to control the driving direction of the unmanned ground washing vehicle 100.
When the external pressure of the pressure bearing plate 121 is removed, for example, when no one stands, the pressure bearing plate 121 rotates upward around the first rotating shaft 200 due to the release of the pressure, the telescopic mechanism 13 (e.g., a compression spring) is stretched and retracted, so that the pressure bearing plate 121 is jacked up by the elastic force, the contact between the pressure bearing plate 121 and the pressure trigger mechanism 14 is broken, the pressure trigger mechanism 14 (e.g., a microswitch) does not output a signal, and the unmanned floor-washing vehicle is switched from the manual driving mode to the automatic driving mode.
The vehicle execution system provided by the embodiment of the utility model can be embedded into the unmanned vehicle, the length of the body of the unmanned vehicle is not increased, and the unmanned vehicle can realize the function of standing driving through the arrangement of the standing execution structure. And the micro switch of the standing execution structure can convert the detected pressure signal and send the signal to the central processing unit of the unmanned vehicle, and the central processing unit switches the manual driving mode. Manual control of the unmanned vehicle may be achieved through manipulation of the speed control structure and the direction control structure.
EXAMPLE III
The third embodiment of the utility model provides a mobile tool, which comprises the vehicle execution system in the second embodiment. The moving tool may be any movable tool, such as a sweeper, a floor cleaning vehicle, a dust suction vehicle, a logistics trolley, etc., and the type of the moving tool is not strictly limited in the present application and is not exhaustive.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. A standing actuating structure, wherein the standing actuating structure is embedded in a body of a vehicle and is mounted on a chassis of the vehicle; the standing executing structure comprises a first base, a pressure bearing mechanism, a telescopic mechanism and a pressure triggering mechanism;
the first base is fixed with a chassis of the vehicle;
the pressure bearing mechanism is positioned above the first base, and the rear end of the pressure bearing mechanism is rotatably connected with the rear end of the first base;
the bottom end of the telescopic mechanism is fixed on the first base, and the top end of the telescopic mechanism abuts against the lower surface of the pressure bearing mechanism;
the pressure trigger mechanism is fixed at the front end of the first base;
when the pressure borne by the pressure bearing mechanism is greater than a preset threshold value, the pressure bearing mechanism compresses the telescopic mechanism and rotates downwards to trigger the pressure trigger mechanism; the pressure activated mechanism sends a signal indicating that the vehicle is switched from an autonomous driving mode to a manual driving mode.
2. The standing execution structure of claim 1, wherein the first base is provided with a column, and the telescopic mechanism is sleeved on the column.
3. A standing performing structure according to claim 1, wherein the pressure bearing means is rotatably connected with the first base by a rotating shaft.
4. The standing execution structure of claim 1, wherein the pressure bearing mechanism is provided with at least one limit pin at the front end; the front end of the first base is provided with limiting grooves with the number corresponding to that of the limiting pins;
each limiting pin at the front end of the pressure bearing mechanism penetrates through a limiting groove at a corresponding position on the first base.
5. The standing exercise structure of claim 1, wherein the pressure bearing plate of the pressure bearing mechanism has at least one hole, each hole having an anti-slip mechanism.
6. A vehicle actuation system, characterized in that the vehicle actuation system is embedded within a body of a vehicle; the vehicle actuation system comprises a standing actuation structure, a speed control structure and a direction control structure according to any one of claims 1 to 5;
a pressure trigger mechanism in the standing execution structure sends a signal for indicating that the vehicle is switched from an automatic driving mode to a manual driving mode to a central processing unit of the vehicle; the central processing unit switches the driving mode of the vehicle to a manual driving mode, and controls the vehicle to travel according to the traveling speed information received from the speed control structure and the direction information received from the direction control structure.
7. The vehicle implement system of claim 6, wherein the speed control structure comprises: the accelerator pedal comprises a second base, an accelerator sensor and a speed control pedal;
the second base is fixed with the front end of the first base of the standing execution structure; the bottom of the second base is provided with a throttle sensor bracket;
the throttle sensor comprises a signal acquisition end and a fixed end, and the fixed end is connected with the throttle sensor bracket;
one end of the speed control pedal is connected with the top of the second base through a second rotating shaft, and the other end of the speed control pedal is connected with a signal acquisition end of the accelerator sensor through a third rotating shaft.
8. The vehicle implement system of claim 7, wherein the speed control pedal comprises: a speed control pedal body and a second anti-slip structure;
one end of the speed control pedal body is connected with the second base, and the other end of the speed control pedal body is connected with the accelerator sensor;
the second anti-slip structure is fixed on the upper surface of the speed control pedal body.
9. The vehicle actuation system of claim 6, wherein the directional control structure comprises: the device comprises a bracket, a rotating shaft bearing seat, an encoder bracket, an encoder, a rotating shaft and a direction control structure;
the bracket is fixed on a box body of the vehicle;
the rotating shaft bearing block is fixed on the bracket;
the encoder bracket is positioned below the rotating shaft bearing seat and is coaxially arranged with the rotating shaft bearing seat;
the encoder is fixed on the encoder bracket;
the bottom end of the rotating shaft extends into the rotating shaft bearing seat to be connected with the encoder;
the direction control structure is fixedly connected with the top end of the rotating shaft.
10. The vehicle implement system of claim 9, wherein the directional control structure further comprises a bi-directional damper;
the bidirectional damper is arranged between the rotating shaft bearing seat and the encoder bracket.
11. A mobile tool, characterized in that it comprises a vehicle actuation system according to any one of claims 6 to 10.
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| CN202121393193.3U CN215851543U (en) | 2021-06-22 | 2021-06-22 | Standing execution structure, vehicle execution system and moving tool |
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| CN202121393193.3U CN215851543U (en) | 2021-06-22 | 2021-06-22 | Standing execution structure, vehicle execution system and moving tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115137491A (en) * | 2022-09-02 | 2022-10-04 | 北京唯迈医疗设备有限公司 | Intervene operation robot main end remote control system and intervene operation robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115137491A (en) * | 2022-09-02 | 2022-10-04 | 北京唯迈医疗设备有限公司 | Intervene operation robot main end remote control system and intervene operation robot system |
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Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |