CN105270211A - Seat servo system of medium and low speed tricycle or four-wheeler - Google Patents
Seat servo system of medium and low speed tricycle or four-wheeler Download PDFInfo
- Publication number
- CN105270211A CN105270211A CN201410322572.1A CN201410322572A CN105270211A CN 105270211 A CN105270211 A CN 105270211A CN 201410322572 A CN201410322572 A CN 201410322572A CN 105270211 A CN105270211 A CN 105270211A
- Authority
- CN
- China
- Prior art keywords
- seat
- yaw
- pitch
- support bar
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a seat servo system of a medium and low speed tricycle or four-wheeler. A longitudinal swaying support is fixed to a frame. A yaw support is fixed to the longitudinal swaying support through longitudinal swaying rotating shafts. The swaying angle and swaying angular speed of the yaw support relative to the longitudinal swaying support in the longitudinal direction are controlled through a longitudinal swaying power device. A seat supporting rod is fixed to the yaw support through yaw rotating shafts. The yaw angle and the yaw angular speed of the seat supporting rod relative to the yaw support are controlled through a yaw power device. The seat supporting rod is in rigid connection with a seat. The yaw rotating shafts and the longitudinal swaying rotating shafts are in perpendicular directions and are of the same height and form cardan joint structures, and therefore the seat supporting rod can conduct universal swaying within a limited angle. The seat servo system is turned off or turned on through a fixed pile, an upper permanent magnet limiting ring, a lower permanent magnet limiting ring and an electromagnetic fixing ring. When the seat servo system is turned off, the seat is fixed to the frame. A computing control mechanism is connected with the longitudinal swaying power device and the yaw power device. An induction part inputs an induction signal to the computing control mechanism.
Description
Technical field
The present invention relates to the technical field of electromechanical integration, particularly relate to low speed three-wheel or four-wheeled seat follow-up system in one.
Background technology
At present common middle low speed three-wheel or four-wheeled basic condition are on the market: wheel base is short, left and right wheels spacing is narrow, tare light, vehicle body rigidity is not enough, personnel take that the overall center of gravity of descendant's car is higher, speed is middle low speed, general within 30 kilometers/hour, directional control is handle type or disc type, without the need to the steering boost system in automobile, by physical construction Direct driver wheel flutter, turn to damping little, easily turn to.
This middle low speed three-wheel or the ubiquitous problem of four-wheeled as follows:
1. in, low speed three-wheel or four-wheeled are when turning, and because people's car still keeps plumbness, the bearing force that the friction force of driver's seat chair and chair handle provide comes centrifugal force resistant, people is produced and is thrown toward rightabout sensation, produce sense of discomfort.
2. in, low speed three-wheel or four-wheeled are when travelling with fast speed, and as road surface emergency case, when turning to wide-angle suddenly, people's car still keeps plumbness, and overall center of gravity to reversing sense skew, easily can cause rollover under centrifugal action.When vehicle on slope, side by lower hoist turn time, more easily there is rollover accident.
3. in, low speed three-wheel or four-wheeled have certain hill climbing ability usually, generally can climb 10-20 ° of slope, and when car goes up a slope, driver has the sensation of layback with seat, to people's sense of insecurity, especially accelerate in upward slope process, and layback sense is more obvious, make people uncomfortable.For the vehicle that wheel base is short especially, such as mobility scooter for old people, turns over after when may cause going up a slope under contingencies.The processing method that industry is current places anti-tip wheel at body tail, and when hypsokinesis occurring and overturning, anti-tip wheel lands and supports.But this can have a strong impact on driver's use sense and be subject to.
Summary of the invention
For overcoming the defect of prior art, the technical problem to be solved in the present invention there is provided low speed three-wheel or four-wheeled seat follow-up system in one, it utilizes Automated condtrol means according to car body obliqueness and acceleration change, real-time adjustment seat inclination angle and position, with offset that vehicle movement causes take discomfort and safety declines.
