CN211676275U - Annular S-track carbon-free trolley - Google Patents

Abstract

The utility model provides an annular S-track carbon-free trolley, which comprises a bottom plate, a driving wheel, a driven wheel, a guide wheel, a power mechanism, a transmission mechanism and a steering mechanism; the power mechanism is connected with the bottom plate and the driving wheel and is in transmission connection with the steering mechanism through the transmission mechanism; the steering mechanism is connected with the guide wheel; the driven wheel is pivoted with the bottom plate. The utility model discloses a carbon-free dolly in annular S orbit, its simple structure, kinematic chain are short, compact structure and motion accuracy are high.

Description

Circular S-track carbon-free trolley

technical field

The utility model relates to the field of carbon-free trolleys, in particular to an annular S-track carbon-free trolley.

Background technique

The gravitational potential energy carbon-free trolley is a rear-wheel-driven three-wheeled trolley with gravitational potential energy as the only energy and continuous obstacle avoidance function. Based on the conversion principle, we independently designed and produced a carbon-free potential energy driven vehicle with directional control function. The given gravitational potential energy is obtained by a uniformly provided standard weight with a mass of 1 kg. Standard weights are always carried by the potential energy driven vehicle and are not allowed to fall from the potential energy driven vehicle. The accuracy of the motion trajectory of the carbon-free trolley with the annular S-shaped trajectory mainly depends on the steering mechanism. If the trajectory accuracy is not maintained during the motion of the trolley, the error will increase with the motion process.

The trajectory of the existing carbon-free trolley is generally along a single 8-shaped trajectory, a double 8-shaped trajectory, a straight S trajectory, or a circular S trajectory during the walking process. Usually, a sinusoidal steering mechanism is used, but some have complex structures and are difficult to process. It is difficult and the corresponding cost is relatively high; some adjustment accuracy is not very high, and cannot meet the requirements of period and amplitude; some mechanisms are relatively cumbersome, which not only increases the quality of the car itself, but also increases the energy loss during the movement process, making the It can't finish the game.

The existing carbon-free trolleys are mostly made of steel, plastic and other materials. The frictional force between the carbon-free trolley and the ground is very large when walking, so the trolley cannot travel very far and cannot pass many obstacles during competition.

The steering mechanism is a key component for the carbon-free trolley to achieve the expected trajectory operation. The steering mechanism of the existing carbon-free trolley mainly includes a crank-rocker mechanism, a crank-slider mechanism, a sheave mechanism, etc. The steering mechanism is the most important part of the trolley structure. , The pros and cons of the design of the steering mechanism determine whether the trolley can complete obstacle avoidance so as to achieve a complete route of walking.

At present, there is still a lack of a carbon-free trolley with a simple structure, high motion accuracy, and an expected circular S trajectory.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies in the prior art, the present invention provides an annular S-track carbon-free trolley, which has a simple structure, a short kinematic chain, a compact structure and high motion accuracy.

In order to achieve the above purpose, the present utility model provides an annular S-track carbon-free trolley, comprising a bottom plate, a driving wheel, a driven wheel, a guide wheel, a power mechanism, a transmission mechanism and a steering mechanism; the power mechanism The bottom plate and the driving wheel are connected and connected with the steering mechanism through the transmission mechanism; the steering mechanism is connected with the guide wheel; the driven wheel is pivotally connected with the bottom plate; the steering mechanism includes a Special-shaped cam, a sliding rod, a slider, a guide rail, a fork, a guide wheel support and a guide wheel support; the special-shaped cam is connected with the transmission mechanism, and the inner wall of the special-shaped cam a guide groove; the first end of the sliding rod forms a protruding head, and the protruding head can be slidably inserted into the guiding groove along the guiding groove; the second end of the sliding rod is connected to the The sliding block, the middle part of the sliding rod forms a connecting through groove; the guide rail and the guide wheel bracket are fixed on the bottom plate; the sliding block can be slidably erected on the guide rail along the guide rail; the The guide wheel is pivotally connected to the guide wheel bracket through the guide wheel support and fixedly connected to the first end of the fork; the second end of the fork forms a fork groove, and the sliding rod is partially inserted in the fork. in the fork slot; the second end portion of the fork is inserted into the connection through slot.

