A field-adjustable spliced ​​cam trolley device and method

Abstract

The present invention provides a field-adjustable spliced ​​cam trolley device and method, comprising a frame, a power input pulley, a transmission mechanism, a steering mechanism, a fine-tuning mechanism, a trajectory correction mechanism, a clutch mechanism, and a pile-pushing mechanism. The power input pulley cooperates with the steering mechanism through the transmission mechanism, the transmission mechanism is fixed to the frame, the fine-tuning mechanism is mounted on the steering mechanism, the trajectory correction mechanism is mounted on the front end of the steering mechanism, the clutch mechanism is mounted on the frame, and the pile-pushing mechanism is mounted on the front end of the frame. This method allows for simple and rapid production of the cam components required for the steering mechanism, eliminating the need for complex trajectory simulation and theoretical calculations. Furthermore, when the distance between obstacle piles changes, the turn size and straight-line distance traveled can be altered by simply adjusting the overlap between the cam pieces. During field operation, the trolley's trajectory can be easily adjusted without the need for cam replacement.

Description

Technical Field

[0001] The present invention relates to the technical field of unpowered trolleys, and in particular to a spliced ​​cam trolley device and method that can be adjusted on site. Background Art

[0002] With the development of science and technology, people have realized the importance of energy conservation and environmental protection, advocating low-carbon life, reducing environmental pollution, improving air quality and reducing carbon emissions, accelerating the development of new energy, increasing the proportion of renewable energy utilization, getting rid of dependence on fossil energy, and reducing energy consumption.

[0003] Against this backdrop, carbon-free vehicles have become a key event in university student science and technology innovation competitions. There are two types of carbon-free vehicles: thermal energy vehicles and potential energy vehicles. Potential energy vehicles convert the gravitational potential energy of a falling object into kinetic energy, while thermal energy vehicles primarily use an external combustion engine as their energy source, achieving propulsion through energy conversion.

[0004] The main operating trajectories of carbon-free trolleys include "S-type," "figure-8," "S-loop," "double figure-8," and "combined." Different operating trajectories require the use of a steering mechanism, which is a key component for the carbon-free trolley to follow the desired trajectory. The design of the steering mechanism is generally derived through trajectory simulation or trajectory curve calculation under ideal conditions. The steering mechanism is the most important part of the carbon-free trolley. The quality of the steering mechanism design directly determines whether the trolley can successfully achieve the desired trajectory of slalom obstacle avoidance and thus achieve a complete trajectory. Existing carbon-free trolley steering mechanisms mainly include crank rocker mechanisms, crank slider mechanisms, sine mechanisms, sheave mechanisms, incomplete gear mechanisms, cam mechanisms, etc.

[0005] For complex running trajectories, steering is generally achieved through a cam mechanism. However, the cam profile calculation is complex and the accuracy is relatively low, requiring continuous on-site debugging and correction of the cam. The existing trolley cam is difficult to correct, and when the pile spacing or trajectory changes, the trolley needs to be disassembled and replaced with a new cam, which is very troublesome.

[0006] Currently, there is a lack of a cam trolley that is quick and easy to debug on site, does not require cam replacement, is convenient for correcting the trolley's running trajectory on site, and has high steering accuracy. Summary of the Invention

[0007] In response to the above-mentioned deficiencies in the prior art, the present invention provides a field-adjustable spliced ​​cam trolley device and method. This spliced ​​cam trolley can adapt to the operation of complex trajectories and is convenient for on-site adjustment to ensure the accuracy of the operating trajectory. There is no need to disassemble and replace the cam, so as to solve the problems raised in the above background, simplify the design and assembly, reduce the cost of the trolley, and ensure that the trolley can move along the predetermined trajectory and avoid obstacles.

[0008] In order to achieve the above-mentioned technical features, the purpose of the present invention is achieved as follows: 1. A field-adjustable spliced ​​cam trolley device, which includes a frame, a power input pulley, a transmission mechanism, a steering mechanism, a fine-tuning mechanism, a trajectory correction mechanism, a clutch mechanism and a pile pushing mechanism; the power input pulley cooperates with the steering mechanism through the transmission mechanism, the transmission mechanism is fixed to the frame, the fine-tuning mechanism is installed on the steering mechanism, the trajectory correction mechanism is installed at the front end of the steering mechanism, the clutch mechanism is installed on the frame, and the pile pushing mechanism is installed at the front end of the frame.