Technical scheme of the present invention is: this middle low speed three-wheel or four-wheeled seat follow-up system, and it comprises Seat support bar, pitch support, yaw support, pitch rotating shaft, pitch engine installation, yaw rotating shaft, yaw engine installation, pitch limit point, yaw limit point, spud pile, permanent magnetism upper limit ring, permanent magnetism lower limit ring, electromagnetism set collar, vehicle frame, s operation control mechanism, inductive means; Pitch support is fixed on vehicle frame, and yaw support is fixed on pitch support by pitch rotating shaft, controls yaw support relative to pitch support pendulum angle in the vertical and cireular frequency by pitch engine installation; Seat support bar is fixed on yaw support by yaw rotating shaft, controls seat strut bar relative to the teeter angle of yaw support and cireular frequency by yaw engine installation; Seat support bar and seat are rigidly connected; Yaw rotating shaft is vertical with the direction of pitch rotating shaft and highly identical, forms a gimbal structure, and this gimbal structure is provided with rigid limit point as safety control mechanism, makes Seat support bar do universal swing in predetermined angle; Spud pile, up and down permanent magnetism spacing ring, electromagnetism set collar are closed or are opened seat follow-up system, and seat and vehicle frame are fixed when seat follow-up system is closed; S operation control mechanism connects pitch engine installation, yaw engine installation respectively; Induced signal is inputted s operation control mechanism by inductive means.
Inductive means is by vehicle body motoring condition signal input s operation control mechanism, s operation control mechanism sends instruction after calculating, manipulation pitch engine installation and yaw engine installation, controls yaw support relative to the pendulum angle of pitch support and cireular frequency, Seat support bar respectively relative to the teeter angle of yaw support and cireular frequency.Thus control seat inclination angle and position.When vehicle is at acclive ground run, regulating chair strut bar inclination angle, makes Seat support bar remain vertical, and raising comfort level and car body overturn critical angle; When turn inside diameter produces side direction centnifugal force, adjustment seat strut bar suitably tilts to steering direction, make and offseting along the horizontal component of force of the bearing force in Seat support bar direction and centnifugal force, eliminate occupant by the sense of discomfort thrown away, make center of gravity offset to the inside simultaneously, improve car body rollover critical angle, improve safety.
Accompanying drawing explanation
Fig. 1 is the front section view according to middle low speed three-wheel of the present invention or four-wheeled seat follow-up system.
Fig. 2 is the side sectional view according to middle low speed three-wheel of the present invention or four-wheeled seat follow-up system.
Fig. 3 is the birds-eye view according to middle low speed three-wheel of the present invention or four-wheeled seat follow-up system.
Fig. 4 is prior art and the schematic diagram of the present invention when horizontal wall inscription, and wherein left figure is the schematic diagram of prior art when horizontal wall inscription, and right figure is the schematic diagram of the present invention when horizontal wall inscription.
Fig. 5 is prior art and the schematic diagram of the present invention when longitudinal gradient, and wherein left figure is the schematic diagram of prior art when longitudinal gradient, and right figure is the schematic diagram of the present invention when longitudinal gradient.
Fig. 6 is prior art and the schematic diagram of the present invention when turning to, and wherein left figure is the schematic diagram of prior art when turning to, and right figure is the schematic diagram of the present invention when turning to.
Detailed description of the invention
When common vehicle is turned, the friction force (N2) that the level that the centnifugal force (F) of passenger can be subject to gravity (G) straight down, seat provides bearing capacity (N1), horizontally outward side straight up, seat provide is inside, these 4 power sizes are equal in pairs, direction is contrary in pairs, makes passenger be able to move with vehicle.But centnifugal force acts on passenger's trunk center of gravity place, and friction force acts on the contact surface with seat, and two power, not on a horizontal surface, can produce the moment laterally rotated, passenger is made to produce the sense of discomfort of body whipping laterally.Car load center of gravity also departs from laterally simultaneously, when acquiring a certain degree, can cause vehicle rollover.
After installing seat follow-up system additional, during turning, seat to tilt suitable angle to the inside with Seat support bar, the effect of the centnifugal force (F) of now passenger can be subject to gravity (G) straight down, seat provides the bearing capacity (N), the horizontally outward side that tilt upward along Seat support bar direction.The vertical direction component of bearing capacity (G ') and gravity equal and opposite in direction, direction are contrary; The horizontal direction component of bearing capacity (F ') and centnifugal force equal and opposite in direction, direction are contrary, and in same level, make passenger be able to move with vehicle.Without transverse force between passenger and vehicle, also just do not have the trend of relative vehicle displacement, simultaneously also rotating torque useless, order is driven comfortable.When Seat support bar produces inclination angle, seat can offset to the inside, and center of gravity is moved inward, and greatly reduces rollover risk.
When common car travels on domatic, seat is faced upward with vehicle body and is bowed or swing, and passenger can not feel well, and lacks the sense of security, too increases the risk that vehicle body overturns on domatic.
Install seat follow-up system additional, when inclination angle appears in vehicle body, Seat support bar adjusts angle in real time, makes Seat support bar remain straight up, improves passenger comfort, and hoist center of gravity skew simultaneously, reduces the risk that vehicle body overturns to lower.
