CN106696629A - Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels - Google Patents
Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels Download PDFInfo
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- CN106696629A CN106696629A CN201510771565.4A CN201510771565A CN106696629A CN 106696629 A CN106696629 A CN 106696629A CN 201510771565 A CN201510771565 A CN 201510771565A CN 106696629 A CN106696629 A CN 106696629A
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- independent
- sensor unit
- driving
- adjustable suspension
- vehicle frame
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Abstract
A dynamic suspension self-balancing frame capable of independently driving a plurality of wheels comprises a frame platform, independently driven wheels, an independently adjustable suspension system, a CPU, a control software, a combined sensor unit and a serial communication bus and is characterized in that the independently driven wheels are mounted on the independently adjustable suspension system; the independently adjustable suspension system is mounted on the frame platform; the CPU, the combined sensor unit and the serial communication bus are mounted on the frame platform; the combined sensor unit collects parameters of the frame platform in moving; and data communication are performed among the combined sensor unit, the CPU, the independently driven wheels and the independently adjustable suspension system through the serial communication bus. The dynamic suspension self-balancing frame capable of independently driving the plurality of wheels has the advantages that the course and speed of a frame system can be automatically kept; the high mobility of the frame system can be achieved; within a suspension height adjustable range, the frame system can pass complex terrains; and the frame is kept in a stable horizontal posture and an anti-shaking state.
Description
Technical field
The present invention relates to mechanical manufacturing field, specifically many independent dynamics for driving of wheel are suspended from balance frame.
Background technology
Traditional frame system and frame mainly completes support of the wheel to vehicle frame by resilient suspension, and completing speed between distribution of the power between driving wheel, wheel when completing to turn to by differential mechanism by power transmission shaft is adjusted.Suspension, power transmission shaft, differential mechanism weight weight, mobility is poor, while cannot dynamically adjust, vehicle frame platform is poor by property, while can be shaken with ground uneven.
The content of the invention
The present invention is intended to provide a kind of independent dynamic for driving of many wheels is suspended from balance frame, existing vehicle frame suspension, power transmission shaft, differential mechanism weight weight are mainly solved, mobility is poor, while cannot dynamically adjust, vehicle frame platform is poor by property, while the problem that can be shaken with ground uneven.
In order to solve the above problems, the dynamic that many wheels that the present invention is provided independently drive is suspended from balance frame, employs following technical scheme：
A kind of independent dynamic for driving of many wheels is suspended from balance frame, including vehicle frame platform, independent driving wheel, Independent adjustable suspension, CPU, control software, combination sensor unit and serial communication bus, it is characterised in that：
Independent driving wheel is arranged in Independent adjustable suspension, Independent adjustable suspension is arranged on vehicle frame platform, CPU, combination sensor unit and serial communication bus are arranged on vehicle frame platform, parameter when combination sensor unit collecting cart body panel is moved, being transmitted by serial communication bus between combination sensor unit, CPU, independent driving wheel, Independent adjustable suspension carries out data communication.
Preferably, described vehicle frame platform, the Independent adjustable suspension for having three or more than three is supported.
Preferably, described Independent adjustable suspension has height-adjustable electronic or hydraulic actuating mechanism.
Preferably, the executing agency of described Independent adjustable suspension, by the height of the instruction regulation Independent adjustable suspension of control software.
Preferably, described control software, data fusion is carried out by the vehicle frame platform data that combination sensor unit is collected, and judges the attitude of vehicle frame platform.
Preferably, described combination sensor unit, when vehicle runs, real-time detection vehicle frame platform is analyzed in the speed and direction change data of plane by CPU and control software, adjusts each independent driving wheel torque data, realizes the closed-loop control in speed and direction.
Preferably, described combination sensor unit, when vehicle runs, real-time detection vehicle frame platform change of pitch angle in the horizontal direction, analyzed by CPU and control software, adjust each Independent adjustable suspension in vertical orientation data, it is automatic to keep vehicle frame plateau levels and filter ground surface or terrain change and shake.