[0009] The power input pulley is installed on the transmission shaft of the transmission mechanism through a bearing. The power input pulley is a double pulley, which inputs power to the large pulley and then transmits power to the transmission mechanism and steering mechanism through the double small pulley.

[0010] The transmission mechanism includes a driving wheel, a driven wheel, a transmission shaft, a pulley, a transition wheel, a transition wheel bracket, a tensioning wheel, a tensioning wheel bracket and a transmission belt. The driving wheel is fixedly mounted on the right end of the transmission shaft through a top screw, the driven wheel is mounted on the left end of the transmission shaft through a bearing and can rotate freely, the transmission shaft is mounted on the rear end of the frame through a bearing, the pulley is fixedly mounted on the transmission shaft through a top screw, the transition wheel is mounted on the clutch front bracket of the clutch mechanism through the transition wheel bracket, the tensioning wheel is mounted on the clutch long axis of the clutch mechanism through the tensioning wheel bracket, one end of the transmission belt is wound around the small pulley of the power input pulley, and is wound around the pulley through the transition wheel and the transmission belt is tensioned through the tensioning wheel.

[0011] The steering mechanism includes a bracket, a turbine, a worm, a turbine shaft, a spliced ​​cam, a cam push rod, a rubber ring, a front wheel, a front fork, a front wheel shaft and a rotating shaft, the bracket is fixedly mounted on the front end of the frame by bolts, the worm is fixedly mounted on the transmission shaft, the turbine is fixedly mounted on the turbine shaft, the turbine and the worm are meshed for transmission, the turbine shaft is mounted on the bracket through a bearing, the spliced ​​cam is fixedly mounted on the upper end of the turbine shaft through a top screw, the cam push rod is mounted on the fine-tuning bracket of the fine-tuning mechanism, one end of the rubber ring is fixedly mounted on the bracket, and the other end is sleeved on the fine-tuning bracket and the micrometer screw bracket, and the tightness of the rubber ring is adjusted so that the cam push rod is always in press-contact with the outer contour of the spliced ​​cam, ensuring that the spliced ​​cam can effectively push the cam push rod to drive the front wheel to steer, the front wheel is fixedly mounted on the front wheel shaft, the front wheel shaft is mounted on the front fork through a bearing, the front fork is fixedly connected to the rotating shaft through a top screw and is mounted on the front end of the bracket through a bearing.

[0012] The spliced ​​cam is composed of multiple cam pieces, each of which is cut from a hard card. Each cam piece on the spliced ​​cam corresponds to a track. The running track planned according to the rules of the trolley around the pole is divided into a left-turn track, a right-turn track and a straight track. The shape of the cam piece corresponding to each track is deduced according to the track segment.

[0013] The planned trajectory is divided into segments according to a regular pattern, and the cam piece contour corresponding to each segment of the trajectory is derived in sequence. Then all the trajectories are merged into the trajectory of the trolley and the corresponding cam pieces are spliced ​​on the cam base plate. There is a circle of magnetic pieces on the cam base plate. Each cam piece is fixed by a magnet after it is placed. When the distance between the obstacle piles changes, the steering and straight-line distance of the trolley can be adjusted by adjusting the overlap between the corresponding cam pieces without replacing the cam.

[0014] The fine-tuning mechanism includes a fine-tuning bracket, a micrometer screw bracket and a micrometer screw. The fine-tuning bracket is fixedly installed on the upper end of the rotating shaft through a top screw. The micrometer screw bracket is fixedly installed on the rotating shaft through a top screw and is located above the fine-tuning bracket.

[0015] The trajectory correction mechanism includes a correction disk and a correction frame. The correction frame is fixedly installed at the front end of the steering mechanism by screws. The correction disk is a circular disk with a long axis. The correction disk is installed on the correction frame through a bearing and can rotate freely. Whenever the spliced ​​cam trolley travels a cycle of the running track, the accumulated error in the trolley's operation process will be cleared when the correction disk on the trajectory correction mechanism touches the boundary plate of the competition venue.

[0016] The clutch mechanism includes a clutch rear bracket, a clutch front bracket, a clutch long shaft, a clutch lock block, a clutch shift lever, a pin shaft, a clutch operating lever, a spring and a spring block. The clutch rear bracket is fixedly mounted on the rear end of the frame by screws, and the clutch front bracket is fixedly mounted on the front end of the frame by screws. The clutch long shaft is respectively mounted in the shaft holes on the clutch front bracket and the clutch rear bracket, and the clutch long shaft can slide axially in the shaft hole. The clutch lock block is fixedly mounted on the clutch long shaft by a top screw, and the clutch shift lever is mounted on the clutch rear bracket by a pin shaft and can rotate along the pin shaft. The front end of the clutch lever is hook-shaped so that it can quickly hook and release the clutch lock block during operation to put the transmission belt in a relaxed and tensioned state. The clutch operating lever is fixedly mounted on the clutch lever. Pulling the clutch long shaft backward and operating the clutch operating lever can make the clutch lever hook the clutch lock block to put the transmission belt in a relaxed state. When the power output is stable, operating the clutch operating lever to release the clutch lever to tighten the transmission belt and transmit power. The spring is installed at the front end of the clutch long shaft through a spring stopper to play a reset role. The spring stopper is fixedly mounted at the front end of the clutch long shaft through a top screw.

[0017] The pile pushing mechanism includes a baffle and a baffle frame. The baffle frame is fixedly mounted on the front end of the vehicle frame. The baffle is fixedly mounted on the front end of the baffle frame. The lower end of the baffle is at a certain height from the ground. When the trolley encounters an obstacle pile and falls during its movement, the baffle can push the obstacle pile aside to prevent the obstacle pile from entering the bottom of the trolley and jamming the trolley.

[0018] A method for making a cam using a spliced ​​cam trolley device and adjusting the trajectory on site includes the following steps:

[0019] Step 1: Track design: Design the track of the car according to the distance between the obstacle piles. Then divide the track into multiple sections of left-turning tracks, right-turning tracks, and straight tracks. Based on each section of the track, deduce the shape of the cam piece required for traveling on that section of the track.

[0020] Step 2: Splice the cams, combine the various track segments into a complete trolley running track, then splice the corresponding cam pieces onto the cam base and fix them with magnets. After the spliced ​​cam is made, install it on the trolley;

[0021] Step 3: Run the track. After placing the trolley device at the starting position, move the clutch lever so that the clutch lever hooks the clutch lock block to put the transmission belt in a relaxed state. When the power source is stably input to the power input pulley, move the clutch lever again so that the clutch lever releases the clutch lock block to put the transmission belt in a tensioned state. The trolley moves forward along the predetermined track.

[0022] Step 4: Adjust the cam. When the distance between the obstacle piles changes, adjust the overlap between the corresponding cam pieces to adjust the steering and straight-line distance of the trolley, thereby ensuring the accuracy of the trolley's running trajectory.

[0023] Step 5: Let the adjusted spliced ​​cam trolley run along the trajectory again to check whether the trajectory of the trolley is consistent with the expected planned trajectory, and then make corresponding adjustments based on the actual situation. Finally, the spliced ​​cam can be obtained to enable the trolley device to run around the expected trajectory accurately to avoid obstacles.

[0024] The present invention has the following beneficial effects:

[0025] 1. The present invention is a field-adjustable spliced ​​cam trolley. By dividing the trolley's running track into segments according to a rule, then deriving the cam shape of the segmented track, and then splicing the track and the cam shape, the cam shape on the trolley's steering mechanism can be simply and quickly produced without the need for simulation and theoretical calculation of the entire complex track, thereby simplifying the design and production of the cam.

[0026] 2. The above-mentioned spliced ​​cam trolley has a simple structure and good stability. When the distance between the obstacle piles changes, the overlap and shape of the corresponding cam pieces can be adjusted according to the change to change the trajectory of the trolley. On-site adjustment is very simple and convenient, and there is no need to replace a new cam.

[0027] 3. The above-mentioned spliced ​​cam trolley is designed with a trajectory correction mechanism. Every time the trolley travels a cycle of the running trajectory, the trajectory correction mechanism touches the boundary plate of the competition venue to eliminate the accumulated steering errors during the operation of the trolley, thereby avoiding the trajectory deviation caused by the accumulated error.

[0028] 4. The above-mentioned spliced ​​cam trolley is designed with a clutch mechanism. When the power input is unstable, locking the clutch mechanism can make the transmission belt in a relaxed state and the trolley stand still. When the power input is stable, releasing the clutch mechanism can tighten the transmission belt and drive the trolley forward. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below with reference to the accompanying drawings and examples.

[0030] Figure 1 Model 1 of the spliced ​​cam trolley device.

[0031] Figure 2 This is the second model of the spliced ​​cam trolley device.

[0032] Figure 3 This is the main view of the spliced ​​cam trolley device.

[0033] Figure 4 This is the left view of the spliced ​​cam trolley device.

[0034] Figure 5 This is a top view of the spliced ​​cam trolley device.

[0035] Figure 6 A top view of the unit with the spliced ​​cam hidden.

[0036] Figure 7 This is the outline of one of the cam pieces.

[0037] Figure 8 This is the trajectory diagram of the trolley corresponding to the cam piece.

[0038] In the figure: frame 1, power input pulley 2, transmission mechanism 3, steering mechanism 4, fine-tuning mechanism 5, trajectory correction mechanism 6, clutch mechanism 7, pile pushing mechanism 8;

[0039] Driving wheel 301, driven wheel 302, transmission shaft 303, pulley 304, transition wheel 305, transition wheel bracket 306, tensioning wheel 307, tensioning wheel bracket 308, transmission belt 309;

[0040] Bracket 401, turbine 402, worm 403, turbine shaft 404, spliced ​​cam 405, cam follower 406, rubber ring 407, front wheel 408, front fork 409, front wheel shaft 410, rotating shaft 411;

[0041] Fine adjustment bracket 501, micrometer screw bracket 502, micrometer screw 503;

[0042] Correction plate 601, correction frame 602;

[0043] Clutch rear bracket 701, clutch front bracket 702, clutch long shaft 703, clutch lock block 704, clutch lever 705, pin 706, clutch operating lever 707, spring 708, spring stopper 709;

[0044] Baffle 801 and baffle frame 802. DETAILED DESCRIPTION

[0045] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0046] Example 1:

[0047] See also Figure 1-8 A spliced ​​cam trolley device that can be adjusted on site includes a frame 1, a power input pulley 2, a transmission mechanism 3, a steering mechanism 4, a fine-tuning mechanism 5, a trajectory correction mechanism 6, a clutch mechanism 7, and a pile-pushing mechanism 8; the power input pulley 2 cooperates with the steering mechanism 4 through the transmission mechanism 3, the transmission mechanism 3 is fixed to the frame 1, the fine-tuning mechanism 5 is installed on the steering mechanism 4, the trajectory correction mechanism 6 is installed at the front end of the steering mechanism 4, the clutch mechanism 7 is installed on the frame 1, and the pile-pushing mechanism 8 is installed at the front end of the frame 1. By adopting the above-mentioned spliced ​​cam trolley in the present invention, it can adapt to the operation of complex trajectories and is convenient for on-site adjustment to ensure the accuracy of the operation trajectory. There is no need to disassemble and replace the cam, which simplifies the design and assembly, reduces the cost of the trolley, and ensures that the trolley can move along the predetermined trajectory to avoid obstacles.

[0048] Furthermore, the frame 1 is an integrally formed aluminum alloy frame structure, which is simple to manufacture, reduces overall weight, and reduces energy loss. The frame 1 is used to support all components of the vehicle.

[0049] Furthermore, the power input pulley 2 is mounted on the transmission shaft 303 of the transmission mechanism 3 via a bearing. The power input pulley 2 is a double pulley that inputs power to the large pulley and then transmits the power to the transmission mechanism 3 and the steering mechanism 4 via the double small pulley. The power input pulley 2 is mainly used to transmit the power required for the operation of the trolley to the trolley.

[0050] Furthermore, the transmission mechanism 3 includes a driving wheel 301, a driven wheel 302, a transmission shaft 303, a pulley 304, a transition wheel 305, a transition wheel bracket 306, a tensioning wheel 307, a tensioning wheel bracket 308, and a transmission belt 309. The driving wheel 301 is fixedly mounted on the right end of the transmission shaft 303 by a top screw, and the driven wheel 302 is mounted on the left end of the transmission shaft 303 by a bearing and can rotate freely. The transmission shaft 303 is mounted on the rear end of the frame 1 by a bearing. The pulley 304 is fixed to the transmission shaft 303 by means of a jackscrew. The transition pulley 305 is mounted on the clutch front bracket 702 of the clutch mechanism 7 via the transition pulley bracket 306. The tensioning pulley 307 is mounted on the clutch long shaft 703 of the clutch mechanism 7 via the tensioning pulley bracket 308. One end of the transmission belt 309 is wound around the small pulley of the power input pulley 2. The transmission belt 309 is tightened by the tensioning pulley 307 after being wound around the pulley 304 via the transition pulley 305. The transmission mechanism 3 is mainly used to transmit the power provided by the power input pulley 2 to the transmission mechanism 3, and then to the steering mechanism 4.