Preferably, the power mechanism includes a weight, a weight support, at least one weight support pulley, a wire and a bobbin; the weight support is fixed on the bottom plate, and the wire rope is erected on the the weight support pulley, and the first end of the wire rope is connected to the weight, and the second end of the wire rope is wound on the bobbin; the bobbin is installed on the first support, the wind The first end of the bobbin is circumferentially fixed to the driving wheel, and the second end of the bobbin is pivotally connected to the first bracket.

Preferably, the center of gravity of the weight and the center of mass of the annular S-track carbon-free trolley are on the same line.

Preferably, the transmission mechanism includes a first driving gear, a first driven gear, a speed change shaft, a second driving gear, a second driven gear and a steering shaft; the first driving gear passes through fixed on the winding shaft; the speed change shaft is mounted on the second bracket, the first end of the speed change shaft is connected to the first driven gear, the first driven gear meshes with the first driving gear, the The second end of the shifting shaft is connected to the second driving gear; the steering shaft is mounted on a third bracket, the first end of the steering shaft is pivotally connected to the third bracket, and the second end of the steering shaft is connected the second driven gear meshes with the second driving gear; the special-shaped cam is penetrated on the steering shaft and fixed to the steering shaft in the circumferential and axial directions.

Preferably, the transmission ratio of the first driven gear to the first driving gear is 1:4; the transmission ratio of the second driven gear to the second driving gear is 1:4.

The utility model has the following beneficial effects due to the adoption of the above technical solutions:

The steering mechanism can control the steering of the guide wheel through the cooperation of the special-shaped cam, the sliding rod and the fork; and the steering mechanism is simple in structure, short in motion chain, compact in structure and high in motion accuracy. The powertrain is used to power the trolley.

Description of drawings

Fig. 1 is the structural schematic diagram of the first direction of the annular S-track carbon-free trolley according to the embodiment of the present utility model;

Fig. 2 is the structural schematic diagram of the second direction of the annular S-track carbon-free trolley according to the embodiment of the present utility model;

FIG. 3 is a schematic structural diagram of a sliding rod according to an embodiment of the present invention.

Detailed ways

The preferred embodiments of the present utility model are given below according to the accompanying drawings 1 to 3 and described in detail, so that the functions and characteristics of the present utility model can be better understood.

Please refer to FIGS. 1 to 3 , an annular S-track carbon-free trolley according to an embodiment of the present utility model includes a bottom plate 1 , a driving wheel 2 , a driven wheel 3 , a guide wheel 7 , a power mechanism 4 , and a transmission Mechanism 5 and a steering mechanism 6; the power mechanism 4 is connected with the base plate 1 and the driving wheel 2 and is connected with the steering mechanism 6 through the transmission mechanism 5; the steering mechanism 6 is connected with the guide wheel 7; the driven wheel 3 is pivoted with the base plate 1; the steering mechanism 6 It includes a special-shaped cam 61, a sliding rod 62, a slider 63, a guide rail 64, a fork 65, a guide wheel support 66 and a guide wheel support 67; A guide groove 611 is formed on the outside of the inner wall of 61; a convex head 622 is formed at the first end of the sliding rod 62, and the convex head 622 can be slidably inserted into the guiding groove 611 along the guiding groove 611; The end is connected to the sliding block 63, and the middle of the sliding rod 62 forms a connecting through groove 621; the guide rail 64 and the guide wheel bracket 66 are fixed on the bottom plate 1; the sliding block 63 can slide along the guide rail 64 and is erected on the guide rail 64; The support 67 is pivotally connected with the guide wheel bracket 66 and is fixedly connected to the first end of the fork 65; the second end of the fork 65 forms a fork groove 651, and the sliding rod 62 is partially inserted in the fork groove 651; The second end portion is inserted into the connecting through groove 621 .

