CN113230669A - Carbon-free potential energy trolley running track control method - Google Patents
Carbon-free potential energy trolley running track control method Download PDFInfo
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- CN113230669A CN113230669A CN202110618766.6A CN202110618766A CN113230669A CN 113230669 A CN113230669 A CN 113230669A CN 202110618766 A CN202110618766 A CN 202110618766A CN 113230669 A CN113230669 A CN 113230669A
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- carbon
- potential energy
- free potential
- trolley
- energy trolley
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/08—Driving mechanisms actuated by balls or weights
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H31/00—Gearing for toys
- A63H31/08—Gear-control mechanisms; Gears for imparting a reciprocating motion
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- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a carbon-free potential energy trolley running track control method, which comprises the following steps: 1) a micro-drum is arranged between the cam and the front wheel push rod; 2) running the carbon-free potential energy trolley, judging whether to adjust the running track when the front wheel of the carbon-free potential energy trolley runs for a quarter of a circle, if so, adjusting the contact distance between the push rod and the cam through the micro-cylinder, and then performing step 3); if not, directly performing 3); 3) resetting the carbon-free potential energy trolley, judging whether to adjust the departure position of the carbon-free potential energy trolley according to the route of the first circle of the track, and if not, quitting track control; if yes, determining the departure position of the carbon-free potential energy trolley again and then performing 4); 4) and re-driving the carbon-free potential energy trolley to run, finely adjusting the micro-drum again, and correcting the running track of the front wheel of the carbon-free potential energy trolley in the second half of running till the whole regulation and control of the running track of the carbon-free potential energy trolley is completed. The invention can accurately control the running track of the carbon-free trolley.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, relates to a method for controlling the running track of a carbon-free potential energy trolley, and particularly relates to a method for controlling the running track of a carbon-free potential energy trolley driven by a cam as a front wheel.
Background
With the continuous development of social economy, the problems of environmental pollution and energy shortage become more serious. Creating an environmentally friendly social development model becomes an indispensable prerequisite for sustainable health development in various countries. Therefore, the 'continuously promoting atmospheric pollution control, perfecting atmospheric environmental management system and deploying pollution control' is still one of the important contents of 2020 environmental protection policies. The sampling survey of the national statistical bureau shows that the cognition degree of the citizens in China on the low-carbon life is high, the low-carbon life style is gradually formed, the low-carbon economy is thriving, most of the citizens are willing to select the consumption habit and the living habit with relatively low energy consumption, and a good market foundation is laid for the future release and application of the carbon-free trolley. Compared with the traditional energy automobile, the carbon-free trolley has the characteristics of being cleaner, more efficient, more energy-saving and more environment-friendly, and is widely applied to life, so that the carbon-free trolley is not only a realistic choice facing the problems of environmental pollution and energy shortage, but also an inevitable choice for creating an environment-friendly social development mode. At present, the carbon-free vehicle is still a new object for China, is in an exploration stage, and needs continuous efforts for wide application in the market.
The existing carbon-free trolley, such as the one disclosed in the invention with the publication number of 201711376739.2, has a common carbon-free trolley which can move in a closed 8 shape and comprises a bottom plate, a stand column, a front wheel and a rear wheel; the upright posts are vertically arranged on the bottom plate; the front wheel is connected to the middle position of the front end of the bottom plate in a swinging way through the adjusting frame, and a steering mechanism which can steer the front wheel by pushing the adjusting frame to swing is arranged on the bottom plate at a position corresponding to the adjusting frame; two rear wheels are arranged on two sides of the rear end of the bottom plate through a rear shaft; the upright post is provided with a driving device which drives the rear wheel to rotate through gravitational potential energy and drives the front wheel to turn through a steering mechanism so as to lead the carbon-free trolley to walk to close an 8-shaped track. Although the invention can walk more '8' characters, has stable advancing process and convenient adjusting function, and can generate more tracks for passing piles, the precision of controlling the swing of the front wheel by the cam is insufficient, and the accurate running track of the carbon-free trolley is difficult to adjust and control.