[0051] Furthermore, the steering mechanism 4 includes a bracket 401, a turbine 402, a worm 403, a turbine shaft 404, a spliced ​​cam 405, a cam push rod 406, a rubber ring 407, a front wheel 408, a front fork 409, a front wheel shaft 410, and a rotating shaft 411. The bracket 401 is fixedly mounted on the front end of the frame 1 by bolts, the worm 403 is fixedly mounted on the transmission shaft 303, the turbine 402 is fixedly mounted on the turbine shaft 404, the turbine 402 and the worm 403 are engaged for transmission, the turbine shaft 404 is mounted on the bracket 401 through a bearing, the spliced ​​cam 405 is fixedly mounted on the upper end of the turbine shaft 404 by a top screw, and the cam push rod 406 is installed on the fine-tuning bracket 501 of the fine-tuning mechanism 5, one end of the rubber ring 407 is fixedly installed on the bracket 401, and the other end is sleeved on the fine-tuning bracket 501 and the screw micrometer bracket 502. By adjusting the tightness of the rubber ring 407, the cam push rod 406 is always in close contact with the outer contour of the spliced ​​cam 405, ensuring that the spliced ​​cam 405 can effectively push the cam push rod 406 to drive the front wheel 408 to turn, and the front wheel 408 is fixedly installed on the front wheel shaft 410, and the front wheel shaft 410 is installed on the front fork 409 through a bearing. The front fork 409 is fixedly connected to the rotating shaft 411 by a top screw and is installed at the front end of the bracket 401 through a bearing.

[0052] Furthermore, the spliced ​​cam 405 is composed of multiple cam pieces, each of which is cut from hard card. Each cam piece on the spliced ​​cam 405 corresponds to a track. The running track planned according to the rules of the trolley going around the pole is divided into a left-turn track, a right-turn track and a straight track. The shape of the cam piece corresponding to each track is deduced based on the track. To illustrate the specific steps for designing the profile of a single cam for the spliced ​​cam 405, take one cam segment as an example. Profile 4051 corresponds to the vehicle's front wheels following a straight trajectory 405a. Profile 4052 corresponds to the vehicle's front wheels turning left to a certain degree and then returning to the straight path, corresponding to trajectory 405b. Profile 4053 corresponds to the vehicle's front wheels turning right to a certain degree and then returning to the straight path, corresponding to trajectory 405c. Profile 4054 corresponds to the vehicle's front wheels following a straight trajectory 405d. After these two turns, the vehicle changes lanes. This method divides the planned trajectory into segments according to a regular pattern, sequentially deriving the cam segment profile corresponding to each segment. All these segments are then combined into the vehicle's travel trajectory, and the corresponding cam segments are spliced ​​onto the cam base. The cam base is equipped with a circle of magnetic plates, and each cam segment is secured by magnets once in place. When the distance between the obstacle piles changes, the vehicle's steering and linear travel distance can be adjusted by adjusting the overlap between the corresponding cam segments. This is convenient and quick, and does not require cam replacement.

[0053] Furthermore, the fine adjustment mechanism 5 includes a fine adjustment bracket 501, a micrometer screw bracket 502, and a micrometer screw 503. The fine adjustment bracket 501 is fixedly mounted on the upper end of the rotating shaft 411 via a jackscrew, and the micrometer screw bracket 502 is fixedly mounted on the rotating shaft 411 via a jackscrew and is located above the fine adjustment bracket 501. Fine adjustment can be performed through the above-mentioned fine adjustment mechanism 5.

[0054] Furthermore, the trajectory correction mechanism 6 comprises a correction disc 601 and a correction frame 602. The correction frame 602 is screwed to the front end of the steering mechanism 4. The correction disc 601 is a circular disc with a long shaft, and is mounted on the correction frame 602 via bearings for free rotation. Each time the spliced ​​cam trolley completes a cycle of its trajectory, the correction disc 601 on the trajectory correction mechanism 6 rubs against the boundary plate of the competition field, eliminating any accumulated errors during the trolley's operation.

