Steerable driving trolley and cam design method of driving trolley

Abstract

The invention relates to the technical field of carbon-free trolleys, in particular to a steerable driving trolley and a cam design method of the steerable driving trolley. The steerable driving trolley comprises a base, a frame is arranged on the base, a first gear is arranged at the output end of a driving motor, a second gear is arranged on a rear axle, and a steering mechanism comprises a gear reduction mechanism and a cam. The second gear is meshed with the input end of the gear reduction mechanism, a first rotating shaft is rotatably arranged on the frame in a penetrating mode, the two ends of the first rotating shaft are connected with the output end of the gear reduction mechanism and the middle of the cam respectively, a connecting block is arranged on the top of the steering shaft, a contact rod is connected to the connecting block, and the contact rod corresponds to the outer contour line of the cam. The driving motor works to drive the rear wheel shaft to rotate, meanwhile, the steering wheel steers through the steering mechanism, the cam can control the direction, the gear reduction mechanism reduces the rotating speed of the cam, the running distance corresponding to the trolley when the cam rotates by a circle is effectively increased, the overall structure is simple, and precision is high.

Description

Technical Field

[0001] The invention relates to the technical field of carbon-free trolleys, and in particular to a steerable driving trolley and a cam design method for the driving trolley. Background Art

[0002] In recent years, with the improvement of environmental awareness and the advancement of technology, driving cars have received widespread attention in the fields of education and scientific research due to their low pollution and high efficiency. In particular, the design and production of driving cars has become a hot topic in student engineering practice innovation competitions. Such cars need to have certain autonomous navigation capabilities and task execution functions, such as driving along a preset path and avoiding obstacles.

[0003] The steering mechanism of the existing driving trolley has a complex structure, is difficult to assemble, is not convenient for carrying, has a large offset of the steering wheel, and has low accuracy. Summary of the invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. To this end, the present invention proposes a steerable driving trolley and a cam design method for the driving trolley, which can drive the rear wheel shaft to rotate through the driving motor, and the steering wheel is steered through the steering mechanism, the cam can control the direction, and the gear reduction mechanism reduces the rotation speed of the cam, effectively increasing the distance traveled by the trolley corresponding to one rotation of the cam, and the overall structure is simple, easy to assemble, and has high precision.

[0005] According to some embodiments of the first aspect of the present invention, a steerable driving vehicle comprises a base, a shell is arranged on the top of the base, a frame is arranged on the base, a rear end of the frame is rotatably penetrated by a rear wheel axle, both ends of the rear wheel axle are connected to rear wheels, a driving motor is arranged on the rear end of the frame, a first gear is arranged on the output end of the driving motor, a second gear is arranged on the rear wheel axle, the first gear is meshed with the second gear, a steering mechanism is arranged on the frame, a steering shaft is arranged on the front end of the frame, a steering wheel is rotatably arranged on the bottom of the steering shaft, the steering mechanism is connected to the steering shaft, and the steering mechanism is used to control the steering of the steering shaft;

[0006] The steering mechanism includes a gear reduction mechanism and a cam, the second gear is meshed with the input end of the gear reduction mechanism, a first rotating shaft is rotatably provided on the front end of the frame, two ends of the first rotating shaft are respectively connected to the output end of the gear reduction mechanism and the middle part of the cam, a connecting block is provided on the top of the steering shaft, a contact rod is connected to the connecting block, and the contact rod is arranged corresponding to the outer contour of the cam.

[0007] A steerable driving vehicle according to some embodiments of the first aspect of the present invention has at least the following beneficial effects:

[0008] The present invention is provided with a shell body at the top of a base, a frame is provided on the base, a rear end of the frame is rotatably penetrated by a rear wheel axle, both ends of the rear wheel axle are connected to the rear wheels, a driving motor is provided at the rear end of the frame, a first gear is provided at the output end of the driving motor, a second gear is provided on the rear wheel axle, the first gear is meshed with the second gear so that the rear wheel axle can rotate, and a steering mechanism is provided on the frame, a steering shaft is provided at the front end of the frame, a steering wheel is rotatably provided at the bottom of the steering shaft, the steering mechanism is connected to the steering shaft, and the steering mechanism controls the steering of the steering shaft. The present invention can drive the rear wheel axle to rotate through the operation of the driving motor, and the steering wheel is steered through the steering mechanism, the cam can control the direction, the gear reduction mechanism reduces the rotation speed of the cam, and effectively increases the distance traveled by the trolley corresponding to one circle of the cam rotation. The overall structure is simple, easy to assemble, and has high precision.

