CN106976496A - A kind of balance telescoping mechanism and the balance car comprising it - Google Patents

A kind of balance telescoping mechanism and the balance car comprising it Download PDF

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Publication number
CN106976496A
CN106976496A CN201710313317.4A CN201710313317A CN106976496A CN 106976496 A CN106976496 A CN 106976496A CN 201710313317 A CN201710313317 A CN 201710313317A CN 106976496 A CN106976496 A CN 106976496A
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CN
China
Prior art keywords
arm
yoke
wheel
balance
transmission arm
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Granted
Application number
CN201710313317.4A
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Chinese (zh)
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CN106976496B (en
Inventor
王延刚
王鑫锋
郭宇阳
张永帅
张金涵
陈思极
廖阳稷敛
徐长通
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Shandong University
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Shandong University
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Priority to CN201710313317.4A priority Critical patent/CN106976496B/en
Publication of CN106976496A publication Critical patent/CN106976496A/en
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Publication of CN106976496B publication Critical patent/CN106976496B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/08Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces characterised by use of gyroscopes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64GCOSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00Cosmonautic vehicles
    • B64G1/16Extraterrestrial cars

Abstract

Telescoping mechanism is balanced the present invention relates to one kind, it includes laterally disposed fixed mount, the first fixation ear, the second fixation ear and the 3rd are respectively equipped with the vertical direction of fixed mount side successively and fixes ear, first fixation ear and the 3rd fixation ear are connected by bearing block with one end of the first yoke and the second yoke respectively, the other end of first yoke and the second yoke is connected by bearing block with wheel arm respectively, and the subaerial one end of wheel arm rest is provided with wheel;First yoke is connected by bearing block with one end of longitudinal transmission arm, the other end of longitudinal transmission arm is connected with the turn end of steering block, one end of steering block is connected with the second fixation ear, and the other end of steering block is connected with one end of horizontal transmission arm, and the other end of horizontal transmission arm is connected with driver element.Horizontal transmission arm is connected with longitudinal transmission arm by steering block, the up and down motion of vertical road wheel is become into horizontal transverse movement, the power of longitudinal direction is changed into laterally, linear drive motor can be changed into laterally disposed so that whole balance car compact conformation.