[0055] Furthermore, the clutch mechanism 7 includes a clutch rear bracket 701, a clutch front bracket 702, a clutch long shaft 703, a clutch locking block 704, a clutch lever 705, a pin 706, a clutch operating lever 707, a spring 708, and a spring stopper 709. The clutch rear bracket 701 is fixedly mounted on the rear end of the frame 1 by screws, and the clutch front bracket 702 is fixedly mounted on the front end of the frame 1 by screws. The clutch long shaft 703 is respectively mounted in the shaft holes on the clutch front bracket 702 and the clutch rear bracket 701, and the clutch long shaft 703 can slide axially in the shaft hole. The clutch locking block 704 is fixedly mounted on the clutch long shaft 703 by a top screw, and the clutch lever 705 is mounted on the clutch rear bracket 701 by a pin 706 and can slide along the pin When the shaft 706 rotates, the front end of the clutch lever 705 is hook-shaped, which is convenient for operation to quickly hook and release the clutch lock block 704 so that the transmission belt 309 is in a relaxed and tensioned state. The clutch operating lever 707 is fixedly installed on the clutch lever 705. Pulling the clutch long shaft 703 to move backward and operating the clutch operating lever 707 can make the clutch lever 705 hook the clutch lock block 704 to put the transmission belt 309 in a relaxed state. When the power output is stable, operating the clutch operating lever 707 to release the clutch lever 705 can tighten the transmission belt 309 and transmit power. The spring 708 is installed at the front end of the clutch long shaft 703 through the spring stop 709 to play a reset role. The spring stop 709 is fixedly installed at the front end of the clutch long shaft 703 by a top screw.

[0056] Furthermore, the pile-pushing mechanism 8 includes a baffle 801 and a baffle frame 802. The baffle frame 802 is fixedly mounted on the front end of the vehicle frame 1, and the baffle 801 is fixedly mounted on the front end of the baffle frame 802. The lower end of the baffle 801 is about 2 mm from the ground. When the trolley encounters an obstacle pile and falls during its movement, the baffle 801 can push the obstacle pile aside to prevent the obstacle pile from entering the bottom of the trolley and jamming the trolley.

[0057] Example 2:

[0058] The method for manufacturing a cam and adjusting the trajectory on site using a spliced ​​cam trolley device that can be adjusted on site comprises the following steps:

[0059] Step 1: Track design: Design the track of the car according to the distance between the obstacle piles. Then divide the track into multiple sections of left-turning tracks, right-turning tracks, and straight tracks. Based on each section of the track, deduce the shape of the cam piece required for traveling on that section of the track.

[0060] Step 2: Splice the cams, combine the various track segments into a complete trolley running track, then splice the corresponding cam pieces onto the cam base plate and fix them with magnets. After the spliced ​​cam 405 is manufactured, install it on the trolley;

[0061] Step 3: Run the track. After placing the trolley device at the starting position, move the clutch lever 707 so that the clutch lever 705 hooks the clutch lock block 704 to put the transmission belt 309 in a relaxed state. After the power source is stably input to the power input pulley 2, move the clutch lever 707 again so that the clutch lever 705 releases the clutch lock block 704 to put the transmission belt 309 in a tensioned state. The trolley moves forward along the predetermined track.

[0062] Step 4: Adjust the cam. When the distance between the obstacle piles changes, adjust the overlap between the corresponding cam pieces to adjust the steering and straight-line distance of the trolley, thereby ensuring the accuracy of the trolley's running trajectory.

[0063] Step 5: Let the adjusted spliced ​​cam trolley run the track again to check whether the track of the trolley is consistent with the expected planned track, and then make corresponding adjustments according to the actual situation. Finally, the spliced ​​cam 405 can be obtained to enable the trolley device to run around the pole and avoid obstacles accurately according to the expected track.

Claims

1. A field-adjustable spliced ​​cam trolley device, characterized by: It comprises a vehicle frame (1), a power input pulley (2), a transmission mechanism (3), a steering mechanism (4), a fine-tuning mechanism (5), a track correction mechanism (6), a clutch mechanism (7) and a pile pushing mechanism (8); the power input pulley (2) cooperates with the steering mechanism (4) through the transmission mechanism (3); the transmission mechanism (3) is fixed on the vehicle frame (1); the fine-tuning mechanism (5) is mounted on the steering mechanism (4); the track correction mechanism (6) is mounted on the front end of the steering mechanism (4); the clutch mechanism (7) is mounted on the vehicle frame (1); and the pile pushing mechanism (8) is mounted on the front end of the vehicle frame (1); The spliced ​​cam (405) is formed by splicing a plurality of cam pieces, each of which is cut from a hard card. Each cam piece on the spliced ​​cam (405) corresponds to a track. The running track planned according to the rules of the trolley going around the pole is divided into a left-turning track, a right-turning track and a straight track. The shape of the cam piece corresponding to each track is deduced based on the track.

2. The field-adjustable spliced ​​cam trolley device according to claim 1, characterized in that: The power input pulley (2) is mounted on the transmission shaft (303) of the transmission mechanism (3) via a bearing. The power input pulley (2) is a double pulley that inputs power to the large pulley and then transmits the power to the transmission mechanism (3) and the steering mechanism (4) via the double small pulley.

3. The field-adjustable spliced ​​cam trolley device according to claim 2, characterized in that: The transmission mechanism (3) comprises a driving wheel (301), a driven wheel (302), a transmission shaft (303), a pulley (304), a transition wheel (305), a transition wheel bracket (306), a tension wheel (307), a tension wheel bracket (308) and a transmission belt (309), wherein the driving wheel (301) is fixedly mounted on the right end of the transmission shaft (303) via a top screw, the driven wheel (302) is mounted on the left end of the transmission shaft (303) via a bearing and can rotate freely, the transmission shaft (303) is mounted on the rear end of the frame (1) via a bearing, and the tension wheel bracket (308) is fixedly mounted on the right end of the transmission shaft (303) via a top screw, and the tension wheel bracket (308) is fixedly mounted on the left end of the transmission shaft (303) via a bearing. The pulley (304) is fixedly mounted on the transmission shaft (303) via a top screw, the transition wheel (305) is mounted on the clutch front bracket (702) of the clutch mechanism (7) via a transition wheel bracket (306), the tensioning wheel (307) is mounted on the clutch long shaft (703) of the clutch mechanism (7) via a tensioning wheel bracket (308), one end of the transmission belt (309) is wound around the small pulley of the power input pulley (2), is wound around the pulley (304) via the transition wheel (305), and is tensioned via the tensioning wheel (307).

4. The field-adjustable spliced ​​cam trolley device according to claim 1, characterized in that: The steering mechanism (4) comprises a bracket (401), a worm wheel (402), a worm (403), a worm wheel shaft (404), a spliced ​​cam (405), a cam push rod (406), a rubber ring (407), a front wheel (408), a front fork (409), a front wheel shaft (410) and a rotating shaft (411), wherein the bracket (401) is fixedly mounted on the front end of the vehicle frame (1) by means of bolts, the worm (403) is fixedly mounted on the transmission shaft (303), the worm wheel (402) is fixedly mounted on the worm wheel shaft (404), the worm wheel (402) and the worm (403) are meshed for transmission, the worm wheel shaft (404) is mounted on the bracket (401) via a bearing, the spliced ​​cam (405) is fixedly mounted on the upper end of the worm wheel shaft (404) via a top screw, and the cam The push rod (406) is mounted on the fine-tuning bracket (501) of the fine-tuning mechanism (5), one end of the rubber ring (407) is fixedly mounted on the bracket (401), and the other end is sleeved on the fine-tuning bracket (501) and the micrometer screw bracket (502). By adjusting the tightness of the rubber ring (407), the cam push rod (406) and the outer contour of the spliced ​​cam (405) are always pressed and contacted, ensuring that the spliced ​​cam (405) can effectively push the cam push rod (406) to drive the front wheel (408) to turn, the front wheel (408) is fixedly mounted on the front wheel shaft (410), and the front wheel shaft (410) is mounted on the front fork (409) through a bearing. The front fork (409) is fixedly connected to the rotating shaft (411) through a top screw and is mounted on the front end of the bracket (401) through a bearing.

5. The field-adjustable spliced ​​cam trolley device according to claim 4, characterized in that: The planned trajectory is divided into segments according to a regular pattern, and the cam piece contour corresponding to each segment of the trajectory is derived in sequence. Then all the trajectories are merged into the trajectory of the trolley and the corresponding cam pieces are spliced ​​on the cam base plate. There is a circle of magnetic pieces on the cam base plate. Each cam piece is fixed by a magnet after it is placed. When the distance between the obstacle piles changes, the steering and straight-line distance of the trolley can be adjusted by adjusting the overlap between the corresponding cam pieces without replacing the cam.

6. The field-adjustable spliced ​​cam trolley device according to claim 5, characterized in that: The fine-tuning mechanism (5) comprises a fine-tuning bracket (501), a micrometer screw bracket (502) and a micrometer screw (503), wherein the fine-tuning bracket (501) is fixedly mounted on the upper end of the rotating shaft (411) via a top screw, and the micrometer screw bracket (502) is fixedly mounted on the rotating shaft (411) via a top screw and is located above the fine-tuning bracket (501).