[0009] According to some embodiments of the first aspect of the present invention, a steerable driving vehicle is provided, a solar panel is arranged on the top of the shell, the solar panel is electrically connected to the driving motor, two parallel brackets are arranged on the top of the shell, a plurality of solar panels are arranged, and the left and right ends of the solar panels are respectively arranged on two brackets.

[0010] According to a steerable driving trolley of some embodiments of the first aspect of the present invention, both ends of the bracket are provided with placement inclined surfaces, and the top of the bracket is provided with a placement flat surface.

[0011] According to some embodiments of the first aspect of the present invention, a steerable driving vehicle, the frame includes a first frame and a second frame, the first frame and the second frame are respectively arranged at the left and right ends of the base, and the rear wheel axle can be rotatably passed through the first frame and the second frame.

[0012] According to some embodiments of the first aspect of the present invention, a steerable driving cart is provided, the gear reduction mechanism includes a third gear and a second rotating shaft, the second rotating shaft can be rotatably penetrated through the first frame and the second frame, the driving motor is arranged on the first frame, the first gear and the second gear are both located on the outside of the first frame, the second rotating shaft is connected to the third gear at one end close to the first frame, a fourth gear is arranged on the second rotating shaft, a fifth gear is arranged on the first rotating shaft, the fourth gear and the fifth gear are both located on the inside of the first frame, the fourth gear is meshed with the fifth gear, the number of teeth of the second gear and the number of teeth of the fourth gear are respectively less than the number of teeth of the third gear and the number of teeth of the fifth gear.

[0013] According to some embodiments of the first aspect of the present invention, a steerable driving vehicle, the vehicle frame includes a front frame body, the front frame body is arranged on the top of the base, and the steering shaft passes through the front frame body.

[0014] According to a steerable driving trolley in some embodiments of the first aspect of the present invention, a avoidance portion is provided at the front end of the shell, and the avoidance portion is arranged corresponding to the front frame body.

[0015] According to some embodiments of the first aspect of the present invention, a steerable driving vehicle, a switch, a speaker and an indicator light are provided on the top of the shell.

[0016] According to some embodiments of the second aspect of the present invention, a cam design method for a driving vehicle is used for a solar-powered vehicle. The cam design method includes:

[0017] Step S100: according to multiple check-in points in the actual site, fitting points are set on both sides of each check-in point through software to form a smooth track;

[0018] Step S200, obtaining the length of the track, obtaining the transmission ratio of the gear reduction mechanism, and calculating the total circumference of the cam;

[0019] Step S300, dividing the trajectory into a trajectory composed of multiple coordinate points, obtaining any three coordinate points of each arc on the trajectory to determine the radius of the arc and the rotation angle of the rotation axis;

[0020] Step S400, considering the cam thickness, the rotation radius of the connecting block, the vertical distance from the cam to the steering wheel, the distance from the steering wheel to the rear wheel, the offset of the steering wheel and the base circle radius, and combining the rotation angle of the rotation axis corresponding to each arc segment, calculate the cam radius corresponding to each arc segment;

[0021] Step S500, combining the length of each arc on the trajectory and the length of the connecting line between adjacent arcs to obtain the length corresponding to the outer contour of the cam, forming a final cam image, and deriving the cam image cutting base circle.

[0022] According to a cam design method for a driving vehicle in some embodiments of the second aspect of the present invention, the cam is arranged on the left side of the steering shaft, and the design program calculates the cam radius corresponding to each arc as follows:

[0023] When driving the car to turn right,

[0024] offset_angle=math.atan((d*math.tan(math.radians(t-90))+x) / d);

[0025] cam_radius=l+c*math.tan(math.radians(90)-offset_angle)-b / math.cos(math.radians(90)-offset_angle);

[0026] When driving the car to turn left,

[0027] offset_angle=math.atan((d*math.tan(math.radians(t-90))-x) / d);

[0028] cam_radius=l-(c+a) / (math.tan(offset_angle))-b / math.sin(offset_angle);

[0029] offset_angle is the equivalent angle after the steering wheel is offset, cam_radius is the cam radius, a is the cam thickness, b is the rotation radius of the connecting block, c is the vertical distance from the cam to the steering wheel, d is the distance from the steering wheel to the rear wheel, l is the base circle radius, x is the offset of the steering wheel, and t is the rotation angle of the rotating shaft.

[0030] A cam design method for a driving trolley according to some embodiments of the second aspect of the present invention has at least the following beneficial effects:

[0031] The design of this cam takes into account the data of cam thickness, rotation radius of the connecting block, vertical distance from the cam to the steering wheel, distance from the steering wheel to the rear wheel, offset of the steering wheel and base circle radius. The resulting cam controls steering with high accuracy, driving the trolley steering wheel to steer through the steering mechanism.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0034] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0035] Figure 2 Schematic diagram of the structure of a shell according to an embodiment of the present invention.

[0036] Figure 3 The figure is a schematic diagram of the structure of the embodiment of the present invention without the shell.

[0037] Figure numerals: 1, base, 2, shell, 3, solar panel, 4, frame, 5, rear wheel axle, 6, rear wheel, 7, drive motor, 8, first gear, 9, second gear, 10, steering mechanism, 11, steering shaft, 12, steering wheel, 13, bracket, 14, window, 15, placement slope, 16, placement plane, 17, first frame, 18, second frame, 19, gear reduction mechanism, 20, cam, 21, first rotating shaft, 22, connecting block, 23, contact rod, 24, third gear, 25, second rotating shaft, 26, fourth gear, 27, fifth gear, 28, front frame, 29, avoidance part, 30, switch, 31, speaker, 32, indicator light. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] In the description of the present invention, it should be understood that the descriptions involving orientations, such as up, down, left, right, front, back, etc., and the orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the modules or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In the description of the present invention, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0041] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0042] like Figure 1-Figure 3 As shown, an embodiment of the first aspect of the present invention provides a steerable driving vehicle.

[0043] A steerable driving trolley comprises a base 1, a shell 2 is arranged on the top of the base 1, a frame 4 is arranged on the base 1, a rear end of the frame 4 is rotatably penetrated by a rear wheel shaft 5, both ends of the rear wheel shaft 5 are connected to rear wheels 6, a driving motor 7 is arranged at the rear end of the frame 4, a first gear 8 is arranged at the output end of the driving motor 7, a second gear 9 is arranged on the rear wheel shaft 5, the first gear 8 is meshed with the second gear 9, a steering mechanism 10 is arranged on the frame 4, a steering shaft 11 is arranged at the front end of the frame 4, a steering wheel 12 is rotatably arranged at the bottom of the steering shaft 11, the steering mechanism 10 is connected to the steering shaft 11, and the steering mechanism 10 is used to control the steering of the steering shaft 11;

[0044] The steering mechanism 10 includes a gear reduction mechanism 19 and a cam 20, the second gear 9 is meshed with the input end of the gear reduction mechanism 19, a first rotating shaft 21 is rotatably provided on the front end of the frame 4, the two ends of the first rotating shaft 21 are respectively connected to the output end of the gear reduction mechanism 19 and the middle of the cam 20, a connecting block 22 is provided on the top of the steering shaft 11, a contact rod 23 is connected to the connecting block 22, and the contact rod 23 is arranged corresponding to the outer contour of the cam 20. Specifically, the cam 20 can control the direction, and the gear reduction mechanism 19 reduces the rotation speed of the cam 20, effectively increasing the distance traveled by the vehicle corresponding to one rotation of the cam 20.

[0045] The present invention is provided with a shell 2 on the top of a base 1, and a frame 4 is provided on the base 1. The rear end of the frame 4 can rotatably penetrate a rear wheel shaft 5, and both ends of the rear wheel shaft 5 are connected to rear wheels 6. The rear end of the frame 4 is provided with a driving motor 7, and the output end of the driving motor 7 is provided with a first gear 8. The rear wheel shaft 5 is provided with a second gear 9, and the first gear 8 is meshed with the second gear 9 so that the rear wheel shaft 5 can rotate. At the same time, a steering mechanism 10 is provided on the frame 4, and a steering shaft 11 is provided at the front end of the frame 4. A steering wheel 12 is rotatably provided at the bottom of the steering shaft 11, and the steering mechanism 10 is connected to the steering shaft 11. The steering mechanism 10 controls the steering of the steering shaft 11. The present invention can drive the rear wheel shaft 5 to rotate through the driving motor 7, and the steering wheel 12 is steered through the steering mechanism 10. The cam 20 can control the direction, and the gear reduction mechanism 19 reduces the rotation speed of the cam, which effectively increases the distance traveled by the trolley corresponding to one circle of the cam 20. The overall structure is simple, easy to assemble, and has high precision.

