CN108438092B - Differential energy storage electric control inertial trolley with high steering stability - Google Patents
Differential energy storage electric control inertial trolley with high steering stability Download PDFInfo
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- CN108438092B CN108438092B CN201810376664.6A CN201810376664A CN108438092B CN 108438092 B CN108438092 B CN 108438092B CN 201810376664 A CN201810376664 A CN 201810376664A CN 108438092 B CN108438092 B CN 108438092B
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- gear
- steering
- differential
- energy storage
- trolley
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- 238000004146 energy storage Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 14
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/10—Auxiliary drives directly from oscillating movements due to vehicle running motion, e.g. suspension movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a differential energy storage electric control inertial trolley with high steering stability, which comprises a steering device and a differential device; the steering device comprises a rotating shaft, a steering engine, a front fork, a correction mechanism, a first gear and a second gear, and the differential device comprises a support frame, a differential mechanism, a flywheel, a third gear and an intermediate shaft; the steering engine is arranged on the correction mechanism, the correction mechanism is arranged around the rotating shaft, the first gear is arranged on the rotating shaft and meshed with the second gear, and the second gear is tightly connected with the front fork; the differential mechanism comprises a gear box and at least four bevel gears arranged on the gear box, and a third gear is arranged on a rear wheel shaft; the jackshaft sets up on the gear box and is connected with the bevel gear, and the gear box inlays in the support frame, and the flywheel sets up in the support frame periphery. The invention has the characteristics of stable steering control, low steering energy consumption, more stored energy and the like.
Description
Technical Field
The invention relates to the field of electronic control vehicles, in particular to a differential energy storage electric control inertial trolley with high steering stability.
Background
The inertial trolley is a trolley which is placed on a slope with a certain height to enable the trolley to freely slide downwards and run on a straight road according to the inertia of the trolley, the electric control inertial trolley is a trolley which does not slide downwards from the slope and is provided with a steering engine and detection components controlled by a circuit with a singlechip so as to realize the function of avoiding obstacles in the running of the trolley on the straight road; because the general speed is higher during the sliding down, the steering is required to be controlled well, the trolley is prevented from deviating from the route and even flying out, namely differential speed reduction adjustment is required, the adjustment is supported by energy, the energy storage of the current electronic control inertia trolley is generally direct, namely the differential variation of the rotational kinetic energy of the rear wheel during the sliding down is directly stored in the flywheel, the dissipation of the mode is higher, and the actual stored energy is less than half of the rotational kinetic energy of the rear wheel, so the energy is insufficient for use during the steering control; similarly, the steering control of the trolley is generally performed directly on the front fork by the driving device, and the problem that the steering is unstable due to the fact that the energy transmission is not in place easily occurs in practice because of the fact that the driving performance in the trolley is good or not is not considered.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the differential energy storage electric control inertial trolley with high steering stability, which can store more energy so as to be convenient for stable steering control.
In order to make up the deficiency of the prior art, the invention adopts the technical scheme that:
The differential energy storage electric control inertial trolley with high steering stability comprises a main body, wherein the main body comprises front wheels, front wheel shafts, rear wheels, rear wheel shafts, a frame, a rear vehicle body, a steering device for realizing stable steering of the main body and a differential device for realizing differential energy storage of the main body; the steering device comprises a rotating shaft, a steering engine, a front fork, a correcting mechanism, a first gear and a second gear, wherein the steering engine is used for providing steering driving force, the front fork is used for controlling steering, the correcting mechanism is used for correcting front wheel deflection caused by inaccurate position of the steering engine, the first gear and the second gear are used for driving the front fork to rotate in a matched mode, and the differential device comprises a support frame, a differential mechanism, a flywheel used for storing energy, a third gear and an intermediate shaft, and the third gear and the intermediate shaft are used for transmitting energy in a matched mode;
The steering engine is arranged on the correction mechanism, the correction mechanism is arranged around the rotating shaft, the first gear is arranged on the rotating shaft and meshed with the second gear, and the second gear is tightly connected with the front fork;
The differential mechanism comprises a gear box and at least four bevel gears arranged on the gear box, and the third gear is arranged on a rear wheel shaft; the intermediate shaft is arranged on the gear box and connected with the bevel gear, the gear box is embedded in the supporting frame, and the flywheel is arranged on the periphery of the supporting frame.
Further, the diameter of the second gear is larger than the diameter of the first gear.
Further, the correction mechanism comprises a steering engine mounting plate, a bearing end cover and a bearing seat, wherein the steering engine is arranged on the steering engine mounting plate, and the bearing end cover is arranged below the steering engine mounting plate and is positioned on the bearing seat.
Further, the main body further comprises a ferrule functioning as a bearing positioning, the ferrule being provided on the front wheel.
Further, the main body further comprises a shaft sleeve for preventing the front wheel shaft from falling off, and the shaft sleeve is covered on the outer surface of the front wheel shaft.
Further, the gear box is embedded in the supporting frame in an interference fit mode.
Further, the main body further comprises a flange coupling, and the rear wheel shaft are connected through the flange coupling.
Further, the main body further comprises an infrared sensor for acquiring road obstacle conditions and main body movement conditions in real time, and the infrared sensor is arranged on the frame.
The beneficial effects of the invention are as follows: compared with the prior art, the differential mechanism, the intermediate shaft and the third gear store the rotational kinetic energy of the rear wheel into the flywheel, so that the energy is completely transmitted into the flywheel as much as possible, dissipation of midway transmission is avoided, meanwhile, the transmission mode of the secondary gear is adopted for front fork control, the energy is ensured to be stably transmitted to the front fork, and stable steering control of the front fork is realized; in the improvement, the gear transmission mode is adopted to ensure that energy is stably transmitted according to steps, no matter steering control or energy storage is carried out, stable transmission effect can be obtained, and the gear transmission enables the energy stored by the flywheel to be slowly released, so that better utilization is realized, the release energy is relatively more reasonable, and the energy consumption is lower when the flywheel is used for steering control; in addition, the arrangement of the correction mechanism can further improve the rotation stability of the front wheel. Therefore, the invention has the characteristics of stable steering control, low steering energy consumption, more stored energy and the like.
Drawings
Preferred examples of the present invention will be described below in detail with reference to the accompanying drawings.
FIG. 1 is a top view of a steering device and its peripheral structure of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1B-B;
FIG. 3 is a top view of the differential device and its peripheral structure of the present invention;
Fig. 4 is a cross-sectional view of fig. 3A-a.
Detailed Description
Referring to fig. 1 to 4, the differential energy storage electric control inertial trolley with high steering stability comprises a main body, wherein the main body comprises front wheels 9, a front wheel shaft 25, rear wheels 19, a rear wheel shaft 23, a frame 7, a rear vehicle body 18, a steering device for realizing stable steering of the main body and a differential device for realizing differential energy storage of the main body; the steering device comprises a rotating shaft 10, a steering engine 1 for providing steering driving force, a front fork 11 for controlling steering, a correcting mechanism for correcting the deflection of a front wheel 9 caused by inaccurate position of the steering engine 1, and a first gear 4 and a second gear 5 for cooperatively driving the front fork 11 to rotate, and the differential device comprises a supporting frame 15, a differential mechanism, a flywheel 14 for storing energy, a third gear 22 and an intermediate shaft 21 for cooperatively transmitting energy;
the steering engine 1 is arranged on a correction mechanism, the correction mechanism is arranged around a rotating shaft 10, the first gear 4 is arranged on the rotating shaft 10 and meshed with the second gear 5, and the second gear 5 is tightly connected with the front fork 11;
The differential mechanism comprises a gear box 17 and at least four bevel gears 16 arranged on the gear box 17, and the third gear 22 is arranged on a rear wheel shaft 23; the intermediate shaft 21 is arranged on the gear box 17 and connected with the bevel gear 16, the gear box 17 is embedded in the supporting frame 15, and the flywheel 14 is arranged on the periphery of the supporting frame 15.
Specifically, the power for realizing steering is provided by a steering engine 1, the steering engine drives a first gear 4 mounted on a rotating shaft 10 to rotate, the first gear 4 serves as a driving wheel, then the first gear 4 drives a second gear 5, so that the second gear 5 is driven, and a front fork 11 is driven to rotate, so that steering is realized;
In the present embodiment, four bevel gears 16 are preferably employed, each of which is provided on a gear box 17; when the electric control inertia trolley descends, the two rear wheels 19 respectively drive the third gears 22 arranged on the two rear wheel shafts 23 to rotate, and the two intermediate shafts 21 are driven to rotate through the transmission of the third gears 22, so that the bevel gears 16 connected with the intermediate shafts 21 rotate correspondingly, and then energy is stored on the flywheel 14: and the third gear 22 is also connected with a fourth gear 24 meshed with the third gear, and the fourth gear 24 is fixedly connected with the intermediate shaft 21, so that the transmission performance of the whole trolley can be improved.