7. The field-adjustable spliced ​​cam trolley device according to claim 6, characterized in that: The track correction mechanism (6) includes a correction disc (601) and a correction frame (602). The correction frame (602) is fixedly mounted on the front end of the steering mechanism (4) by screws. The correction disc (601) is a circular disc with a long axis. The correction disc (601) is mounted on the correction frame (602) by a bearing and can rotate freely. Whenever the spliced ​​cam trolley travels a cycle of the running track, the accumulated error in the trolley's running process is cleared when the correction disc (601) on the track correction mechanism (6) touches the boundary plate of the competition venue.

8. The field-adjustable spliced ​​cam trolley device according to claim 6, characterized in that: The clutch mechanism (7) comprises a clutch rear bracket (701), a clutch front bracket (702), a clutch long shaft (703), a clutch locking block (704), a clutch lever (705), a pin (706), a clutch operating lever (707), a spring (708) and a spring stopper (709), wherein the clutch rear bracket (701) is fixedly mounted on the rear end of the vehicle frame (1) by screws, and the clutch front bracket (702) is fixedly mounted on the front end of the vehicle frame (1) by screws, and the clutch long shaft (703) is respectively mounted in shaft holes on the clutch front bracket (702) and the clutch rear bracket (701), and the clutch long shaft (703) can slide axially in the shaft hole, and the clutch locking block (704) is fixedly mounted on the clutch long shaft (703) by a top screw, and the clutch lever (705) is mounted on the clutch rear bracket (701) by a pin (706) and can The clutch lever (705) is capable of rotating along the pin shaft (706). The front end of the clutch lever (705) is hook-shaped so that it can quickly hook and release the clutch lock block (704) during operation to put the transmission belt (309) in a relaxed and tensioned state. The clutch operating lever (707) is fixedly mounted on the clutch lever (705). Pulling the clutch long shaft (703) backward and operating the clutch operating lever (707) can cause the clutch lever (705) to hook the clutch lock block (704) to put the transmission belt (309) in a relaxed state. When the power output is stable, operating the clutch operating lever (707) to release the clutch lever (705) so that the transmission belt (309) is tensioned and transmits power. The spring (708) is mounted on the front end of the clutch long shaft (703) through the spring stopper (709) to play a reset role. The spring stopper (709) is fixedly mounted on the front end of the clutch long shaft (703) through a top screw.

9. The field-adjustable spliced ​​cam trolley device according to claim 8, characterized in that: The pile pushing mechanism (8) comprises a baffle (801) and a baffle frame (802), wherein the baffle frame (802) is fixedly mounted on the front end of the vehicle frame (1), and the baffle (801) is fixedly mounted on the front end of the baffle frame (802). The lower end of the baffle (801) is at a certain height from the ground. When the trolley encounters an obstacle pile during its movement and falls, the baffle (801) can push the obstacle pile aside to prevent the obstacle pile from entering the bottom of the trolley and blocking the trolley.

10. A method for manufacturing a cam and adjusting its trajectory on site using the spliced ​​cam trolley device according to claim 9, characterized in that: It includes the following steps: Step 1: Track design: Design the track of the car according to the distance between the obstacle piles. Then divide the track into multiple sections of left-turning tracks, right-turning tracks, and straight tracks. Based on each section of the track, deduce the shape of the cam piece required for traveling on that section of the track. Step 2: Splice the cams, merge the various track segments into a complete trolley running track, then splice the corresponding cam pieces on the cam base plate and fix them by magnets. After the spliced ​​cam (405) is manufactured, it is installed on the trolley; Step 3: Run the track. After placing the trolley device at the starting position, move the clutch lever (707) so that the clutch lever (705) hooks the clutch lock block (704) to put the transmission belt (309) in a relaxed state. After the power source is stably input to the power input pulley (2), move the clutch lever (707) again so that the clutch lever (705) releases the clutch lock block (704) to put the transmission belt (309) in a tensioned state. The trolley moves forward along the predetermined track. Step 4: Adjust the cam. When the distance between the obstacle piles changes, adjust the overlap between the corresponding cam pieces to adjust the steering and straight-line distance of the trolley, thereby ensuring the accuracy of the trolley's running trajectory. Step 5: Let the adjusted spliced ​​cam trolley run the track again, check whether the track of the trolley is consistent with the expected planned track, and then make corresponding adjustments according to the actual situation. Finally, the spliced ​​cam (405) can be obtained to enable the trolley device to run around the pile and avoid obstacles accurately according to the expected track.

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