Description

A kind of balance telescoping mechanism and the balance car comprising it
Technical field
The present invention relates to mechanical structure field, specifically a kind of balance telescoping mechanism and the balance car comprising it.
Background technology
Shipping platform is needed there are vibrations in cargo transport such as chemicals carrying, Marsokhod, carriage of special cargo equipment, or Person requires shipping platform holding level.Platform surface does not shake, for hazmats, and scientific exploration has far-reaching shadow Ring.For carriage of special cargo occasion, because its quality is big, the slightly run-off the straight of center of gravity height will be dangerous.
So-called " the active shock-absorbing " that presently, there are carries cross-country traveling ability for adjustment suspension stiffness coefficient, can not still accomplish master Dynamic shock-absorbing, regulation vehicle body horizontal functional and incabloc function fusion imperfection.
The A of Chinese patent application CN 105235468《Active suspension formula Mars vehicle moving mechanism》A kind of active is disclosed to hang Posture Mars vehicle moving mechanism, the folding and exhibition of both sides suspension are realized by its first subtended angle adjuster and the second subtended angle adjuster Open, change the height and length of travel mechanism;Taken turns in being changed by the first subtended angle adjuster and the second subtended angle adjuster With trailing wheel spacing, realize that Mars wheel step is compound and advance;Cooperated, realized by subtended angle adjuster and major-minor rocking arm clutch Preceding middle trailing wheel independence lifting.But, because its master rocker and secondary-rocker are fixed dimension, although by controlling between rocking arm Angle, it is possible to achieve control, still, the adjustment of rocking arm is only limitted to length direction, due to the limitation of length direction, rocking arm adjustment Degree is subject to certain restrictions.
The content of the invention
According to above-mentioned weak point, it is an object of the invention to:A kind of balance telescoping mechanism and the balance comprising it are provided Car.The balance car can realize active shock-absorbing and can adjust levelness, improve conevying efficiency, while ensureing transportation safety Property, solve the vibration occurred in transport and tilt problem.
To achieve the above object, technical program of the present invention lies in:One kind balance telescoping mechanism, it includes laterally disposed The first fixation ear, the second fixation ear and the 3rd are respectively equipped with fixed mount, the vertical direction of fixed mount side successively and fixes ear, the One fixation ear and the 3rd fixation ear are connected by bearing block with one end of the first yoke and the second yoke respectively, the first yoke and the The other end of binary arm is connected by bearing block with wheel arm respectively, and the subaerial one end of wheel arm rest is provided with wheel;First fork Arm is connected by bearing block with one end of longitudinal transmission arm, and the other end of longitudinal transmission arm is connected with the turn end of steering block, is turned It is connected to one end of block with the second fixation ear, the other end of steering block is connected with one end of horizontal transmission arm, horizontal transmission arm The other end is connected with driver element.
Preferably:Driver element includes motor and leading screw, and leading screw is provided with sliding block, and sliding block is connected with horizontal transmission arm.
Preferably:Steering block and second is fixed between ear, longitudinal transmission arm and horizontal transmission arm and horizontal transmission arm It is to be hinged between sliding block.
Preferably:First yoke and the second yoke include the first fork branch, the second fork branch and third fork branch;First fork branch, Y-shaped is formed between second fork branch and third fork branch.
Preferably:First fork branch and the second fork branch are connected with fixed mount, and third fork branch is connected with wheel arm.
Preferably:Steering block includes the first steering arm and the second steering arm, between the first steering arm and the second steering arm " L " type that formed;Wherein, the end of the first steering arm is connected with the second fixation ear, the end of the second steering arm and horizontal transmission arm One end be connected.
The present invention also provides a kind of balance car, includes foregoing balance telescoping mechanism.
Preferably:The front of balance car vehicle body is provided with laser range finder based on synchronized scanner by support, balance car car body Horizontal direction is provided with acceleration of gravity gyro sensor, and leading screw is provided with leading screw encoder, and wheel is provided with reducing motor, puts down Weighing apparatus car is additionally provided with the control system for controlling it to carry out active shock-absorbing.
Preferably:Control system includes:
Information of road surface acquisition system:For gathering the information whether road surface rises and falls;
Car body balance information acquisition system:For gather vehicle body in itself whether horizontal information;
Motor driven systems:Upper-lower height and driving moment motion are adjusted for driving moment;
Monitor reponse system:Speed for correcting vehicle body advance;
Processor system:Whether the road surface of collection is risen and fallen and the whether horizontal information of vehicle body is calculated, obtains each Time, distance and inclined angle that wheel should be lifted, controlled motor drive system perform action, complete shock-absorbing.
Preferably:Support is inverted trapezoidal, and the distance measuring sensor of vehicle body one end is two, is separately positioned on the support Two ends, the spacing of the distance between two distance measuring sensors between left and right sides wheel is identical.
The beneficial effects of the present invention are:
1st, horizontal transmission arm is connected with longitudinal transmission arm by steering block, the up and down motion of vertical road wheel is become into level Transverse movement, by longitudinal direction power be changed into laterally, linear drive motor can be changed into laterally disposed, greatly save space, make Obtain whole balance car compact conformation;
2nd, front and rear and horizontal range information is acquired calculating, judged in advance, and control wheel to be adjusted, Really realize active shock-absorbing;Incabloc function is greatly improved into platform in balance performance with keeping horizontal functional to be integrated simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of present invention balance telescoping mechanism embodiment 1;
Fig. 2 is the structural representation of present invention balance telescoping mechanism embodiment 2;
Fig. 3 is the structural representation one of balance car of the present invention;
Fig. 4 is the structural representation two of balance car of the present invention;
Fig. 5 is the structural representation one of the first yoke of the invention;
Fig. 6 is the structural representation two of the first yoke of the invention;
Fig. 7 is the structural representation one of the second yoke of the invention;
Fig. 8 is the structural representation two of the second yoke of the invention;
Fig. 9 is the structural representation of steering block of the present invention;
Figure 10 is the structural representation of steering block of the present invention;
Figure 11 is the use flow chart of the present invention.
In figure, 1- motors;2- bearing blocks;3- sliding blocks;4- transverse direction transmission arms;5- steering blocks;The yokes of 6- second;7- leading screws; 8- wheels;9- wheel arms;10- longitudinal directions transmission arm;The yokes of 11- first;12- fixed mounts;13- first fixes ear;14- second is fixed Ear;15- the 3rd fixes ear;16- supports;17- laser range finder based on synchronized scanner;18- reinforcements;The fork branch of 19- first;20- second Fork branch;21- third fork branch;The steering arms of 22- first;The steering arms of 23- second;24- turn ends.
Embodiment
As shown in Figure 1, telescoping mechanism is balanced the present invention relates to one kind, it includes laterally disposed fixed mount 12, fixed mount The first fixation ear 13, second is respectively equipped with the vertical direction of 12 sides successively and fixes the fixation ear 15 of ear 14 and the 3rd, first consolidates Determine the fixation ear 15 of ear 13 and the 3rd respectively by bearing block 2 with one end of the first yoke 11 and the second yoke 6 to be connected, the first yoke 11 and second the other end of yoke 6 be connected respectively by bearing block 2 with wheel arm 9, wheel arm 9 is provided with car close to the one end on ground Wheel;First yoke 11 is connected by bearing block 2 with one end of longitudinal transmission arm 10, the other end and steering block of longitudinal transmission arm 10 5 turn end 24 is connected, and one end of steering block 5 is connected with the second fixation ear 14, the other end of steering block 5 and horizontal transmission arm 4 One end be connected, the other end of horizontal transmission arm 4 is connected with driver element.
Wherein, driver element includes motor 1 and leading screw 7, and leading screw 7 is provided with sliding block 3, sliding block 3 and the horizontal phase of transmission arm 4 Even.Specifically, motor 1 is reducing motor 1, is connected by motor 1 with leading screw 7, and leading screw 7 is carried out by bearing block 2 and nut It is fixed, when motor 1 drives, drive leading screw 7 to rotate, also just band movable slider 3 is moved.
Ear 14, longitudinal transmission arm 10 and horizontal stroke are fixed for the ease of the steering block easy to adjust 5 and second of wheel upper-lower position It is to be hinged between transmission arm 4 and between horizontal transmission arm 4 and sliding block 3.Hinged place is provided with axle sleeve, axle sleeve provided with lubrication Oil, can play a part of self-lubricating, can reduce the frictional force in articulated procedures, it is ensured that steering block 5, the horizontal and of transmission arm 4 What is rotated between longitudinal transmission arm 10 is smooth, it is ensured that balance car shock-absorbing process is smoothly completed.
The first yoke 11 and the second yoke 6 include first the 19, second fork of fork branch branch 20 and third fork branch as shown in figures 5-8 21;Y-shaped is formed between first the 19, second fork of fork branch branch 20 and third fork branch 21.Wherein, the first fork branch 19 and the second fork branch 20 It is connected with fixed mount 12, third fork branch 21 is connected with wheel arm 9.It is such to set so as to lead between fixed mount 12 and wheel arm 9 Cross three tie points to be attached, according to the architectural characteristic of triangle, its stability is highest, so set and also just improve The stability of balance car.
In order that total more compactedness is obtained, one end of longitudinal transmission arm 10 and the first yoke 11 and the second yoke 6 First fork branch 19, second fork branch 20 and third fork branch 21 between a position of intersecting point be attached, its longitudinal transmission arm 10 is passed through Space between the first fork branch 19 and the second fork branch 20 of second yoke 6 is connected with steering block 5.
Because the tie point that the first yoke 11 and the second yoke 6 and the first fixation ear 13 and second fix ear 14 has the first fork Fork 20 two tie points of branch of branch 19 and second, corresponding first fixation ear 13 and second fixes ear 14 and is respectively necessary for corresponding two It is individual.
Second fixation ear 14 only needs to be connected with one end of longitudinal transmission arm 10, therefore, and the second fixation ear 14 only needs to one It is individual, and the second fixation ear 14 is located at two first fixation ears 13 and the middle neighbouring positions of two the 3rd fixation ears 15 are Can, that is, on the first yoke 11 and the corresponding center line of the second yoke 6.
Further, in order to ensure wheel arm 9 ensures its vertical property during the upper-lower position adjustment of wheel, that is, In order to avoid wheel arm 9 deviates when wheel upper-lower position is adjusted or close to vehicle body fixed mount 12, so that cause the shakiness of vehicle body, The shape of first yoke 11 and the second yoke 6 is different, as viewed in figures 5-8, and the first yoke 11 is because of itself and longitudinal transmission arm 10 It is connected, that is, the first yoke 11 is main by the arm of force, and the second yoke 6 is slave arm, so, the first fork of the first yoke 11 The fork branch 20 of branch 19 and second is longer than the first fork branch 19 and the second fork branch 20 of the second yoke 6, and accordingly, the 3rd fixes the length of ear 15 Degree will be longer than the length of the first fixation ear 13, so cooperate and more coordinate.
Further, as shown in figs. 9-10, steering block 5 includes the first steering arm 22 and the second steering arm 23, and first turns to " L " type is formed between the steering arm 23 of arm 22 and second.Wherein, the end of the first steering arm 22 is connected with the second fixation ear 14, the The end of two steering arms 23 is connected with one end of horizontal transmission arm 4.In order to preferably be driven horizontal transmission arm 4 and longitudinal transmission arm Power between 10, the length of the first steering arm 22 can be slightly longer than the second steering arm 23.
The present invention also provides a kind of balance car, includes foregoing balance telescoping mechanism.
Specifically, the front of balance car vehicle body is provided with laser range finder based on synchronized scanner 17, balance car car by support 16 The horizontal direction of body is provided with acceleration of gravity gyro sensor, and leading screw 7 is provided with the encoder of leading screw 7, and wheel is provided with deceleration Motor 1, balance car is additionally provided with the control system for controlling it to carry out active shock-absorbing.
Further, control system includes:
Information of road surface acquisition system:For gathering the information whether road surface rises and falls;Laser range finder based on synchronized scanner is located at car Body front end, for reading the distance between vehicle front road surface and distance measuring sensor.
Car body balance information acquisition system:For gather vehicle body in itself whether horizontal information;Acceleration of gravity gyroscope Sensor is filtered fitting to the real-time collection of balancing information, and by the value for gathering the gravitational accelerometer returned and gyroscope, Wherein filtering method uses Kalman filtering, it is ensured that real-time property and accuracy.
Motor driven systems:Upper-lower height and driving moment motion are adjusted for driving moment;Wherein, driver element Spindle motor carries out the step motor control on both forward and reverse directions using relay.The motor of wheel is reducing motor.
Monitor reponse system:Speed for correcting vehicle body advance;Leading screw encoder carries out closed loop feedback to displacement motor, Detect whether slide block movement is accurate, vehicle body pace is corrected using encoder, it is ensured that the accuracy of shock-absorbing.
Processor system:Whether the road surface ahead of collection is risen and fallen and whether horizontal information is calculated, obtains each Time, distance and inclined angle that wheel should be lifted, controlled motor drive system perform action, complete shock-absorbing.Read Laser radar returned data is simultaneously calculated, and obtains time and the distance of each wheel lift, and controlled motor drive system is held Action is made, and completes shock-absorbing.Read gyroscope system data and carry out closed loop feedback, place accumulated error, and adjustable inclination in real time.Make With monitoring reponse system data to working platform situation real time calibration.
Further, support 16 is inverted trapezoidal, and the laser range finder based on synchronized scanner 17 of vehicle body one end is two, is set respectively At the two ends of support 16.The setting of inverted trapezoidal also for improve laser range finder based on synchronized scanner 17 stability because The accuracy for the data that laser range finder based on synchronized scanner 17 is measured is extremely important, and its data directly influences processing system and counted The accuracy for the execute instruction for handling and giving wheel is calculated, so as to directly affect the accuracy of wheel shock-absorbing.In order to further carry The stability of high laser range finder based on synchronized scanner 17, can set reinforcement 18 inside support 16.Two laser scanning and rangings Spacing between the distance between sensor 17 and left and right sides wheel is identical.
The rear and front end of vehicle body is respectively provided with a set of laser range finder based on synchronized scanner, and is connected with processor system so that This balance car, which can both advance, to be retreated, and adaptedness is more extensive.
Wheel is at least 4, respectively left and right sides correspondence two, or 6,8 etc..Each wheel is independently controlled System, performs the adjustment risen or fallen.Each wheel is furnished with reducing motor 1, for driving moment.
As shown in figure 11, after start, balance car carries out initialization procedure first, and specifically motor 1 drives leading screw 7 anti- To rotation, motor 1 drives leading screw 7 to rotate forward after sliding block 3 touches travel switch, by the arteries and veins for adding up the encoder of leading screw 7 Rush number and judge the travel distance of leading screw 7, until the motor 1 of leading screw 7 stops operating after advancing to the centre position of leading screw 7, initialization procedure Finish.
Balance car in the course of the work, passes through the detection road surface ahead fluctuating situation control in real time of laser range finder based on synchronized scanner 17 Make each wheel lift or the time fallen and distance.
For example, when laser range finder based on synchronized scanner 17 detects front and has barrier, processor system is obtained by calculating Time and the height lifted to wheel lift.When wheel reaches barrier, the motor 1 of driver element is moved, and passes through shaft coupling Device drives leading screw 7 to rotate, the Slideslip to outside car body of rotating band movable slider 3 of leading screw 7, and sliding block 3 promotes horizontal transmission arm 4, laterally passes Power is transmitted to longitudinal transmission arm 10 by swing arm 4 by steering block 5, and longitudinal transmission arm 10 promotes the first yoke 11 upwards, the first yoke 11 band motor car wheel arms 9 are lifted up, so that be lifted up with motor car wheel, and the second yoke 6 is according to being lifted up for wheel arm 9 Motion, the setting of the second yoke 6 can improve the stability between the yoke 11 of wheel arm 9 and first and car body fixed mount 12. When wheel is across barrier, leading screw 7 is controlled to return to original position with movable slider 3 by motor 1, that is to say, that sliding block 3 will Horizontal transmission arm 4 is retracted, and horizontal transmission arm 4 is pulled down longitudinal transmission arm 10 by steering block 5, longitudinal transmission arm 10 to first The applying power of yoke 11, declines the first yoke 11, wheel arm 9 declines therewith, and wheel also and then declines, and returns to plan-position, Complete the process that balance car crosses barrier.
And for example, when laser range finder based on synchronized scanner 17, which detects front, pit, sliding block 3 is slided to body inner side, band Dynamic transverse direction transmission arm 4 is moved, and range of motion below is as it was previously stated, complete the process that balance car crosses pit.
On the other hand, detect that body sway situation controls the row of 7 motor of leading screw 1 by acceleration of gravity gyro sensor Enter, so as to ensure vehicle body level all the time.
For example, when vehicle body tilts, gyroscope returns to tilt value, by entering to the inclination angle in x, y both direction Row is compensated respectively, calculates the compensation rate that should be moved on each wheel x, y direction, is fitted after then compensation rate is overlapped Onto each wheel, the used driving of motor 1 sliding block 3 motion band motor car wheel compensates inclination angle.When having four wheels altogether, The wheel of left three is considered as one group, the wheel of right three is considered as one group, and left wheel group and right wheel group are lifted or put down Vehicle body is offset to tilt;When vehicle body is tilted forward and back, middle two wheels are motionless, and two, front wheel is considered as one group, rear Two wheels are considered as one group, and front wheel group and rear wheel group are lifted or put down counteracting vehicle body and tilt forward and back.
Supporting PC ends upper computer software is developed, can check that laser range finder based on synchronized scanner 17, gravity add in host computer The collection numerical value of rate gyro sensors, can control balance car direct of travel and speed, can plan balance car traveling road Line.
According to the position of driver element, this balance telescoping mechanism can be divided into two kinds of situations, be described separately below.
Embodiment 1
The situation above car body is arranged on according to drive device to be described.
As shown in figure 1, balance telescoping mechanism, it includes laterally disposed fixed mount 12, the vertical side of the side of fixed mount 12 It is respectively equipped with the first fixation ear 13, second successively from top to bottom upwards and fixes the fixation ear 15 of ear 14 and the 3rd, first fixes ear 13 It is connected respectively by bearing block 2 with one end of the first yoke 11 and the second yoke 6 with the 3rd fixation ear 15, from fig. 1, it can be seen that first Yoke 11 is located at the top of the second yoke 6, and the other end of the first yoke 11 and the second yoke 6 passes through bearing block 2 and wheel respectively Arm 9 is connected, and wheel arm 9 is provided with wheel close to the one end on ground.First yoke 11 of top passes through bearing block 2 and longitudinal transmission arm 10 one end is connected, and the other end of longitudinal transmission arm 10 is connected with the turn end 24 of steering block 5, one end of steering block 5 and second Fixed ear 14 is connected, and the other end of steering block 5 is connected with one end of horizontal transmission arm 4, the other end of horizontal transmission arm 4 and driving Unit is connected.Remaining structure is as previously described.
Embodiment 2
The situation below car body is arranged on according to drive device to be described.
As different from Example 1, the 3rd is respectively equipped with the vertical direction of the side of fixed mount 12 successively from top to bottom to consolidate Determine ear 15, second and fix the fixation ear 13 of ear 14 and first, that is to say, that the first yoke 11 is located at the lower section of the second yoke 6, remaining Be the same as Example 1.

Claims (10)

1. one kind balance telescoping mechanism, it is characterised in that:It includes laterally disposed fixed mount (12), fixed mount (12) side The first fixation ear (13), the second fixation ear (14) and the 3rd are respectively equipped with the vertical direction in face successively and fixes ear (15), it is described First fixation ear (13) and the 3rd fix ear (15) pass through bearing block (2) and the first yoke (11) and the second yoke (6) respectively One end be connected, the other end of first yoke (11) and the second yoke (6) passes through bearing block (2) and wheel arm (9) respectively It is connected, described wheel arm (9) is provided with wheel (8) close to the one end on ground;Described the first yoke (11) passes through bearing block (2) It is connected with one end of longitudinal transmission arm (10), the other end of longitudinal transmission arm (10) and the turn end (23) of steering block (5) It is connected, one end of the steering block (5) is connected with the second fixation ear (14), the other end of the steering block (5) is with being laterally driven One end of arm (4) is connected, and the other end of the horizontal transmission arm (4) is connected with driver element.
2. balance telescoping mechanism according to claim 1, it is characterised in that:Described driver element include motor (1) and Leading screw (7), described leading screw (7) is provided with sliding block (3), and described sliding block (3) is connected with horizontal transmission arm (4).
3. balance telescoping mechanism according to claim 1, it is characterised in that:Described steering block (5) fixes ear with second (14), it is between longitudinal transmission arm (10) and horizontal transmission arm (4) and between described horizontal transmission arm (4) and sliding block (3) It is hinged.
4. balance telescoping mechanism according to claim 1, it is characterised in that:Described the first yoke (11) and the second yoke (6) the first fork branch (19), the second fork branch (20) and third fork branch (21) are included;Described first pitches branch (19), the second fork branch (20) Y-shaped is formed between third fork branch (21).
5. balance telescoping mechanism according to claim 4, it is characterised in that:Described the first fork branch (19) and the second fork branch (20) it is connected with fixed mount (12), described third fork branch (21) is connected with wheel arm (9).
6. balance telescoping mechanism according to claim 1, it is characterised in that:Described steering block (5) includes first and turned to Arm (22) and the second steering arm (23), form " L " type between described the first steering arm (22) and the second steering arm (23);It is described The end of the first steering arm (22) be connected with the second fixation ear (14), the end of second steering arm (23) and laterally transmission One end of arm (4) is connected.
7. a kind of balance car, it is characterised in that:Include balance telescoping mechanism as claimed in any one of claims 1 to 6.
8. balance car according to claim 7, it is characterised in that:The front and back of balance car vehicle body are provided with by support (16) Laser range finder based on synchronized scanner (17), the horizontal direction of the balance car car body is provided with acceleration of gravity gyro sensor, Described leading screw (7) is provided with leading screw (7) encoder, and described wheel (8) is provided with reducing motor (1), and described balance car is also Provided with the control system for controlling it to carry out active shock-absorbing.
9. balance car according to claim 8, it is characterised in that:Described control system includes:
Information of road surface acquisition system:For gathering the information whether road surface rises and falls;
Car body balance information acquisition system:For gather vehicle body in itself whether horizontal information;
Motor driven systems:Upper-lower height and driving moment (8) motion are adjusted for driving moment (8);
Monitor reponse system:Speed for correcting vehicle body advance;
Processor system:Whether the road surface of collection is risen and fallen and the information of the no level of vehicle body is calculated, each wheel (8) is obtained Time, distance and the inclined angle that should be lifted, controlled motor drive system perform action, complete shock-absorbing.
10. balance car according to claim 8, it is characterised in that:Described support (16) is inverted trapezoidal, the vehicle body one The distance measuring sensor at end is two, is separately positioned on the two ends of the support (16), the distance between two distance measuring sensors with Spacing between left and right sides wheel is identical.
CN201710313317.4A 2017-05-05 2017-05-05 Balanced telescopic machanism and contain its balance car Active CN106976496B (en)

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Cited By (3)

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CN107380293A (en) * 2017-08-29 2017-11-24 歌尔科技有限公司 A kind of mobile robot
CN110109131A (en) * 2019-03-21 2019-08-09 河北朗灏环保科技有限公司 A kind of forest tree resource investigation surveying device and its investigation method
WO2020114216A1 (en) * 2018-12-04 2020-06-11 深圳前海达闼云端智能科技有限公司 Transportation robot and vehicle thereof

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