Two-degree-of-freedom numerical control wheel-leg mechanism for flat car
A technology with a degree of freedom and a flatbed truck, applied in the field of flatbed trucks, can solve problems such as low mechanical efficiency, high maintenance costs, and high failure rate, and achieve the effects of strong obstacle-crossing ability, improved operating efficiency, and low cost
Pending Publication Date: 2019-05-14
SHANDONG JIAOTONG UNIV
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Problems solved by technology
[0004] The purpose of the present invention is to provide a two-degree-of-freedom numerically controlled wheel-leg mechanism for flatbed vehicles, which can solve the problems of low mechanical efficiency, high failure rate, The problem of high maintenance costs, while having the characteristics of simple mechanism configuration, easy programming control, low manufacturing cost, and strong reconfigurability, can better meet the transportation operations of special dangerous goods such as non-paved roads
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[0020] The technical solutions of the present invention will be further described below through the drawings and embodiments.
[0021] Contrast figure 1 , figure 2 , image 3 , Figure 4 , A two-degree-of-freedom numerically controlled wheel-leg mechanism for flatbed vehicles includes a main arm mechanism, a small arm 8 and a wheel 10.
[0022] Contrast figure 1 , figure 2 , image 3 , Figure 4 The main arm mechanism includes an active rod 2, a connecting rod 4, and a main arm 6. The active rod 2, the connecting rod 4, the main arm 6 and the frame 12 constitute a four-bar mechanism, and one end of the active rod 2 passes through the first The rotating pair 1 is connected to the frame 12, the other end of the active rod 2 is connected to one end of the connecting rod 4 through the second rotating pair 3, and the other end of the connecting rod 4 is connected to the main arm 6 through the third rotating pair 5. The main arm 6 is connected to the frame 12 through the fourth rotatin...
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The invention relates to a two-degree-of-freedom numerical control wheel-leg mechanism for a flat car. The two-degree-of-freedom numerical control wheel-leg mechanism includes a main arm mechanism, asmall arm and a wheel, wherein the main arm mechanism is driven by a servo motor system mounted on a frame; under computer programming, the main arm can be oscillated by a single degree of freedom; the small arm is connected to the main arm through a sliding pair; under impact, the small arm can make axial movement along the main arm; the wheel is mounted on the small arm; and under the control ofcomputer programming, through the coupling movement of the main arm and the small arm, the wheel can realize horizontal and vertical two-degree-of-freedom movement, thereby helping the wheels to cross obstacles and enabling the flat car to have a strong ability to overcome obstacles. The two-degree-of-freedom numerical control wheel-leg mechanism for a flat car replaces the hydraulic system adopted by the existing flat car wheel-leg mechanism by the connecting rod drive, effectively improves the reliability, also significantly reduces the energy consumption, has the advantages of high degreeof intelligence, high reconstruction capability, and quick dynamic response, and is very suitable for manufacturing light-duty flat car robots.
Description
Technical field [0001] The invention relates to the field of flatbed vehicles, in particular to a two-degree-of-freedom numerical control wheel-leg mechanism for flatbed vehicles. Background technique [0002] Flatbed truck is a kind of engineering transportation vehicle mainly used to load and unload large and heavy non-removable goods. Because it adopts road transportation, it does not need to lay special tracks. It has the characteristics of low cost and high transportation efficiency. It can be loaded compared with other types of vehicles of the same specification. More goods, so it is widely used in airports, ports, railway stations, factories and large warehouses, and is favored by transportation units. However, in the process of engineering application, the existing flatbed trucks also have many engineering technical problems. First, most of the existing flatbed trucks do not have the ability to overcome obstacles, and it is difficult to meet the requirements of non-paved ...
Claims
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Inventor张林吴承格王磊周浩
OwnerSHANDONG JIAOTONG UNIV