For another example, the utility model with patent number 201920492683.5 discloses a double-cam push rod steering type S-shaped carbon-free trolley, which comprises a whole frame, a power mechanism, a transmission mechanism and a steering mechanism. The carbon-free trolley adopts a double-cam push rod type steering mechanism to perform regular steering on a trolley driving path, and the cam push rods on the two sides are in matched contact movement and are mutually constrained, so that the symmetry of the trolley driving path can be ensured; in the mode of combining the sleeves, the included angle between the two push rods can be changed, and the distance between the two cams is matched, so that the parameters of the running path of the trolley are changed. In a similar way, the carbon-free trolley also adopts a bidirectional cam mode to drive the front wheel to swing and move along a certain track, but the swinging precision of the front wheel is also insufficient, so that the carbon-free trolley is difficult to realize relatively accurate front wheel control and further fails to realize the accurate running track of the carbon-free trolley.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a carbon-free potential energy trolley running track control method capable of accurately controlling the running track of a carbon-free trolley.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for controlling the running track of a carbon-free potential energy trolley is characterized by comprising the following steps: the carbon-free potential energy trolley running track control method comprises the following steps:
1) a micro-drum is arranged between the cam and the front wheel push rod;
2) driving the carbon-free potential energy trolley to run under the action of potential energy, checking the running track of the front wheel of the carbon-free potential energy trolley when the front wheel of the carbon-free potential energy trolley runs for a quarter of a circle, judging whether the running track of the front wheel needs to be adjusted, if so, greatly adjusting the micro-cylinder, and performing the step 3 after the micro-cylinder retracts or extends to adjust the contact distance between the push rod and the cam; if not, directly performing the step 3);
3) resetting the carbon-free potential energy trolley, judging whether to adjust the departure position of the carbon-free potential energy trolley or not according to the route of the first circle of the track of the carbon-free potential energy trolley driven to run by the potential energy in the step 2), and if not, exiting the track control; if yes, re-determining the departure position of the carbon-free potential energy trolley, and then performing the step 4);
4) and (3) the carbon-free potential energy trolley is driven to run again under the action of potential energy, the micro-cylinders are finely adjusted again, and the running track of the front wheel of the carbon-free potential energy trolley in the second half of running is corrected until the whole regulation and control of the running track of the carbon-free potential energy trolley are completed.
Preferably, the invention adjusts the contact distance of the push rod and the cam by retracting or extending the micro-cylinder in the step 2) with a fine adjustment interval of 0.5 mm.
Preferably, in the invention, in the step 3), when the departure position is adjusted, the moving distance interval of the carbon-free potential energy trolley is 20 mm.
Preferably, in step 4), the fine pitch of the fine tuning micro-cylinder is 0.01 mm.
Preferably, the method further comprises the step of performing simulation optimization on the cam before the micro-drum is arranged between the cam and the front wheel push rod in the step 1).
Preferably, the specific implementation manner of the simulation optimization of the cam in the invention is as follows: and simulating the running track of the carbon-free potential energy trolley by utilizing SolidWorks software, extracting running track points of the carbon-free potential energy trolley by utilizing MATLAB, and performing relational iterative optimization to complete the calculation and derivation of the cam.
The invention has the advantages that:
the invention provides a carbon-free potential energy trolley running track control method, which comprises the following steps that 1) a micro-drum is arranged between a cam and a front wheel push rod; 2) driving the carbon-free potential energy trolley to run under the action of potential energy, checking the running track of the front wheel of the carbon-free potential energy trolley when the front wheel of the carbon-free potential energy trolley runs for a quarter of a circle, judging whether the running track of the front wheel needs to be adjusted, if so, greatly adjusting the micro-cylinder, and performing the step 3 after the micro-cylinder retracts or extends to adjust the contact distance between the push rod and the cam; if not, directly performing the step 3); 3) resetting the carbon-free potential energy trolley, judging whether to adjust the departure position of the carbon-free potential energy trolley or not according to the route of the first circle of the track of the carbon-free potential energy trolley driven to run by the potential energy in the step 2), and if not, exiting the track control; if yes, re-determining the departure position of the carbon-free potential energy trolley, and then performing the step 4); 4) and (3) the carbon-free potential energy trolley is driven to run again under the action of potential energy, the micro-cylinders are finely adjusted again, and the running track of the front wheel of the carbon-free potential energy trolley in the second half of running is corrected until the whole regulation and control of the running track of the carbon-free potential energy trolley are completed. The track fine adjustment is realized through the contact distance between the push rod and the cam, so that the track route of the front wheel ensures the accuracy and the stability of the motion track of the carbon-free trolley, particularly the front wheel, and meanwhile, the direction of the comprehensive track of the carbon-free trolley is calibrated through the fine adjustment of the micro-drum to the inclined push type push rod, so that the adjustment of the carbon-free trolley is more accurate, the running stability of the trolley is enhanced, and the running track of the carbon-free trolley can be accurately controlled.
Detailed Description
The invention provides a carbon-free potential energy trolley running track control method, which comprises the following steps:
1) a micro-drum is arranged between the cam and the front wheel push rod; preferably, before the micro-cylinder is arranged between the cam and the front wheel push rod, simulation optimization is carried out on the cam, specifically, running tracks of the carbon-free potential energy trolley are simulated by utilizing SolidWorks software, running track points of the carbon-free potential energy trolley are extracted by utilizing MATLAB, and the calculation derivation of the cam is completed by carrying out relational iterative optimization.