Seat follow-up system of the present invention can take into account turn inside diameter and the situation in domatic traveling simultaneously, makes Seat support bar be in a suitable angle all the time, provides perfect riding experience.
As Figure 1-3, this middle low speed three-wheel or four-wheeled seat follow-up system, it comprises Seat support bar 5, pitch support 1, yaw support 2, pitch rotating shaft 3, pitch engine installation 4, yaw rotating shaft 6, yaw engine installation 7, pitch limit point 8, yaw limit point 9, spud pile 10, permanent magnetism upper limit ring 11, permanent magnetism lower limit ring 12, electromagnetism set collar 13, vehicle frame 14, s operation control mechanism, inductive means; Pitch support is fixed on vehicle frame, and yaw support is fixed on pitch support by pitch rotating shaft, controls yaw support relative to pitch support pendulum angle in the vertical and cireular frequency by pitch engine installation; Seat support bar is fixed on yaw support by yaw rotating shaft, controls seat strut bar relative to the teeter angle of yaw support and cireular frequency by yaw engine installation; Seat support bar and seat are rigidly connected; Yaw rotating shaft is vertical with the direction of pitch rotating shaft and highly identical, forms a gimbal structure, and this gimbal structure is provided with rigid limit point as safety control mechanism, makes Seat support bar do universal swing in predetermined angle; Spud pile, up and down permanent magnetism spacing ring, electromagnetism set collar are closed or are opened seat follow-up system, and seat and vehicle frame are fixed when seat follow-up system is closed; S operation control mechanism connects pitch engine installation, yaw engine installation respectively; Induced signal is inputted s operation control mechanism by inductive means.
Inductive means is by vehicle body motoring condition signal input s operation control mechanism, s operation control mechanism sends instruction after calculating, manipulation pitch engine installation and yaw engine installation, controls yaw support relative to the pendulum angle of pitch support and cireular frequency, Seat support bar respectively relative to the teeter angle of yaw support and cireular frequency.Thus control seat inclination angle and position.When vehicle is at acclive ground run, regulating chair strut bar inclination angle, makes Seat support bar remain vertical, and raising comfort level and car body overturn critical angle; When turn inside diameter produces side direction centnifugal force, adjustment seat strut bar suitably tilts to steering direction, make and offseting along the horizontal component of force of the bearing force in Seat support bar direction and centnifugal force, eliminate occupant by the sense of discomfort thrown away, make center of gravity offset to the inside simultaneously, improve car body rollover critical angle, improve safety.
Preferably, s operation control mechanism is micro controller system, programmable logic controller (PLC), motion control card or computer.S operation control mechanism selects micro controller system, and the advantage of the program is that cost is low, takes up room little, flexible layout, and shortcoming is poor anti jamming capability, and programming is complicated.Also PLC (programmable logic controller (PLC)) can be selected as s operation control mechanism, and advantage is that antijamming capability is strong, programming is simple, and shortcoming is that cost is high, takes up space.
Preferably, what inductive means comprised in the gyroscope be arranged on middle low speed three-wheel or body of 4-wheel vehicle, acceleration pick-up, obliquity sensor, drive motor tachogen, rotary encoder is one or more.
Preferably, yaw engine installation 7 and pitch engine installation 4 comprise servomotor, stepping motor or electrohydraulic servo system.Use electrohydraulic servo system as actuating unit, Seat support bar is promoted as driving power by hydraulic stem, or carry out supporting chair with more than 2 hydraulic stems in conjunction with seat strut bar, even do not use Seat support bar, only use some hydraulic stems accurately to drive seat to produce horizontal displacement and inclination angle.The advantage of electrohydraulic servo system is flexible layout; Shortcoming is that hydraulic efficiency pressure system needs periodical maintenance, and fault rate is high, to environment cleanliness and temperature traverse sensitivity.No matter use which kind of physical construction; as long as make seat create horizontal displacement and inclination angle with the change of state of motion of vehicle; in order to offset the sense of discomfort and raising safety brought to driver; and the rigid limit safety device of physics is set, and switching mechanism is set can opens, close seat follow-up system just in protection scope of the present invention.
Preferably, the spacing pillar of longitudinal oscillation 8 is set respectively in the front and back of yaw support, the core of yaw support is tubular, the distance of the sidewall distance seat strut bar of cylinder becomes designated ratio with cylinder sidewall top with the height of yaw rotating shaft, make a top form the limit point 9 of Seat support bar teeter, make the teeter of Seat support bar be no more than default maximum angle.Pillar by yaw rack platform to downward-extension, distance vehicle frame leaves suitable distance, spacing as longitudinal oscillation, make when yaw support starts longitudinal oscillation from plumbness on pitch support, arranging full swing angle (can be 10-25 °, be preferably 15 °), when reaching maximum angle, spacing supporting post top is on vehicle frame, stops longitudinal oscillation.Yaw carriage center position is square tube shape or cylindrical shape, the diff-H of the distance between a left and right sides span out of center Seat support bar and top, cylinder two side and rotating shaft is made to keep suitable ratio, make Seat support bar around yaw rotating shaft from plumbness, it (can be 10-30 ° that the angle swung is no more than a maximum limit system number, be preferably 20 °), when reaching maximum angle, top, a two side limit point 9 encountered by Seat support bar, stops teeter.
Preferably, pitch engine installation, yaw engine installation drive by motor, and motor by gear reduction unit and pitch rotating shaft, yaw rotating shaft directly or indirectly connected by gear.The advantage of this scheme be layout simple, save space, system reliability is high, shortcoming is that cost is high.
Preferably, seat strut bar and yaw support place vertical arc-shaped rack, and DC servo motor is engaged with arc-shaped rack by miniature gears.This scheme can reduce the gear ratio of servomotor itself, contributes to reducing costs, but adds production difficulty, reduce system reliability.
Preferably, by pitch motor, yaw motor arrangement above rotating shaft, connect motor and Seat support bar by ball screw, utilize ball screw to be converted into the characteristic of straight-line motion, carry out push-and-pull Seat support bar, adjust its inclination angle.This scheme advantage is that cost is low, and to be that ball screw critical speed is low may cause that system shakes, entirety high to environment cleanliness requirement takes up room greatly, complex structure to shortcoming.
Preferably, spud pile is coaxial with Seat support bar, equal diameter, the pole orientation of permanent magnetism upper limit ring 11, permanent magnetism lower limit ring 12 is contrary, electromagnet set collar 13 is between permanent magnetism upper limit ring 11 and permanent magnetism lower limit ring 12, control set collar by adjustment electromagnet set collar magnetic direction to move up and down, entangle Seat support bar or decontrol Seat support bar.
Preferably, around spud pile, specified distance arranges and encloses cylinder as limit point, pushes up and enclose on cylinder when Seat support bar swings to default maximum angle bottom Seat support bar.
Such two pack supports and two rotating shafts intersected vertically just constitute one and have rigidity physical support, and be provided with the omnidirectional mechanism of maximum limit parallactic angle, utilize two groups of servo deceleration electric systems, accurately can control angle that seat strut bar swings within the scope of this and cireular frequency, Seat support bar drives on the sphere of the seat at top all around in spacing angle and moves.Seat and Seat support bar are that rigid vertical is connected, then, when certain direction is partial to by Seat support bar, seat just creates a corresponding horizontal displacement and inclination angle.
Preferably, inductive means comprises gyroscope on the vehicle body being arranged on middle low speed three-wheel or four-wheeled and acceleration pick-up, and directly car body obliqueness and acceleration information are submitted to micro controller system, program advantage is that cost is low.
Preferably, the rotary encoder that inductive means comprises the drive motor tachogen be arranged on middle low speed three-wheel or four-wheeled, obliquity sensor and is arranged on deflecting bar, by these sensors, can measurement of vehicle speed, car body obliqueness and steering angle, thus calculate acceleration change value.The advantage of the program is when calculating acceleration change theoretical value, because vehicle body acceleration needs to be produced by frictional ground force, power is transmitted in vehicle needs the time, vehicle body acceleration does not also start change, go adjustment can to the control system more time, raising system ride comfort, shortcoming is that cost is higher.
In Automated condtrol, be utilize micro controller system with high-frequency (following illustrate in the frequency casehistory of 50 millis second/time, frequency is detected in practice as improved, the more level and smooth nature of system response can be made, but to electronic system arithmetic speed, internal memories etc. propose requirements at the higher level, energy consumption is also relatively higher, therefore for the product of difference location, different detection frequencies may be had) to monitor vehicle body dynamic for mode, each monitoring result all detects comparing several times with front, whether the running state that checks vehicles changes, which to direction change, and rate of change situation, which calculate Seat support bar should to direction according to built-in algorithms in micro controller system, how many angles are deflected with great cireular frequency, and two groups of DC servo motor systems are issued in this instruction, electric system performs instruction after receiving instruction, and check execution result, again execution result data are beamed back micro controller system, micro controller system is according to new body movement monitoring data and servomotor feedback information, the instruction of next circulation is again sent through computing.And so forth, make Seat support bar remain on infinite approach desired angle position, realize seat by continuous fine adjustment servo-actuated in real time.
In vehicle actual mechanical process, no matter be accelerate, slow down, turn, the change of these state of kinematic motions all has a process, that is: change beginning-acceleration-carry out-arrive target termination action close to target-deceleration, this process wants the time of about 0.3 second all to complete at the soonest, micro controller system can scan comparison 6 vehicle body dynamic datas during this period, according to the rate of change of continuous several data judge now vehicle body whether be kept in motion adjustment among, specifically be in which of whole state of kinematic motion adjustment in stage, be about to which arriving state of kinematic motion adjustment in stage, state of kinematic motion adjustment aim where, the imminent motion change of car load can be estimated through calculating, can to the target instruction target word of servo motor driving system transmission through anticipation, make seat follow-up system can complete servo-actuated task without the time difference.
Although it is after the change of car load state of kinematic motion occurs that micro controller system reads real time data, chip needs operation time to sending instruction again through comparing and computing, servo deceleration motor from receive signal to rotate also need a response time, also there is the process of a startup-acceleration-deceleration-arrival target in electric machine rotation itself, therefore whole slave steering system needs a response time, and this response time is about about 20-30 millisecond.But factor data detection is continual, comparing circulation is carried out, and so just can make anticipation.And after starting seat follow-up system, seat position and angle are uninterrupted adjustment, in the centrifugal equilibrium of forces always making its infinite approach bearing force, gravity, acceleration/accel produce, as required, it is second/time even higher that the adjusting frequency of seat reaches as high as 50 millis, and angle and the required torque of therefore each adjustment are all very little, and seat completes adjustment action and is also exceedingly fast, macroscopically, can reach that seat turns to vehicle body, accelerates, the effect of adjustment in real time of slowing down.
When vehicle starts to go up a slope, vehicle body produces inclination angle backward, move after people's car weight heart, on vehicle body, gyroscope sends dip angle signal, got by monolithic is machine-readable, with the comparison of front scanning result several times, judge vehicle body generation hypsokinesis, servomotor subsequently to pitch sends instruction, makes Seat support bar rotate proper angle with suitable cireular frequency forward, makes Seat support bar vertical all the time with horizontal surface in the vertical, make occupant can not produce layback sensation, make occupant move with seat forward horizontal simultaneously, make the overall center of gravity reach of people's car, increase safety.Regulate and control direction during descending contrary, when the road surface that vehicle is highly different through left and right, regulation and control direction changes thereupon, and principle is identical.
When vehicle starts to turn left, occupant can be subject to centnifugal force to the right, people's car weight heart moves to right, acceleration pick-up on vehicle body sends lateral acceleration signal, got by monolithic is machine-readable, with the comparison of front scanning result several times, judge that vehicle turns left, servomotor subsequently to yaw sends instruction, Seat support bar is made to rotate suitable angle with suitable cireular frequency left, make the gravity that occupant is subject to, seat bearing capacity and centnifugal force reach balance, make occupant produce being thrown toward the sensation on right side, overall drive feel similar two-wheeled cycle turn to situation, motroist produces inclination angle with seat, sense organ is all the time vertical seat on the seat, greatly improve ride comfort.People's car weight heart moves to left simultaneously, increases overall security.Right-hand turning to time regulation and control direction contrary, principle is identical.
When vehicle starts significantly to accelerate, occupant can produce the sensation of layback due to inertia, now on vehicle body, acceleration pick-up sends forward direction Acceleration Signal, is got, with the comparison of front scanning result several times by monolithic is machine-readable, judge vehicle acceleration, servomotor subsequently to pitch sends instruction, makes Seat support bar rotate suitable angle with suitable cireular frequency forward, and the chair back promotes occupant, make occupant lean forward with seat, weaken layback sense of discomfort.Significantly regulate and control direction during brake deceleration contrary, principle is identical.
When vehicle is at domatic road driving, no matter be longitudinal uphill/downhill, or horizontal slope, side, also or oblique slope, this system all can adjust seat strut bar direction in real time, make it to keep and horizontal plane, and using this real-time angular as new initial angle, then when producing new acceleration change, adjust in the manner aforesaid, and the total angle that seat strut bar swings at vertical and horizontal can be added up, make range of control be no more than laterally 30 °, longitudinally 25 °.
Seat follow-up system can consume vehicle electrical power deposit, therefore when driver does not need to use this system, can select to close this system.
When starting seat follow-up system, stir the switch on vehicle handle, system starts, and two servomotor energisings produce statical moment to keep seat strut bar initial position motionless, Single Chip Microcomputer (SCM) system self-inspection, system data initialization.Give the energising of set collar electromagnet some seconds afterwards, produce magnetic field, this magnetic field is contrary with the upper limit ring magnetic direction bottom Seat support bar, and produce repulsion, this magnetic field is identical with the lower limit ring magnetic direction on spud pile, produce suction, two power combineds action, make set collar move down, and are adsorbed on lower limit ring, automatically cut off electric current afterwards to save electric power, set collar is held by lower limit ring permanent magnetic iron.Now set collar is only enclosed within spud pile, and Seat support bar can free motion under motor drives.
When closing seat follow-up system, stir the switch on vehicle handle, micro controller system commands two motors that Seat support bar is turned to the position just right with spud pile.Give the energising of set collar electromagnet afterwards, produce the magnetic field contrary with aforementioned direction, this magnetic field is contrary with the lower limit ring magnetic field on spud pile, produce repulsion, this magnetic field is identical with the upper limit ring magnetic direction of Seat support bar bottom, produces suction, two power combineds action, set collar is moved up, until under being adsorbed on upper limit ring, entangles Seat support bar and spud pile.The power-off of some seconds back seat follow-up systems, electromagnet keeps "on" position, to guarantee under steam not because the factor such as to jolt causes set collar to glide inefficacy.
When car load shuts down, automatic follow procedure closes seat follow-up system, electromagnet power-off afterwards, and the magnet suction of top spacing ring keeps the stationary state of seat strut bar.
Middle low speed three-wheel or four-wheeled are because of factors such as self car weight is low, people's car weight heart is high, hanging function is weak, wheelbase is short, wheel spacing is narrow, vehicle body poor rigidity, all the time exist in driving procedure and turn to that traveling comfort is poor, the problem of low-angle sharply turning poor stability, these two kinds of problems are especially remarkable in three-wheel vehicle.The present invention to jump out for a long time completely, be not only middle low speed three-wheel or four-wheeled, comprise thinking circle seat is fixed on by auto-industry on vehicle frame, the displacement of real-time monitoring seat and inclination angle, solve above-mentioned two large problems dexterously, in thoroughly improving, low speed three-wheel or four-wheeled drives experience simultaneously.
The above; it is only preferred embodiment of the present invention; not any pro forma restriction is done to the present invention, every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all still belong to the protection domain of technical solution of the present invention.
Claims (9)
1. low speed three-wheel or a four-wheeled seat follow-up system in, is characterized in that: it comprises Seat support bar (5), pitch support (1), yaw support (2), pitch rotating shaft (3), pitch engine installation (4), yaw rotating shaft (6), yaw engine installation (7), pitch limit point (8), yaw limit point (9), spud pile (10), permanent magnetism upper limit ring (11), permanent magnetism lower limit ring (12), electromagnetism set collar (13), vehicle frame (14), s operation control mechanism, inductive means; Pitch support is fixed on vehicle frame, and yaw support is fixed on pitch support by pitch rotating shaft, controls yaw support relative to pitch support pendulum angle in the vertical and cireular frequency by pitch engine installation; Seat support bar is fixed on yaw support by yaw rotating shaft, controls seat strut bar relative to the teeter angle of yaw support and cireular frequency by yaw engine installation; Seat support bar and seat are rigidly connected; Yaw rotating shaft is vertical with the direction of pitch rotating shaft and highly identical, forms a gimbal structure, and this gimbal structure is provided with rigid limit point as safety control mechanism, makes Seat support bar do universal swing in predetermined angle; Spud pile, up and down permanent magnetism spacing ring, electromagnetism set collar are closed or are opened seat follow-up system, and seat and vehicle frame are fixed when seat follow-up system is closed; S operation control mechanism connects pitch engine installation, yaw engine installation respectively; Induced signal is inputted s operation control mechanism by inductive means.
2. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, is characterized in that: s operation control mechanism is micro controller system, programmable logic controller (PLC), motion control card or computer.
3. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, is characterized in that: it is one or more that inductive means comprises in the gyroscope be arranged on middle low speed three-wheel or body of 4-wheel vehicle, acceleration pick-up, obliquity sensor, drive motor tachogen, rotary encoder.
4. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, is characterized in that: yaw engine installation (7) and pitch engine installation (4) comprise servomotor, stepping motor or electrohydraulic servo system.
5. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, it is characterized in that: the spacing pillar of longitudinal oscillation (8) is set respectively in the front and back of yaw support, the core of yaw support is tubular, the distance of the sidewall distance seat strut bar of cylinder becomes designated ratio with cylinder sidewall top with the height of yaw rotating shaft, make a top form the limit point (9) of Seat support bar teeter, make the teeter of Seat support bar be no more than default maximum angle.
6. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, it is characterized in that: pitch engine installation, yaw engine installation drive by motor, motor by gear reduction unit and pitch rotating shaft, yaw rotating shaft directly or indirectly connected by gear.
7. middle low speed three-wheel according to claim 6 or four-wheeled seat follow-up system, it is characterized in that: Seat support bar and yaw support are connected with yaw motor and pitch motor by ball screw or by gear couplings, utilize ball screw to rotate and drive nut straight-line motion to come push-and-pull Seat support bar or the swing of yaw support.
8. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, it is characterized in that: spud pile is coaxial with Seat support bar, equal diameter, the pole orientation of permanent magnetism upper limit ring (11), permanent magnetism lower limit ring (12) is contrary, electromagnet set collar (13) is between permanent magnetism upper limit ring (11) and permanent magnetism lower limit ring (12), control set collar by adjustment electromagnet set collar magnetic direction to move up and down, entangle Seat support bar or decontrol Seat support bar.
9. middle low speed three-wheel according to claim 1 or four-wheeled seat follow-up system, it is characterized in that: specified distance arranges and encloses cylinder as limit point around spud pile, push up bottom Seat support bar when Seat support bar swings to default maximum angle and enclose on cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410322572.1A CN105270211A (en) | 2014-07-08 | 2014-07-08 | Seat servo system of medium and low speed tricycle or four-wheeler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410322572.1A CN105270211A (en) | 2014-07-08 | 2014-07-08 | Seat servo system of medium and low speed tricycle or four-wheeler |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105270211A true CN105270211A (en) | 2016-01-27 |
Family
ID=55140357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410322572.1A Pending CN105270211A (en) | 2014-07-08 | 2014-07-08 | Seat servo system of medium and low speed tricycle or four-wheeler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105270211A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974461A (en) * | 2017-03-20 | 2017-07-25 | 歌尔科技有限公司 | A kind of multiple degrees of freedom VR seat drive devices and VR seats |
| CN107962988A (en) * | 2017-11-22 | 2018-04-27 | 六六房车有限公司 | Inertia balance seat regulator control system during a kind of caravan traveling |
| CN108248618A (en) * | 2017-12-25 | 2018-07-06 | 河南辉煌城轨科技有限公司 | A kind of method that inertia is offset at subway carriage seat |
| CN109319023A (en) * | 2018-10-08 | 2019-02-12 | 仰恩大学 | A kind of locomotive side seat safety seat |
| CN110191300A (en) * | 2019-04-26 | 2019-08-30 | 特斯联（北京）科技有限公司 | A kind of the video call equipment and its system in unmanned parking lot |
| CN110861543A (en) * | 2018-08-27 | 2020-03-06 | 上海博泰悦臻网络技术服务有限公司 | Vehicle seat control method and device |
| WO2021120284A1 (en) * | 2019-12-20 | 2021-06-24 | 邵帅 | Subway seat system for reducing lateral inertia effects |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2709123A1 (en) * | 1976-03-09 | 1977-09-22 | Oestbergs Fabriks Ab | Variable setting seat for construction vehicle - has motor drive for tilting to either side when moving along inclines |
| WO2010116641A1 (en) * | 2009-03-30 | 2010-10-14 | 株式会社エクォス・リサーチ | Vehicle |
| CN201814165U (en) * | 2010-09-01 | 2011-05-04 | 曲学军 | Multifunctional chair |
| CN103126362A (en) * | 2012-11-30 | 2013-06-05 | 大连理工计算机控制工程有限公司 | Electric dynamic seat |
| CN103707782A (en) * | 2012-10-08 | 2014-04-09 | 马国明 | Active safety seat system |
| CN203995766U (en) * | 2014-07-08 | 2014-12-10 | 裴正非 | Low speed three-wheel or four-wheeled seat follow-up system in one |
-
2014
- 2014-07-08 CN CN201410322572.1A patent/CN105270211A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2709123A1 (en) * | 1976-03-09 | 1977-09-22 | Oestbergs Fabriks Ab | Variable setting seat for construction vehicle - has motor drive for tilting to either side when moving along inclines |
| WO2010116641A1 (en) * | 2009-03-30 | 2010-10-14 | 株式会社エクォス・リサーチ | Vehicle |
| CN201814165U (en) * | 2010-09-01 | 2011-05-04 | 曲学军 | Multifunctional chair |
| CN103707782A (en) * | 2012-10-08 | 2014-04-09 | 马国明 | Active safety seat system |
| CN103126362A (en) * | 2012-11-30 | 2013-06-05 | 大连理工计算机控制工程有限公司 | Electric dynamic seat |
| CN203995766U (en) * | 2014-07-08 | 2014-12-10 | 裴正非 | Low speed three-wheel or four-wheeled seat follow-up system in one |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974461A (en) * | 2017-03-20 | 2017-07-25 | 歌尔科技有限公司 | A kind of multiple degrees of freedom VR seat drive devices and VR seats |
| CN106974461B (en) * | 2017-03-20 | 2023-09-12 | 歌尔科技有限公司 | Multi freedom VR seat drive arrangement and VR seat |
| CN107962988A (en) * | 2017-11-22 | 2018-04-27 | 六六房车有限公司 | Inertia balance seat regulator control system during a kind of caravan traveling |
| CN108248618A (en) * | 2017-12-25 | 2018-07-06 | 河南辉煌城轨科技有限公司 | A kind of method that inertia is offset at subway carriage seat |
| CN110861543A (en) * | 2018-08-27 | 2020-03-06 | 上海博泰悦臻网络技术服务有限公司 | Vehicle seat control method and device |
| CN110861543B (en) * | 2018-08-27 | 2022-06-24 | 上海博泰悦臻网络技术服务有限公司 | Vehicle seat control method and device |
| CN109319023A (en) * | 2018-10-08 | 2019-02-12 | 仰恩大学 | A kind of locomotive side seat safety seat |
| CN109319023B (en) * | 2018-10-08 | 2020-12-08 | 仰恩大学 | Safety seat cushion for side seat of locomotive |
| CN110191300A (en) * | 2019-04-26 | 2019-08-30 | 特斯联（北京）科技有限公司 | A kind of the video call equipment and its system in unmanned parking lot |
| WO2021120284A1 (en) * | 2019-12-20 | 2021-06-24 | 邵帅 | Subway seat system for reducing lateral inertia effects |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105270211A (en) | Seat servo system of medium and low speed tricycle or four-wheeler | |
| JP7171852B2 (en) | Systems and methods for positioning vehicles in amusement park attractions | |
| JP4702414B2 (en) | Coaxial motorcycle and control method of coaxial motorcycle | |
| US20180257720A1 (en) | Vehicle control device and method using gyroscope | |
| CN103687782A (en) | Vehicle | |
| CN101687529A (en) | Inverted wheel type mobile body and method of controlling the same | |
| CN102341298A (en) | Two-wheeled inverted pendulum device, method for controlling same, and control program | |
| JP2010167809A (en) | Vehicle and attitude control system | |
| CN103407518A (en) | Vehicle automatic tilting balance control system and inverted tricycle with same | |
| CN106314645A (en) | Vehicle balancing device and method for adjusting vehicle balance | |
| CN203995766U (en) | Low speed three-wheel or four-wheeled seat follow-up system in one | |
| CN106428598A (en) | Unmanned aerial vehicle and pan-tilt thereof | |
| CN107021166A (en) | The inclination of falling three-wheel is from centering mechanism | |
| JP2010000989A (en) | Two-wheeled automobile | |
| CN104118505A (en) | Electric vehicle | |
| JP2014069672A (en) | Vehicle | |
| Kawashima | Study on intelligent baby carriage with power assist system and comfortable basket | |
| JP5624910B2 (en) | Electric vehicle | |
| KR20170116355A (en) | Apparatus and methods for control of a vehicle by gyroscope | |
| CN107297998A (en) | Automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stabilization methods | |
| CN205292926U (en) | Convenient electrodynamic balance car of turning | |
| CN207088896U (en) | A kind of automotive wheel elevating mechanism and chassis dynamic stabilization system | |
| CN203237344U (en) | Electric car | |
| CN104571119B (en) | Active gyroscopic stabilizing system and control method thereof | |
| KR101613451B1 (en) | Apparatus and methods for control of a vehicle by gyroscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160127 |
|
| WD01 | Invention patent application deemed withdrawn after publication |