The rotational kinetic energy of the rear wheel 19 is stored in the flywheel 14 through the differential mechanism, the intermediate shaft 21 and the third gear 22, so that the energy is completely transmitted into the flywheel 14 as much as possible, dissipation of midway transmission is avoided, meanwhile, the front fork 11 is controlled in a transmission mode of a secondary gear, and stable steering control of the front fork 11 is realized; in the improvement, the gear transmission mode is adopted to stably transmit energy in steps, no matter steering control or energy storage is carried out, stable transmission effect can be obtained, the gear transmission enables the energy stored by the flywheel 14 to be slowly released, better utilization is achieved, the release energy is relatively more reasonable, and the energy consumption is lower when the flywheel is used for steering control; in addition, the provision of the correction mechanism can further improve the rotational stability of the front wheel 9. Therefore, the invention has the characteristics of stable steering control, low steering energy consumption, more stored energy and the like.
Wherein, referring to fig. 2, the diameter of the second gear 5 is larger than the diameter of the first gear 4; the beneficial effect of doing so is that when steering engine 1 rotates certain angle, front fork 11 rotates a subdivision angle correspondingly for front wheel 9 pivoted angle is accurate controllable, so the diameter that second gear 5 set up should be bigger, and first gear 4's one-level transmission only need normal setting can.
Referring to fig. 2, the correction mechanism includes a steering engine mounting plate 2, a bearing end cover 3 and a bearing seat 6, the steering engine 1 is disposed on the steering engine mounting plate 2, and the bearing end cover 3 is disposed below the steering engine mounting plate 2 and is located on the bearing seat 6; the arrangement ensures the safety and stability of the steering engine 1, the bearing arrangement is more convenient and more accurate, the bearing is suitable for assembly, the bearing and the matched parts thereof are generally standard workpieces, the bearing can be finely adjusted at a plurality of positions, and the bearing can be suitable for scientific research or large-scale industrial manufacturing in general.
Wherein, referring to fig. 2, the main body further comprises a ferrule 12 for bearing positioning, and the ferrule 12 is arranged on the front wheel 9.
Wherein, referring to fig. 2, the main body further includes a sleeve 13 for preventing the front axle 25 from falling off, and the sleeve 13 covers the outer surface of the front axle 25.
Referring to fig. 4, the gear box 17 is embedded in the supporting frame 15 in an interference fit manner: by means of an interference fit, an elastic pressure can be generated between the support 15 and the surface of the gear box 17 after assembly, so that a secure coupling is obtained.
Referring to fig. 4, the main body further includes a flange coupling 20, the rear wheel 19 and the rear wheel shaft 23 are connected through the flange coupling 20, and the flange connection has the advantage of high connection stability.
Referring to fig. 2, the main body further includes an infrared sensor 8 for acquiring the condition of road obstacle and the movement condition of the main body in real time, and the infrared sensor 8 is disposed on the frame 7; the infrared sensor 8 is arranged to observe the condition of the main body or the road surface in time, so that an operator can find problems or faults in time conveniently, and of course, preferably, a screen receiver can be arranged at the background control end of the infrared sensor 8, so that the observation is more convenient, such as a mobile phone screen or other screens and the like
While the preferred embodiments and concepts of the invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the foregoing embodiments, and that various equivalent modifications and substitutions may be made without departing from the spirit of the invention, and these equivalent modifications and substitutions are intended to be within the scope of the invention as set forth in the appended claims.
Claims (8)
1. The utility model provides a automatically controlled inertia dolly of differential energy storage that steering stability is high, includes the main part, the main part includes front wheel (9), front axle (25), rear wheel (19), rear axle (23), frame (7) and back automobile body (18), its characterized in that: the main body comprises a steering device for realizing stable steering of the main body and a differential device for realizing differential energy storage of the main body: the steering device comprises a rotating shaft (10), a steering engine (1) for providing steering driving force, a front fork (11) for controlling steering, a correcting mechanism for correcting the deflection of a front wheel (9) caused by inaccurate position of the steering engine (1), and a first gear (4) and a second gear (5) for driving the front fork (11) to rotate in a matching way, and the differential device comprises a supporting frame (15), a differential mechanism, a flywheel (14) for storing energy, a third gear (22) for transmitting energy in a matching way and an intermediate shaft (21);
The steering engine (1) is arranged on the correction mechanism, the correction mechanism is arranged around the rotating shaft (10), the first gear (4) is arranged on the rotating shaft (10) and meshed with the second gear (5), and the second gear (5) is tightly connected with the front fork (11);
The differential mechanism comprises a gear box (17) and at least four bevel gears (16) arranged on the gear box (17), and the third gear (22) is arranged on a rear wheel shaft (23); the intermediate shaft (21) is arranged on the gear box (17) and is connected with the bevel gear (16), the gear box (17) is embedded into the supporting frame (15), and the flywheel (14) is arranged at the periphery of the supporting frame (15); the third gear (22) is also connected with a fourth gear (24) meshed with the third gear, and the fourth gear (24) is fixedly connected with the intermediate shaft (21).
2. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the diameter of the second gear (5) is larger than that of the first gear (4).
3. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the correcting mechanism comprises a steering engine mounting plate (2), a bearing end cover (3) and a bearing seat (6), wherein the steering engine (1) is arranged on the steering engine mounting plate (2), and the bearing end cover (3) is arranged below the steering engine mounting plate (2) and is positioned on the bearing seat (6).
4. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the main body further comprises a ferrule (12) which plays a role in bearing positioning, and the ferrule (12) is arranged on the front wheel (9).
5. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the main body further comprises a shaft sleeve (13) for preventing the front wheel shaft (25) from falling off, and the shaft sleeve (13) is covered on the outer surface of the front wheel shaft (25).
6. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the gear box (17) is embedded in the supporting frame (15) in an interference fit mode.
7. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the main body further comprises a flange coupling (20), and the rear wheel (19) and the rear wheel shaft (23) are connected through the flange coupling (20).
8. The differential energy storage electronically controlled inertial trolley with high steering stability according to claim 1, wherein: the main body further comprises an infrared sensor (8) for acquiring road obstacle conditions and main body movement conditions in real time, and the infrared sensor (8) is arranged on the frame (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810376664.6A CN108438092B (en) | 2018-04-25 | 2018-04-25 | Differential energy storage electric control inertial trolley with high steering stability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810376664.6A CN108438092B (en) | 2018-04-25 | 2018-04-25 | Differential energy storage electric control inertial trolley with high steering stability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108438092A CN108438092A (en) | 2018-08-24 |
| CN108438092B true CN108438092B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810376664.6A Active CN108438092B (en) | 2018-04-25 | 2018-04-25 | Differential energy storage electric control inertial trolley with high steering stability |
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| Country | Link |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2203680Y (en) * | 1994-05-28 | 1995-07-19 | 刘明山 | Differential speed variable speed apparatus for tricycle |
| JPH0880864A (en) * | 1994-09-14 | 1996-03-26 | Shikoku Sogo Kenkyusho:Kk | Vehicle for transfer |
| CN101041363A (en) * | 2007-04-30 | 2007-09-26 | 长安大学 | Steering drive device for caterpillar vehicle |
| CN202418473U (en) * | 2012-01-10 | 2012-09-05 | 张建强 | Mechanical differential drive system |
| CN104976310A (en) * | 2015-06-15 | 2015-10-14 | 重庆工商职业学院 | High-stability adjustable differential transmission system |
| CN208344382U (en) * | 2018-04-25 | 2019-01-08 | 五邑大学 | A kind of automatically controlled inertia trolley of the differential energy storage that steering stability is high |
-
2018
- 2018-04-25 CN CN201810376664.6A patent/CN108438092B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2203680Y (en) * | 1994-05-28 | 1995-07-19 | 刘明山 | Differential speed variable speed apparatus for tricycle |
| JPH0880864A (en) * | 1994-09-14 | 1996-03-26 | Shikoku Sogo Kenkyusho:Kk | Vehicle for transfer |
| CN101041363A (en) * | 2007-04-30 | 2007-09-26 | 长安大学 | Steering drive device for caterpillar vehicle |
| CN202418473U (en) * | 2012-01-10 | 2012-09-05 | 张建强 | Mechanical differential drive system |
| CN104976310A (en) * | 2015-06-15 | 2015-10-14 | 重庆工商职业学院 | High-stability adjustable differential transmission system |
| CN208344382U (en) * | 2018-04-25 | 2019-01-08 | 五邑大学 | A kind of automatically controlled inertia trolley of the differential energy storage that steering stability is high |
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| Publication number | Publication date |
|---|---|
| CN108438092A (en) | 2018-08-24 |
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