2) Driving the carbon-free potential energy trolley to run under the action of potential energy, checking the running track of the front wheel of the carbon-free potential energy trolley when the front wheel of the carbon-free potential energy trolley runs for a quarter of a circle, judging whether the running track of the front wheel needs to be adjusted, if so, greatly adjusting the micro-cylinder, and performing step 3 after the micro-cylinder retracts or extends out and the contact distance between the push rod and the cam is adjusted by a fine adjustment interval of 0.5 mm; if not, directly performing the step 3);
3) resetting the carbon-free potential energy trolley, judging whether to adjust the departure position of the carbon-free potential energy trolley or not according to the route of the first circle of the track of the carbon-free potential energy trolley driven to run by the potential energy in the step 2), and if not, exiting the track control; if yes, re-determining the departure position of the carbon-free potential energy trolley, and then performing the step 4); when the departure position is adjusted, the moving distance interval of the carbon-free potential energy trolley is 20 mm.
4) And (3) under the action of potential energy, the carbon-free potential energy trolley is driven to run again, the micro-cylinders are finely adjusted again, the fine adjustment distance of the micro-cylinders is 0.01mm, and the running track of the front wheel of the carbon-free potential energy trolley in the second half-circle of running is corrected until the whole regulation and control of the running track of the carbon-free potential energy trolley are completed.
In order to control the motion trail of the carbon-free trolley, particularly the front wheel, the invention adopts the contact distance between the push rod and the cam to realize the fine adjustment of the trail, thereby ensuring the accuracy and the stability of the motion trail of the carbon-free trolley, particularly the front wheel, of the trail route of the front wheel. Meanwhile, a micro-drum is adopted; the micro-drum drives the push rod to move along the axial direction of the micro-drum. The micro-tube calibrates the direction of the comprehensive track of the carbon-free trolley by fine adjustment of the inclined push-type push rod, so that the adjustment of the carbon-free trolley is more accurate, and the running stability of the trolley is enhanced.
The working process of the invention is as follows: when the car is sent out, the weight is located the top, has the potential energy of gravity of certain height, along with the whereabouts of weight, turns into the kinetic energy that the dolly gos forward with the potential energy of gravity of weight. In the running process of the trolley, the weight has a downward falling speed, and after the forward speed along with the same direction of the trolley falls to the lowest point along with the weight, the gravitational potential energy of the weight is consumed completely, and the trolley stops energy conversion, so that the trolley stops. When the motion trajectory of the invention needs to be controlled, the micro-drum is screwed clockwise, the numerical value of the micro-drum is increased, the micro-drum is moved out towards the push rod along the axial direction of the micro-drum, the front half section of the micro-drum is deviated towards the direction of the cam through the push rod, the distance between the push rod and the cam is reduced, and the cam drives and enhances the trajectory correction of the front wheel in the rotating process. The micro-drum is screwed anticlockwise, the numerical value of the micro-drum is reduced, the micro-drum retracts towards the push rod along the axial direction of the micro-drum, the front half section of the micro-drum deviates in the direction away from the cam through the push rod, the distance between the push rod and the cam is increased, and the cam drives and weakens the track correction of the front wheel in the rotating process.
The technical scheme provided by the invention is explained in detail by taking the first circle as a double 8-track as an example:
the first stage is as follows: and (3) roughly adjusting the micro-drum, wherein the value of the micro-drum is increased, the micro-adjusting mechanism moves outwards, the front half track can obviously deviate towards the direction of the outer wall, when the departure track at the initial position is obviously close to the central line of the racing field, the micro-adjusting mechanism moves outwards, namely the value of the micro-adjusting mechanism is increased, the track can be deflected to be positive, and otherwise, the track retracts inwards.
And a second stage: and adjusting the departure position, wherein the departure position moves forwards, and the quarter-turn track is close to the outer side wall. When the track after departure is obviously close to the midline side, the departure position moves forwards, so that the track can deviate towards the outer side, otherwise, the departure position moves backwards.
And a third stage: and the fine adjustment micro-cylinder is used for observing whether the line is deflected to the right when passing through the track center for the second time, if the track is deflected to the left, the turning angle of the trolley is insufficient to turn right, the fine adjustment mechanism is retracted inwards, and the right turning amplitude is increased, so that the deflection of the track passing through the center by the second half circle is realized.