[0046] In the steerable driving trolley described in this embodiment, two brackets 13 arranged in parallel are arranged on the top of the shell 2, a solar panel 3 is arranged on the top of the shell 2, a plurality of solar panels 3 are arranged, the solar panel 3 is electrically connected to the driving motor 7, and the left and right ends of the solar panel 3 are respectively arranged on two brackets 13. Specifically, the above arrangement provides a position for placing the solar panel 3, and the above arrangement realizes the use of clean solar energy to drive the movement of the trolley, improves the energy efficiency ratio of the vehicle, reduces the dependence on external power supply, and also helps to reduce operating costs and reduce environmental pollution.

[0047] It is understandable that in some embodiments, a window 14 is provided on the top of the shell 2 to facilitate the connection between the solar panel 3 and the drive motor 7 and other equipment on the inner wall of the frame 4.

[0048] In the steerable driving vehicle described in this embodiment, both ends of the bracket 13 are provided with placement slopes 15, and the top of the bracket 13 is provided with a placement plane 16. Specifically, both the placement slope 15 and the placement plane 16 can place the solar panel 3 at various angles to cope with different irradiation conditions.

[0049] In the steerable driving vehicle described in this embodiment, the vehicle frame 4 includes a first frame body 17 and a second frame body 18, the first frame body 17 and the second frame body 18 are respectively arranged at the left and right ends of the base 1, and the rear wheel shaft 5 is rotatably arranged through the first frame body 17 and the second frame body 18. Specifically, the above-mentioned structure has good stability, and the rear wheel 6 rotates stably.

[0050] The embodiment of the present invention is a steerable driving vehicle, wherein the steering mechanism 10 includes a gear reduction mechanism 19 and a cam 20, the second gear 9 is meshed with the input end of the gear reduction mechanism 19, the front end of the first frame 17 and the front end of the second frame 18 are rotatably provided with a first rotating shaft 21, the two ends of the first rotating shaft 21 are respectively connected to the output end of the gear reduction mechanism 19 and the middle of the cam 20, a connecting block 22 is provided at the top of the steering shaft 11, a contact rod 23 is connected to the connecting block 22, and the contact rod 23 is arranged corresponding to the outer contour of the cam 20. Specifically, the cam 20 can control the direction, and the gear reduction mechanism 19 reduces the rotation speed of the cam 20, effectively increasing the distance traveled by the vehicle corresponding to one rotation of the cam 20.

[0051] The present embodiment describes a steerable driving cart, the gear reduction mechanism 19 includes a third gear 24 and a second rotating shaft 25, the second rotating shaft 25 is rotatably arranged in the first frame 17 and the second frame 18, the driving motor 7 is arranged on the first frame 17, the first gear 8 and the second gear 9 are both located on the outside of the first frame 17, the end of the second rotating shaft 25 close to the first frame 17 is connected to the third gear 24, a fourth gear 26 is arranged on the second rotating shaft 25, a fifth gear 27 is arranged on the first rotating shaft 21, the fourth gear 26 and the fifth gear 27 are both located on the inside of the first frame 17, the fourth gear 26 is meshed with the fifth gear 27, the number of teeth of the second gear 9 and the number of teeth of the fourth gear 26 are respectively less than the number of teeth of the third gear 24 and the number of teeth of the fifth gear 27. Specifically, the above arrangement arranges the second gear 9 and the third gear 24 and the fourth gear 26 and the fifth gear 27 on both sides of the first frame 17 respectively, and rationally utilizes the space to make the overall structure of the trolley compact, and the above arrangement has good stability. The second gear 9 and the third gear 24 serve as the first group of reduction gears, and the fourth gear 26 and the fifth gear 27 serve as the second group of reduction gears.

[0052] In the steerable driving vehicle described in this embodiment, the vehicle frame 4 includes a front frame body 28, the front frame body 28 is arranged on the top of the base 1, and the steering shaft 11 is passed through the front frame body 28. Specifically, the above-mentioned arrangement structure is reasonable.

[0053] In the steerable driving vehicle described in this embodiment, the front end of the housing 2 is provided with a clearance portion 29, and the clearance portion 19 is arranged corresponding to the front frame 28. Specifically, the above arrangement facilitates observation of the components in the housing 2, especially the working condition of the steering wheel 12, and can reduce the weight of the vehicle body.

[0054] In the steerable driving vehicle described in this embodiment, a switch 30, a speaker 31 and an indicator light 32 are provided on the top of the housing 2. Specifically, the switch 30 can start and shut down the vehicle, the speaker 31 can emit a prompt tone, and the indicator light 32 can be used to inform the working status.

[0055] In the steerable driving trolley described in this embodiment, a micrometer head 33 is provided on the connecting block 22, the micrometer head 33 passes through the connecting block 22 and is threadedly connected to the connecting block 22, and the micrometer head 33 is fixedly connected to the contact rod 23. Specifically, the steering wheel 12 can be fine-tuned by the micrometer head 33.

[0056] The second aspect of the present invention provides a cam design method for a driving vehicle, which is used for the solar-driven vehicle described in the first aspect of the present invention. The cam design method includes:

[0057] Step S100: according to multiple check-in points in the actual site, fitting points are set on both sides of each check-in point through software to form a smooth track;

[0058] Step S200, obtaining the length of the track, obtaining the transmission ratio of the gear reduction mechanism 19, and calculating the total circumference of the cam 20;

[0059] Step S300, dividing the trajectory into a trajectory composed of multiple coordinate points, obtaining any three coordinate points of each arc on the trajectory to determine the radius of the arc and the rotation angle of the rotation axis 11;

[0060] Step S400, considering the thickness of the cam 20, the rotation radius of the connecting block 22, the vertical distance from the cam 20 to the steering wheel 12, the distance from the steering wheel 12 to the rear wheel 6, the offset of the steering wheel 12 and the base circle radius, and combining the rotation angle of the rotating shaft 11 corresponding to each arc, calculate the radius of the cam 20 corresponding to each arc;

[0061] When driving the car to turn right,

[0062] offset_angle=math.atan((d*math.tan(math.radians(t-90))+x) / d);

[0063] cam_radius=l+c*math.tan(math.radians(90)-offset_angle)-b / math.cos(math.radians(90)-offset_angle);

[0064] When driving the car to turn left,

[0065] offset_angle=math.atan((d*math.tan(math.radians(t-90))-x) / d);

[0066] cam_radius=l-(c+a) / (math.tan(offset_angle))-b / math.sin(offset_angle);

[0067] offset_angle is the equivalent angle after the steering wheel is offset, cam_radius is the radius of the cam 20, a is the thickness of the cam 20, b is the rotation radius of the connecting block 22, c is the vertical distance from the cam 20 to the steering wheel 12, d is the distance from the steering wheel 12 to the rear wheel 6, l is the base circle radius, x is the offset of the steering wheel 12, and t is the rotation angle of the rotating shaft 11.

[0068] Step S500, combining the length of each arc on the trajectory and the length of the connecting line between adjacent arcs to obtain the length corresponding to the outer contour of the cam 20, forming a final cam 20 image, and deriving the cam 20 image cutting base circle.

[0069] Specifically, the design of the trajectory and the design of the cam adopt the method of adding straight lines to circular arcs and stretching fitting points to avoid the occurrence of sharp bends. After obtaining a reasonable trajectory through the software, the trajectory route is imported into the UG software and divided into a trajectory composed of 10,000 coordinate points. After obtaining the coordinate points, the radius of the circle where the arc of any three left points is concentrated is used to deduce the swing size of the rotating shaft 11, and the thickness of the cam 20, the rotation radius of the connecting block 22, the vertical distance from the cam 20 to the steering wheel 12, the distance from the steering wheel 12 to the rear wheel 6, the offset of the steering wheel 12 and the base circle radius are considered to calculate the polar coordinates of the cam 20, and the cam 20 image is derived, and finally the cam 20 is obtained by laser cutting. The cam 20 formed by the present invention has high accuracy in controlling steering, and drives the steering wheel of the trolley to steer through the steering mechanism 10.

[0070] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A steerable driving vehicle, characterized in that: The invention comprises a base, a shell is arranged on the top of the base, a frame is arranged on the base, a rear wheel shaft is rotatably passed through the rear end of the frame, both ends of the rear wheel shaft are connected to rear wheels, a driving motor is arranged on the rear end of the frame, a first gear is arranged on the output end of the driving motor, a second gear is arranged on the rear wheel shaft, the first gear is meshed with the second gear, a steering mechanism is arranged on the frame, a steering shaft is arranged on the front end of the frame, a steering wheel is rotatably arranged on the bottom of the steering shaft, the steering mechanism is connected to the steering shaft, and the steering mechanism is used to control the steering of the steering shaft; The steering mechanism includes a gear reduction mechanism and a cam, the second gear is meshed with the input end of the gear reduction mechanism, a first rotating shaft is rotatably provided on the frame, two ends of the first rotating shaft are respectively connected to the output end of the gear reduction mechanism and the middle part of the cam, a connecting block is provided on the top of the steering shaft, a contact rod is connected to the connecting block, and the contact rod is arranged corresponding to the outer contour of the cam.