The power mechanism 4 includes a weight 41, a weight support 42, at least one weight support pulley 43, a wire 44 and a winding shaft 45; the weight support 42 is fixed on the bottom plate 1, and the wire rope 44 is erected on the weight support pulley 43, and the first end of the wire rope 44 is connected to the weight 41, and the second end of the wire rope 44 is wound on the spool 45; 2. The circumferential direction is fixed, and the second end of the winding shaft 45 is pivotally connected to the first bracket 11 .

The center of gravity of the weight 41 is on the same line as the center of mass of the annular S-track carbonless trolley.

In this embodiment, the transmission mechanism 5 includes a first driving gear 51, a first driven gear 52, a speed change shaft 53, a second driving gear 54, a second driven gear 55 and a steering shaft 56; A driving gear 51 is penetrated and fixed on the winding shaft 45 ; the speed change shaft 53 is installed on the second bracket 12 , the first end of the speed change shaft 53 is connected to the first driven gear 52 , and the first driven gear 52 meshes with the first driving gear 51 , the second end of the shift shaft 53 is connected to the second driving gear 54; the steering shaft 56 is mounted on the third bracket 13, the first end of the steering shaft 56 is pivotally connected to the third bracket 13, and the second end of the steering shaft 56 is connected to the second The driven gear 55, the second driven gear 55 meshes with the second driving gear 54; the special-shaped cam 61 is passed through the steering shaft 56 and fixed to the steering shaft 56 in the circumferential and axial directions.

The transmission ratio of the first driven gear 52 to the first driving gear 51 is 1:4; the transmission ratio of the second driven gear 55 to the second driving gear 54 is 1:4; and the total transmission ratio is 1:16.

The material of the bottom plate 1, the driving wheel 2 and the driven wheel 3 is plexiglass, which has sufficient strength and light weight. The bottom plate 1 is used for supporting, fixing and connecting the transmission mechanism 5 , the steering mechanism 6 and the power mechanism 4 .

According to an annular S-track carbon-free trolley of the embodiment of the present invention, the driving wheel 2 pushes the trolley forward; the driven wheel 3 follows the movement; the guide wheel 7 is responsible for guiding; The mechanism is simple and the disassembly is convenient. The special-shaped cam 61 is used as the core of the steering mechanism 6, which is responsible for changing the traveling trajectory of the entire trolley. Specifically, the protruding head 622 on the sliding rod 62 is inserted into the guide groove 611. With the rotation of the special-shaped cam 61, the protruding head 622 of the sliding rod 62 slides along the guiding groove 611, and simultaneously the protruding head 622 of the sliding rod 62 slides along the guiding groove 611. 622 drives the slide bar 62 and the slider 63 to move forward and backward along the guide rail 64, and the slide bar 62 drives the shift fork 65 to turn left and right around the shaft pivoted by the guide wheel support 67 and the guide wheel support 66, thereby realizing the purpose of turning the whole vehicle.

In an annular S-track carbon-free trolley of the embodiment of the present invention, the winding shaft 45, the shifting shaft 53, and the steering shaft 56 are respectively connected with their respective brackets through bearings, which reduces friction and stabilizes the rotational speed. The steering shaft 56 and the special-shaped cam 61 are circumferentially fixed by key connection, the special-shaped cam 61 is axially fixed by the shoulder of the steering shaft 56 and the nut, and the first driving gear 51 and the winding shaft 45 are axially fixedly connected by screws. The center of gravity of the weight 41 passes through the center of mass of the entire trolley, and is limited in the weight bracket 42 during the falling process. When the weight 41 falls, the first driving gear 51 and the winding shaft 45 are driven to rotate by the wire rope 44, and the winding shaft 45 rotates. Drive the driving wheel 2 forward, the first driving gear 51 fixedly connected with the winding shaft 45 drives the first driven gear 52 to rotate, the first driven gear 52 drives the speed change shaft 53 to rotate, and the speed change shaft 53 drives the second drive gear 54 to rotate, The second driving gear 54 drives the second driven gear 55 to rotate, the second driven gear 55 drives the steering shaft 56 to rotate, and the steering shaft 56 drives the special-shaped cam 61 to rotate. The convex head 622 on the 62 is inserted into the guide groove 611. With the rotation of the special-shaped cam 61, the radius of the special-shaped cam 61 is constantly changing, so that the convex head 622 of the sliding rod 62 slides along the guiding groove 611, and the convex head 622 of the sliding rod 62 slides along the guide groove 611. The head 622 drives the sliding rod 62 and the sliding block 63 to move back and forth along the guide rail 64, and the sliding rod 62 drives the fork 65 to turn left and right around the shaft pivoted by the guide wheel support 67 and the guide wheel support 66, thereby realizing the purpose of turning the whole vehicle, out of the preset track.