Claims (6)
1. A method for controlling the running track of a carbon-free potential energy trolley is characterized by comprising the following steps: the carbon-free potential energy trolley running track control method comprises the following steps:
1) a micro-drum is arranged between the cam and the front wheel push rod;
2) driving the carbon-free potential energy trolley to run under the action of potential energy, checking the running track of the front wheel of the carbon-free potential energy trolley when the front wheel of the carbon-free potential energy trolley runs for a quarter of a circle, judging whether the running track of the front wheel needs to be adjusted, if so, greatly adjusting the micro-cylinder, and performing the step 3 after the micro-cylinder retracts or extends to adjust the contact distance between the push rod and the cam; if not, directly performing the step 3);
3) resetting the carbon-free potential energy trolley, judging whether to adjust the departure position of the carbon-free potential energy trolley or not according to the route of the first circle of the track of the carbon-free potential energy trolley driven to run by the potential energy in the step 2), and if not, exiting the track control; if yes, re-determining the departure position of the carbon-free potential energy trolley, and then performing the step 4);
4) and (3) the carbon-free potential energy trolley is driven to run again under the action of potential energy, the micro-cylinders are finely adjusted again, and the running track of the front wheel of the carbon-free potential energy trolley in the second half of running is corrected until the whole regulation and control of the running track of the carbon-free potential energy trolley are completed.
2. The carbon-free potential energy trolley running track control method according to claim 1, characterized by comprising the following steps: and in the step 2), the contact distance between the push rod and the cam is adjusted by retracting or extending the micro-cylinder at a fine adjustment interval of 0.5 mm.
3. The carbon-free potential energy trolley running track control method as claimed in claim 2, characterized in that: in the step 3), when the departure position is adjusted, the moving distance interval of the carbon-free potential energy trolley is 20 mm.
4. The carbon-free potential energy trolley running track control method as claimed in claim 3, characterized in that: in the step 4), the fine adjustment pitch of the fine adjustment micro-cylinder is 0.01 mm.
5. The method for controlling the running track of the carbon-free potential energy trolley as claimed in any one of claims 1 to 4, wherein the method comprises the following steps: the method for optimizing the cam simulation in the step 1) further comprises a step of optimizing the cam simulation before the micro-drum is arranged between the cam and the front wheel push rod.
6. The carbon-free potential energy trolley running track control method as claimed in claim 5, characterized in that: the specific implementation mode for carrying out simulation optimization on the cam is as follows: and simulating the running track of the carbon-free potential energy trolley by utilizing SolidWorks software, extracting running track points of the carbon-free potential energy trolley by utilizing MATLAB, and performing relational iterative optimization to complete the calculation and derivation of the cam.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110618766.6A CN113230669B (en) | 2021-06-03 | 2021-06-03 | Carbon-free potential energy trolley running track control method |
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| CN202110618766.6A CN113230669B (en) | 2021-06-03 | 2021-06-03 | Carbon-free potential energy trolley running track control method |
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| CN113230669A true CN113230669A (en) | 2021-08-10 |
| CN113230669B CN113230669B (en) | 2023-02-03 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204352544U (en) * | 2015-01-13 | 2015-05-27 | 东北大学秦皇岛分校 | The carbon-free trolley that a kind of travel track is adjustable |
| CN204864955U (en) * | 2015-08-04 | 2015-12-16 | 王娅军 | Seek mark toy car |
| CN110496401A (en) * | 2019-08-05 | 2019-11-26 | 三峡大学 | The trolley and cam derivation method of variable-distance track route are carried out using cam |
| CN210384836U (en) * | 2019-07-10 | 2020-04-24 | 江汉大学 | Fine-adjustable steering mechanism of double-8-shaped carbon-free trolley |
| CN111870969A (en) * | 2020-07-24 | 2020-11-03 | 三峡大学 | Carbon-free trolley track burning device and method |
| CN111991818A (en) * | 2020-08-25 | 2020-11-27 | 江汉大学 | High-precision Stirling track trolley |
| CN212974162U (en) * | 2020-08-25 | 2021-04-16 | 江汉大学 | S-track trolley capable of ensuring precision |
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2021
- 2021-06-03 CN CN202110618766.6A patent/CN113230669B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204352544U (en) * | 2015-01-13 | 2015-05-27 | 东北大学秦皇岛分校 | The carbon-free trolley that a kind of travel track is adjustable |
| CN204864955U (en) * | 2015-08-04 | 2015-12-16 | 王娅军 | Seek mark toy car |
| CN210384836U (en) * | 2019-07-10 | 2020-04-24 | 江汉大学 | Fine-adjustable steering mechanism of double-8-shaped carbon-free trolley |
| CN110496401A (en) * | 2019-08-05 | 2019-11-26 | 三峡大学 | The trolley and cam derivation method of variable-distance track route are carried out using cam |
| CN111870969A (en) * | 2020-07-24 | 2020-11-03 | 三峡大学 | Carbon-free trolley track burning device and method |
| CN111991818A (en) * | 2020-08-25 | 2020-11-27 | 江汉大学 | High-precision Stirling track trolley |
| CN212974162U (en) * | 2020-08-25 | 2021-04-16 | 江汉大学 | S-track trolley capable of ensuring precision |
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| CN113230669B (en) | 2023-02-03 |
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