2. A steerable driving vehicle according to claim 1, characterized in that: A solar panel is arranged on the top of the shell, and the solar panel is electrically connected to the driving motor. Two brackets arranged in parallel are arranged on the top of the shell. A plurality of solar panels are arranged, and the left and right ends of the solar panels are respectively arranged on two brackets.

3. A steerable driving vehicle according to claim 2, characterized in that: Both ends of the bracket are provided with placement inclined surfaces, and the top of the bracket is provided with a placement flat surface.

4. A steerable driving vehicle according to claim 1, characterized in that: The frame comprises a first frame body and a second frame body, wherein the first frame body and the second frame body are respectively arranged at the left and right ends of the base, and the rear wheel shaft is rotatably arranged through the first frame body and the second frame body.

5. A steerable driving vehicle according to claim 4, characterized in that: The gear reduction mechanism includes a third gear and a second rotating shaft, the second rotating shaft can be rotatably passed through the first frame and the second frame, the driving motor is arranged on the first frame, the first gear and the second gear are both located on the outside of the first frame, the end of the second rotating shaft close to the first frame is connected to the third gear, a fourth gear is arranged on the second rotating shaft, and a fifth gear is arranged on the first rotating shaft, the fourth gear and the fifth gear are both located on the inside of the first frame, the fourth gear is meshed with the fifth gear, and the number of teeth of the second gear and the number of teeth of the fourth gear are respectively less than the number of teeth of the third gear and the number of teeth of the fifth gear.

6. A steerable driving vehicle according to claim 1, characterized in that: The vehicle frame comprises a front frame body, the front frame body is arranged on the top of the base, and the steering shaft passes through the front frame body.

7. A steerable driving vehicle according to claim 6, characterized in that: The front end of the shell is provided with a avoiding portion, and the avoiding portion is arranged corresponding to the front frame body.

8. The steerable driving vehicle according to claim 1, characterized in that: A switch, a speaker and an indicator light are arranged on the top of the shell.

9. A method for designing a cam for driving a trolley, characterized in that: For the solar-powered vehicle according to any one of claims 1 to 9, the cam design method comprises: Step S100: According to the multiple check-in points in the actual site, fitting points are set on both sides of each check-in point through software. Form a smooth trajectory; Step S200, obtaining the length of the track, obtaining the transmission ratio of the gear reduction mechanism, and calculating the total circumference of the cam; Step S300, dividing the trajectory into a trajectory composed of multiple coordinate points, obtaining any three coordinate points of each arc on the trajectory to determine the radius of the arc and the rotation angle of the rotation axis; Step S400, considering the cam thickness, the rotation radius of the connecting block, the vertical distance from the cam to the steering wheel, the distance from the steering wheel to the rear wheel, the offset of the steering wheel and the base circle radius, and combining the rotation angle of the rotation axis corresponding to each arc segment, calculate the cam radius corresponding to each arc segment; Step S500, combining the length of each arc on the trajectory and the length of the connecting line between adjacent arcs to obtain the length corresponding to the outer contour of the cam, forming a final cam image, and deriving the cam image cutting base circle.

10. A cam design method for a driving vehicle according to claim 9, characterized in that: The cam is set on the left side of the steering shaft, and the design program calculates the cam radius corresponding to each arc as follows: When driving the car to turn right, offset_angle=math.atan((d*math.tan(math.radians(t-90))+x) / d); cam_radius=l+c*math.tan(math.radians(90)-offset_angle)-b / math.cos(math.radians(90)-offset_angle); When driving the car to turn left, offset_angle=math.atan((d*math.tan(math.radians(t-90))-x) / d); cam_radius=l-(c+a) / (math.tan(offset_angle))-b / math.sin(offset_angle); offset_angle is the equivalent angle after the steering wheel is offset, cam_radius is the cam radius, a is the cam thickness, b is the rotation radius of the connecting block, c is the vertical distance from the cam to the steering wheel, d is the distance from the steering wheel to the rear wheel, l is the base circle radius, x is the offset of the steering wheel, and t is the rotation angle of the rotating shaft.

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