The beneficial effects of the present invention are：Compared with the existing spring suspension for commonly using and transmission shaft structure, simple structure is light and handy, can automatically keep desired course, the speed of a ship or plane, possesses high maneuverability, simultaneously in suspension height adjustable extent, possess complicated landform by property, while keeping vehicle frame horizontal attitude stabilization and stabilization.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Specific embodiment
Understand the technical scheme that the present invention is provided in order to clearer, be described further with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in figure 1, a kind of independent dynamic for driving of many wheels is suspended from balance frame, including vehicle frame platform 7, independent driving wheel 5, Independent adjustable suspension 4, CPU1, control software 2, combination sensor unit 3 and serial communication bus 6, it is characterised in that：
Independent driving wheel 5 is arranged in Independent adjustable suspension 4, Independent adjustable suspension 4 is arranged on vehicle frame platform 7, CPU1, combination sensor unit 3 and serial communication bus 6 are arranged on vehicle frame platform 7, parameter when 3 collecting cart body panel of combination sensor unit 7 is moved, being transmitted by serial communication bus 6 between combination sensor unit 3, CPU1, independent driving wheel 5, Independent adjustable suspension 4 carries out data communication.
Vehicle frame platform 7,The Independent adjustable suspension 4 for having three or more than three is supported,Independent adjustable suspension 4 has electronic or hydraulic actuating mechanism,By the height of the instruction regulation Independent adjustable suspension 4 of control software 2,The data of vehicle frame platform 7 that control software 2 collects combination sensor unit 3 carry out data fusion,Judge the attitude of vehicle frame platform 7,And when vehicle runs,Speed and direction change data of the real-time detection vehicle frame platform 7 of combination sensor unit 3 in plane,Analyzed by CPU1 and control software 2,Adjust the torque data of each independent driving wheel 5,Realize the closed-loop control in speed and direction,The change of pitch angle in the horizontal direction of real-time detection vehicle frame platform 7 simultaneously,Analyzed by CPU1 and control software 2,Each Independent adjustable suspension 4 is adjusted in vertical orientation data,It is automatic to keep the level of vehicle frame platform 7 and filter ground surface or terrain change and shake.
Beneficial effects of the present invention are：The present invention can automatically keep course, the speed of a ship or plane of frame system and frame, possess high maneuverability, while in suspension height adjustable extent, possess complicated landform by property, while keeping vehicle frame horizontal attitude stabilization and stabilization.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of independent dynamic for driving of many wheels is suspended from balance frame, including vehicle frame platform, independent driving wheel, Independent adjustable suspension, CPU, control software, combination sensor unit and serial communication bus, it is characterised in that：
Independent driving wheel is arranged in Independent adjustable suspension, Independent adjustable suspension is arranged on vehicle frame platform, CPU, combination sensor unit and serial communication bus are arranged on vehicle frame platform, parameter when combination sensor unit collecting cart body panel is moved, being transmitted by serial communication bus between combination sensor unit, CPU, independent driving wheel, Independent adjustable suspension carries out data communication.
2. a kind of many independent dynamics for driving of wheel according to claim 1 are suspended from balance frame, it is characterised in that：Described vehicle frame platform, the Independent adjustable suspension for having three or more than three is supported.
3. a kind of many independent dynamics for driving of wheel according to claim 1 are suspended from balance frame, it is characterised in that：Described Independent adjustable suspension has height-adjustable electronic or hydraulic actuating mechanism.
4. the independent dynamic for driving of a kind of many wheels according to claim 1 or 3 is suspended from balance frame, it is characterised in that：The executing agency of described Independent adjustable suspension, by the height of the instruction regulation Independent adjustable suspension of control software.
5. a kind of many independent dynamics for driving of wheel according to claim 1 are suspended from balance frame, it is characterised in that：Described control software, data fusion is carried out by the vehicle frame platform data that combination sensor unit is collected, and judges the attitude of vehicle frame platform.