The present invention has been described in detail above with reference to the embodiments of the accompanying drawings, and those of ordinary skill in the art can make various modifications to the present invention according to the above description. Therefore, some details in the embodiments should not be construed to limit the present invention, and the present invention will take the scope defined by the appended claims as the protection scope of the present invention.

Claims (5)

1. An annular S-track carbon-free trolley is characterized in that, comprising a base plate, a driving wheel, a driven wheel, a guide wheel, a power mechanism, a transmission mechanism and a steering mechanism; the power mechanism connects the The bottom plate and the driving wheel are connected with the steering mechanism through the transmission mechanism; the steering mechanism is connected with the guide wheel; the driven wheel is pivotally connected with the bottom plate; the steering mechanism includes a special-shaped cam, A sliding rod, a sliding block, a guide rail, a fork, a guide wheel support and a guide wheel support; the special-shaped cam is connected with the transmission mechanism, and a guide groove is formed on the outer side of the inner wall of the special-shaped cam ; The first end of the sliding rod forms a protruding head, and the protruding head can be slidably inserted into the guiding groove along the guiding groove; the second end of the sliding rod is connected to the sliding block , the middle part of the sliding rod forms a connecting through groove; the guide rail and the guide wheel bracket are fixed on the bottom plate; the sliding block can be slidably erected on the guide rail along the guide rail; the guide wheel passes through The guide wheel support is pivotally connected to the guide wheel support and fixedly connected to the first end of the fork; the second end of the fork forms a fork groove, and the sliding rod is partially inserted into the fork The second end portion of the fork is inserted into the connecting through groove. 2 . The annular S-track carbon-free trolley according to claim 1 , wherein the power mechanism comprises a weight, a weight support, at least one weight support pulley, a wire and a spool; 2 . The weight support is fixed on the bottom plate, the wire rope is erected on the weight support pulley, the first end of the wire rope is connected to the weight, and the second end of the wire rope is wound around the weight The winding shaft is mounted on the first bracket, the first end of the winding shaft is circumferentially fixed to the driving wheel, and the second end of the winding shaft is pivotally connected to the first bracket. 3 . The annular S-track carbon-free trolley according to claim 2 , wherein the center of gravity of the weight and the mass center of the annular S-track carbon-free trolley are on the same straight line. 4 . 4. The annular S-track carbon-free trolley according to claim 2, wherein the transmission mechanism comprises a first driving gear, a first driven gear, a speed change shaft, a second driving gear, a first driving gear Two driven gears and a steering shaft; the first driving gear is penetrated and fixed on the winding shaft; the speed change shaft is mounted on the second bracket, and the first end of the speed change shaft is connected to the first driven gear, so The first driven gear meshes with the first driving gear, and the second end of the transmission shaft is connected to the second driving gear; the steering shaft is mounted on the third bracket, and the first end of the steering shaft is connected to the second driving gear. The third bracket is pivotally connected, the second end of the steering shaft is connected to the second driven gear, and the second driven gear meshes with the second driving gear; the special-shaped cam is penetrated through the The steering shaft is fixed circumferentially and axially with the steering shaft. 5 . The annular S-track carbon-free trolley according to claim 4 , wherein the transmission ratio of the first driven gear and the first driving gear is 1:4; the second driven gear and the The transmission ratio of the second driving gear is 1:4.

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