6. a kind of many independent dynamics for driving of wheel according to claim 1 are suspended from balance frame, it is characterised in that：Described combination sensor unit, when vehicle runs, real-time detection vehicle frame platform is analyzed in the speed and direction change data of plane by CPU and control software, adjusts each independent driving wheel torque data, realizes the closed-loop control in speed and direction.
7. a kind of many independent dynamics for driving of wheel according to claim 1 are suspended from balance frame, it is characterised in that：Described combination sensor unit, when vehicle runs, real-time detection vehicle frame platform change of pitch angle in the horizontal direction is analyzed by CPU and control software, each Independent adjustable suspension is adjusted in vertical orientation data, it is automatic to keep vehicle frame plateau levels and filter ground surface or terrain change and shake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510771565.4A CN106696629A (en) | 2015-11-12 | 2015-11-12 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510771565.4A CN106696629A (en) | 2015-11-12 | 2015-11-12 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106696629A true CN106696629A (en) | 2017-05-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510771565.4A Pending CN106696629A (en) | 2015-11-12 | 2015-11-12 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
Country Status (1)
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| CN (1) | CN106696629A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57172808A (en) * | 1981-04-14 | 1982-10-23 | Toyota Motor Corp | Vehicle height regulator |
| JPS6136008A (en) * | 1984-07-30 | 1986-02-20 | Nissan Motor Co Ltd | Self-diagnostic device of car-mounted electronic device |
| JPH0648146A (en) * | 1992-08-04 | 1994-02-22 | Unisia Jecs Corp | Suspension device for vehicle |
| CN1715096A (en) * | 2004-05-26 | 2006-01-04 | 丰田自动车株式会社 | The stabilizer arrangement that is used for vehicle |
| CN202201103U (en) * | 2011-08-11 | 2012-04-25 | 九江嘉远科技有限公司 | Electric two-wheel balance vehicle |
| CN202345426U (en) * | 2011-08-11 | 2012-07-25 | 九江嘉远科技有限公司 | Four-wheel electric vehicle |
| CN205468385U (en) * | 2015-11-12 | 2016-08-17 | 昆山罗伯斯特机器人科技有限公司 | Developments of many rounds of individual drives hang self -balancing frame |
-
2015
- 2015-11-12 CN CN201510771565.4A patent/CN106696629A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57172808A (en) * | 1981-04-14 | 1982-10-23 | Toyota Motor Corp | Vehicle height regulator |
| JPS6136008A (en) * | 1984-07-30 | 1986-02-20 | Nissan Motor Co Ltd | Self-diagnostic device of car-mounted electronic device |
| JPH0648146A (en) * | 1992-08-04 | 1994-02-22 | Unisia Jecs Corp | Suspension device for vehicle |
| CN1715096A (en) * | 2004-05-26 | 2006-01-04 | 丰田自动车株式会社 | The stabilizer arrangement that is used for vehicle |
| CN202201103U (en) * | 2011-08-11 | 2012-04-25 | 九江嘉远科技有限公司 | Electric two-wheel balance vehicle |
| CN202345426U (en) * | 2011-08-11 | 2012-07-25 | 九江嘉远科技有限公司 | Four-wheel electric vehicle |
| CN205468385U (en) * | 2015-11-12 | 2016-08-17 | 昆山罗伯斯特机器人科技有限公司 | Developments of many rounds of individual drives hang self -balancing frame |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180824 Address after: 519000 teaching area 1, Software Park Road, Tangjia Bay, Zhuhai high tech Zone, Guangdong 1, two, 205-206 Applicant after: ZHUHAI CROP GUARD AVIATION PLANT PROTECTION TECHNOLOGY CO., LTD. Applicant after: Pan Haiyang Applicant after: Chen Xuesong Applicant after: Zou Fan Address before: 215300 No. 58 new energy road, Yushan Town, Kunshan, Suzhou, Jiangsu Applicant before: Kinsman Robust Robot Technology Co., Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |