CN106976496B - Balanced telescopic machanism and contain its balance car - Google Patents
Balanced telescopic machanism and contain its balance car Download PDFInfo
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- CN106976496B CN106976496B CN201710313317.4A CN201710313317A CN106976496B CN 106976496 B CN106976496 B CN 106976496B CN 201710313317 A CN201710313317 A CN 201710313317A CN 106976496 B CN106976496 B CN 106976496B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient 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
- B60G17/015—Resilient 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
- B60G17/0152—Resilient 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/08—Interconnection 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
Abstract
The invention relates to a balance telescopic mechanism which comprises a fixed frame arranged laterally, wherein a first fixed lug, a second fixed lug and a third fixed lug are sequentially and respectively arranged in the vertical direction of the side surface of the fixed frame, the first fixed lug and the third fixed lug are respectively connected with one end of a first fork arm and one end of a second fork arm through bearing seats, the other end of the first fork arm and the other end of the second fork arm are respectively connected with a wheel arm through the bearing seats, and one end of the wheel arm close to the ground is provided with a wheel; the first fork arm is connected with one end of the longitudinal transmission arm through the bearing seat, the other end of the longitudinal transmission arm is connected with the turning end of the turning block, one end of the turning block is connected with the second fixing lug, the other end of the turning block is connected with one end of the transverse transmission arm, and the other end of the transverse transmission arm is connected with the driving unit. Through turning to the piece with horizontal transmission arm and vertical transmission arm continuous, become horizontal transverse motion with the vertical up-and-down motion of wheel, become horizontal power, can become the linear drive motor and transversely place for whole balance car compact structure.
Description
Technical Field
The invention relates to the field of mechanical structures, in particular to a balance telescopic mechanism and a balance car comprising the same.
Background
In cargo transportation such as chemical handling, mars vehicles, special transportation equipment, it is required that the transportation platform cannot vibrate or be kept horizontal. The surface of the platform does not vibrate, and the transportation of dangerous goods and scientific detection are deeply influenced. For special transportation occasions, the gravity center is high and is in danger of being slightly inclined because of the large mass of the special transportation occasion.
The existing active shock absorption is to adjust the suspension stiffness coefficient to improve the trafficability characteristic, and the active shock absorption cannot be realized, and the fusion of the vehicle body horizontal adjusting function and the shock absorption function is incomplete.
Chinese patent application CN 105235468A "active suspension type mars train moving mechanism" discloses an active suspension type mars train moving mechanism, which realizes the folding and unfolding of suspensions at two sides by a first aperture angle regulator and a second aperture angle regulator, and changes the height and length of the moving mechanism; the distance between the middle wheel and the rear wheel can be changed through the first opening angle regulator and the second opening angle regulator, and the combined running of the wheel steps of the mars is realized; the front, middle and rear wheels are independently lifted through mutual matching of the opening angle regulator and the main rocker arm clutch and the auxiliary rocker arm clutch. However, since the main rocker arm and the auxiliary rocker arm are fixed in size, although control can be achieved by controlling the included angle between the rocker arms, adjustment of the rocker arms is limited to the length direction, and the degree of adjustment of the rocker arms is limited to a certain extent due to the limitation of the length direction.
Disclosure of Invention
According to the defects, the invention aims to: a balance telescopic mechanism and a balance car comprising the same are provided. This balance car can realize initiatively moving away to avoid possible earthquakes and can adjust the levelness, improves conveying efficiency, guarantees the transportation security simultaneously, has solved the vibration and the slope problem that appear in the transportation.
In order to achieve the purpose, the technical scheme of the invention is as follows: a balance telescopic mechanism comprises a fixed frame which is arranged laterally, wherein a first fixed lug, a second fixed lug and a third fixed lug are sequentially and respectively arranged in the vertical direction of the side surface of the fixed frame, the first fixed lug and the third fixed lug are respectively connected with one end of a first fork arm and one end of a second fork arm through a bearing seat, the other end of the first fork arm and the other end of the second fork arm are respectively connected with a wheel arm through the bearing seat, and one end, close to the ground, of the wheel arm is provided with a wheel; the first fork arm is connected with one end of the longitudinal transmission arm through the bearing seat, the other end of the longitudinal transmission arm is connected with the turning end of the turning block, one end of the turning block is connected with the second fixing lug, the other end of the turning block is connected with one end of the transverse transmission arm, and the other end of the transverse transmission arm is connected with the driving unit.
It is preferable that: the driving unit comprises a motor and a lead screw, a sliding block is arranged on the lead screw, and the sliding block is connected with the transverse transmission arm.
It is preferable that: the steering block is hinged with the second fixing lug, the longitudinal transmission arm and the transverse transmission arm, and the transverse transmission arm and the sliding block.
It is preferable that: the first fork arm and the second fork arm comprise a first fork branch, a second fork branch and a third fork branch; the first fork branch, the second fork branch and the third fork branch form a Y shape.
It is preferable that: the first fork branch and the second fork branch are connected with the fixed frame, and the third fork branch is connected with the wheel arm.
It is preferable that: the steering block comprises a first steering arm and a second steering arm, and an L shape is formed between the first steering arm and the second steering arm; the end part of the first steering arm is connected with the second fixing lug, and the end part of the second steering arm is connected with one end of the transverse transmission arm.
The invention also provides a balance car which comprises the balance telescopic mechanism.
It is preferable that: the front of the balance car body is provided with a laser scanning distance measuring sensor through a support, a gravity acceleration gyroscope sensor is arranged in the horizontal direction of the balance car body, a lead screw encoder is arranged on a lead screw, a wheel is provided with a speed reducing motor, and the balance car is further provided with a control system for controlling the balance car body to actively absorb shock.
It is preferable that: the control system includes:
road surface information acquisition system: the system is used for acquiring information whether the road surface is fluctuant or not;
vehicle body balance information acquisition system: the system is used for acquiring information whether the vehicle body is horizontal or not;
a motor drive system: the device is used for driving the wheels to adjust the vertical height and driving the wheels to move;
monitoring a feedback system: for correcting the speed of advance of the body;
a processor system: and calculating the acquired information of whether the road surface is fluctuated and whether the vehicle body is horizontal to obtain the time, the distance and the inclination angle of each wheel to be lifted, and controlling a motor driving system to execute actions to finish shock absorption.
It is preferable that: the support is the down-trapezoidal, and the range finding sensor of automobile body one end is two, sets up respectively the both ends of support, the distance between two range finding sensors is the same with the interval between the side wheel about.
The invention has the beneficial effects that:
1. the transverse transmission arm and the longitudinal transmission arm are connected through the steering block, vertical up-and-down movement of the wheels is changed into horizontal transverse movement, longitudinal force is changed into transverse movement, the linear driving motor can be changed into transverse placement, space is greatly saved, and the whole balance car is compact in structure;
2. the information of the front-back distance and the horizontal distance is collected and calculated, judgment is made in advance, wheels are controlled to adjust, and active shock absorption is really realized; simultaneously, the shock absorption function and the horizontal keeping function are integrated, and the balance performance of the platform is greatly improved.
Drawings
Fig. 1 is a schematic structural view of embodiment 1 of the balance telescopic mechanism of the present invention;
FIG. 2 is a schematic structural view of embodiment 2 of the balance stretching mechanism of the invention;
FIG. 3 is a first schematic structural view of the balance vehicle of the present invention;
FIG. 4 is a second schematic structural view of the balance vehicle of the present invention;
FIG. 5 is a first schematic structural view of the first yoke of the present invention;
FIG. 6 is a second schematic structural view of the first yoke of the present invention;
FIG. 7 is a first structural view of a second prong of the present invention;
FIG. 8 is a second schematic structural view of a second prong of the present invention;
FIG. 9 is a schematic view of the construction of the turning block of the present invention;
FIG. 10 is a schematic view of the construction of the diverter block of the present invention;
fig. 11 is a flow chart of the use of the present invention.
In the figure, 1-motor; 2-bearing seat; 3-a slide block; 4-transverse transmission arm; 5-a steering block; 6-a second prong; 7-a lead screw; 8-vehicle wheels; 9-wheel arm; 10-a longitudinal transmission arm; 11-a first yoke; 12-a fixing frame; 13-a first fixing lug; 14-a second fixing lug; 15-a third fixing lug; 16-a scaffold; 17-laser scanning ranging sensor; 18-reinforcing ribs; 19-a first fork; 20-a second branch; 21-third Y branch; 22-a first steering arm; 23-a second steering arm; 24-turning end.
Detailed Description
As can be seen from fig. 1, the present invention relates to a balance telescopic mechanism, which includes a laterally disposed fixing frame 12, a first fixing lug 13, a second fixing lug 14 and a third fixing lug 15 are sequentially and respectively disposed in a vertical direction on a side surface of the fixing frame 12, the first fixing lug 13 and the third fixing lug 15 are respectively connected to one end of a first fork arm 11 and one end of a second fork arm 6 through a bearing seat 2, the other end of the first fork arm 11 and the other end of the second fork arm 6 are respectively connected to a wheel arm 9 through the bearing seat 2, and a wheel is disposed at one end of the wheel arm 9 close to the ground; the first fork arm 11 is connected with one end of the longitudinal transmission arm 10 through the bearing seat 2, the other end of the longitudinal transmission arm 10 is connected with the turning end 24 of the turning block 5, one end of the turning block 5 is connected with the second fixing lug 14, the other end of the turning block 5 is connected with one end of the transverse transmission arm 4, and the other end of the transverse transmission arm 4 is connected with the driving unit.
The driving unit comprises a motor 1 and a lead screw 7, a sliding block 3 is arranged on the lead screw 7, and the sliding block 3 is connected with the transverse transmission arm 4. Specifically speaking, motor 1 is gear motor 1, links to each other with lead screw 7 through motor 1, and lead screw 7 is fixed through bearing frame 2 and nut, and when motor 1 drive, drive lead screw 7 and rotate, just also drive the motion of slider 3.
In order to adjust the up-down position of the wheels, the steering block 5 is hinged with the second fixing lug 14, the longitudinal transmission arm 10 is hinged with the transverse transmission arm 4, and the transverse transmission arm 4 is hinged with the sliding block 3. The articulated department is equipped with the axle sleeve, is equipped with lubricating oil in the axle sleeve, can play the effect of self-lubricating, can reduce the frictional force of articulated in-process, ensures to turn to between piece 5, transverse transmission arm 4 and the vertical transmission arm 10 pivoted smooth and easy, guarantees the smooth completion of balance car shock absorber process.
In order to make the overall structure more compact, one end of longitudinal transmission arm 10 is connected to the intersection point position between first prong 19, second prong 20 and third prong 21 of first prong 11 and second prong 6, and longitudinal transmission arm 10 is connected to steering block 5 through the gap between first prong 19 and second prong 20 of second prong 6.
Since the connection points of first prong 11 and second prong 6 with first fixed ear 13 and second fixed ear 14 have two connection points of first prong 19 and second prong 20, corresponding two of first fixed ear 13 and second fixed ear 14 are respectively needed.
The second fixing lug 14 only needs to be connected with one end of the longitudinal transmission arm 10, so that only one second fixing lug 14 is needed, and the second fixing lug 14 is located near the middle of the two first fixing lugs 13 and the two third fixing lugs 15, namely on the central line corresponding to the first fork arm 11 and the second fork arm 6.
Further, in order to ensure the verticality of the wheel arm 9 during the adjustment of the up-down position of the wheel, that is, in order to prevent the wheel arm 9 from deviating from or approaching the body fixing frame 12 during the adjustment of the up-down position of the wheel, thereby causing instability of the body, the first fork arm 11 and the second fork arm 6 have different shapes, as shown in fig. 5 to 8, the first fork arm 11 is connected with the longitudinal transmission arm 10, that is, the first fork arm 11 is mainly subjected to a force arm, and the second fork arm 6 is a driven arm, so that the first fork branch 19 and the second fork branch 20 of the first fork arm 11 are longer than the first fork branch 19 and the second fork branch 20 of the second fork arm 6, and correspondingly, the length of the third fixing lug 15 is longer than the length of the first fixing lug 13, thereby matching with each other more harmoniously.
Further, as shown in fig. 9-10, the steering block 5 includes a first steering arm 22 and a second steering arm 23, and the first steering arm 22 and the second steering arm 23 form an "L" shape therebetween. Wherein the end of the first steering arm 22 is connected to the second fixing lug 14 and the end of the second steering arm 23 is connected to one end of the transverse driving arm 4. For better transmission of the force between the transverse transmission arm 4 and the longitudinal transmission arm 10, the first steering arm 22 may be slightly longer than the second steering arm 23.
The invention also provides a balance car which comprises the balance telescopic mechanism.
Specifically, a laser scanning distance measuring sensor 17 is arranged in front of a balance car body through a support 16, a gravity acceleration gyroscope sensor is arranged in the horizontal direction of the balance car body, a lead screw 7 encoder is arranged on a lead screw 7, a speed reducing motor 1 is arranged on a wheel, and the balance car is further provided with a control system for controlling the balance car to actively absorb shock.
Further, the control system includes:
road surface information acquisition system: the system is used for acquiring the information whether the road surface is fluctuated or not; the laser scanning distance measuring sensor is located at the front end of the vehicle body and used for reading the distance between the road surface in front of the vehicle body and the distance measuring sensor.
Vehicle body balance information acquisition system: the information acquisition module is used for acquiring information about whether the vehicle body is horizontal; the gravity acceleration gyroscope sensor collects balance information in real time, and carries out filtering fitting on collected values of the gravity acceleration gyroscope and the gyroscope, wherein the filtering method adopts Kalman filtering to ensure the real-time performance and accuracy of data.
A motor drive system: the device is used for driving the wheels to adjust the vertical height and driving the wheels to move; wherein, the lead screw motor of the driving unit adopts a relay to control the stepping motor in the positive and negative directions. The motor of the wheel is a speed reducing motor.
Monitoring a feedback system: for correcting the speed of advance of the body; the lead screw encoder carries out closed loop feedback to motor displacement, detects whether slider motion is accurate, uses the encoder to rectify automobile body forward speed, guarantees the accuracy of moving away to avoid possible earthquakes.
A processor system: and calculating the acquired information of whether the front road surface is fluctuated and whether the front road surface is horizontal to obtain the time, the distance and the inclination angle of each wheel to be lifted, and controlling a motor driving system to execute actions to finish shock absorption. And reading the return data of the laser radar and calculating to obtain the lifting time and distance of each wheel, and controlling the motor driving system to execute actions to finish shock absorption. And reading the data of the gyroscope system to perform closed loop feedback, placing accumulated errors and adjusting the inclination angle in real time. And (5) calibrating the working condition of the platform in real time by using the data of the monitoring feedback system.
Further, the support 16 is in an inverted trapezoid shape, and two laser scanning distance measuring sensors 17 are arranged at one end of the vehicle body and are respectively arranged at two ends of the support 16. The inverted trapezoid is also used to improve the stability of the laser scanning distance measuring sensor 17, because the accuracy of the data measured by the laser scanning distance measuring sensor 17 is very important, and the data directly affects the accuracy of the calculation processing performed by the processing system and the execution instruction given to the wheel, thereby directly affecting the accuracy of the wheel shock absorption. In order to further increase the stability of the laser scanning distance measuring sensor 17, a reinforcing rib 18 can be arranged inside the holder 16. The distance between the two laser scanning ranging sensors 17 is the same as the pitch between the left and right side wheels.
The front end and the rear end of the car body are respectively provided with a set of laser scanning distance measuring sensors and are connected with the processor system, so that the balance car can move forwards and backwards, and the adaptive degree is wider.
The number of the wheels is at least 4, and the number of the wheels is 6, 8 and the like, and the wheels correspond to two wheels on the left side and the right side respectively. Each wheel is independently controlled to perform the adjustment of ascending or descending. Each wheel is provided with a reduction motor 1 for driving the wheel.
As shown in fig. 11, after the balance car is started, an initialization process is performed first, specifically, the motor 1 drives the lead screw 7 to rotate in the reverse direction, the motor 1 drives the lead screw 7 to rotate in the forward direction after the slider 3 touches the travel switch, the travel distance of the lead screw 7 is determined by accumulating the pulse number of the encoder of the lead screw 7, the rotation is stopped until the motor 1 of the lead screw 7 travels to the middle position of the lead screw 7, and the initialization process is completed.
During the working process of the balance car, the rising and falling time and distance of each wheel are controlled by detecting the front road surface fluctuation condition in real time through the laser scanning distance measuring sensor 17.
For example, when the laser scanning distance measuring sensor 17 detects an obstacle in front of the vehicle, the processor system obtains the time for lifting the wheels and the height of the wheels by calculation. When the wheel reaches an obstacle, the motor 1 of the driving unit moves, the lead screw 7 is driven to rotate through the coupler, the lead screw 7 rotates to drive the sliding block 3 to slide towards the outer side of the vehicle body, the sliding block 3 pushes the transverse transmission arm 4, the transverse transmission arm 4 transmits force to the longitudinal transmission arm 10 through the steering block 5, the longitudinal transmission arm 10 pushes the first fork arm 11 upwards, the first fork arm 11 drives the wheel arm 9 to lift upwards, the wheel is driven to lift upwards, the second fork arm 6 moves according to the upward lifting of the wheel arm 9, and the stability between the wheel arm 9 and the first fork arm 11 as well as the stability between the wheel arm 9 and the vehicle body fixing frame 12 can be improved due to the arrangement of the second fork arm 6. When the wheel strides across the barrier, the motor 1 controls the screw 7 to drive the slider 3 to return to the original position, that is, the slider 3 pulls back the transverse transmission arm 4, the transverse transmission arm 4 pulls the longitudinal transmission arm 10 downwards through the steering block 5, the longitudinal transmission arm 10 applies force to the first fork arm 11, so that the first fork arm 11 descends, the wheel arm 9 descends along with the first fork arm, the wheel returns to the plane position, and the process that the balance car passes through the barrier is completed.
For another example, when the laser scanning distance measuring sensor 17 detects that there is a pit in front, the slider 3 slides towards the inner side of the vehicle body to drive the transverse transmission arm 4 to move, and a series of movements in the rear are as described above, so that the process of the balance vehicle passing through the pit is completed.
On the other hand, the gravity acceleration gyroscope sensor detects the inclination condition of the vehicle body to control the lead screw 7 and the motor 1 to move, so that the vehicle body is ensured to be always horizontal.
For example, when the vehicle body inclines left and right, the gyroscope returns an inclination value, the inclination angles in the x direction and the y direction are respectively compensated, compensation amounts which should move in the x direction and the y direction of each wheel are calculated, then the compensation amounts are superposed and fitted to each wheel, the motor 1 drives the sliding block 3 to move to drive the wheels, and the inclination angles are compensated. When four wheels are arranged in total, the left three wheels are regarded as a group, the right three wheels are regarded as a group, and the left wheel group and the right wheel group are lifted up or put down to offset the left-right inclination of the vehicle body; when the vehicle body tilts forwards and backwards, the middle two wheels are fixed, the front two wheels are regarded as a group, the rear two wheels are regarded as a group, and the front wheel group and the rear wheel group are lifted or put down to offset the forward and backward tilting of the vehicle body.
The software of the upper computer at the PC end is developed, the acquisition values of the laser scanning distance measuring sensor 17 and the gravity acceleration gyroscope sensor can be checked in the upper computer, the advancing direction and the advancing speed of the balance car can be controlled, and the advancing route of the balance car can be planned.
The present balance telescopic mechanism can be divided into two cases according to the position of the driving unit, which will be discussed separately below.
Example 1
The description will be made in terms of the case where the drive device is disposed above the vehicle body.
As shown in fig. 1, the balance telescopic mechanism includes a fixing frame 12 disposed laterally, a first fixing lug 13, a second fixing lug 14, and a third fixing lug 15 are sequentially disposed from top to bottom in a vertical direction of a side surface of the fixing frame 12, the first fixing lug 13 and the third fixing lug 15 are respectively connected to one end of a first yoke 11 and one end of a second yoke 6 through a bearing seat 2, as can be seen from fig. 1, the first yoke 11 is located above the second yoke 6, the other ends of the first yoke 11 and the second yoke 6 are respectively connected to a wheel arm 9 through the bearing seat 2, and a wheel is disposed at one end of the wheel arm 9 close to the ground. The first yoke 11 above is connected with one end of the longitudinal transmission arm 10 through the bearing seat 2, the other end of the longitudinal transmission arm 10 is connected with the turning end 24 of the turning block 5, one end of the turning block 5 is connected with the second fixing lug 14, the other end of the turning block 5 is connected with one end of the transverse transmission arm 4, and the other end of the transverse transmission arm 4 is connected with the driving unit. The remaining structure is as described previously.
Example 2
The description will be made in terms of the case where the drive device is disposed below the vehicle body.
Unlike embodiment 1, the fixing frame 12 is provided with a third fixing lug 15, a second fixing lug 14 and a first fixing lug 13 in the vertical direction from the top to the bottom in the side, that is, the first yoke 11 is located below the second yoke 6, which is the same as embodiment 1.
Claims (10)
1. A balanced telescopic machanism which characterized in that: the wheel fixing device comprises a fixing frame (12) arranged laterally, wherein a first fixing lug (13), a second fixing lug (14) and a third fixing lug (15) are sequentially and respectively arranged on the vertical direction of the side surface of the fixing frame (12), the first fixing lug (13) and the third fixing lug (15) are respectively connected with one ends of a first fork arm (11) and a second fork arm (6) through a bearing seat (2), the other ends of the first fork arm (11) and the second fork arm (6) are respectively connected with a wheel arm (9) through the bearing seat (2), and a wheel (8) is arranged at one end, close to the ground, of the wheel arm (9); first yoke (11) link to each other through the one end of bearing frame (2) with vertical transmission arm (10), the other end of vertical transmission arm (10) links to each other with turning end (24) that turn to piece (5), the one end that turns to piece (5) links to each other with fixed ear of second (14), the other end that turns to piece (5) links to each other with the one end of horizontal transmission arm (4), the other end and the drive unit of horizontal transmission arm (4) link to each other.
2. The balanced telescoping mechanism of claim 1, wherein: the driving unit comprises a motor (1) and a lead screw (7), a sliding block (3) is arranged on the lead screw (7), and the sliding block (3) is connected with a transverse transmission arm (4).
3. The balanced telescoping mechanism of claim 1, wherein: the steering block (5) is hinged with the second fixed lug (14), the longitudinal transmission arm (10) and the transverse transmission arm (4), and the transverse transmission arm (4) is hinged with the sliding block (3).
4. The balanced telescoping mechanism of claim 1, wherein: the first fork arm (11) and the second fork arm (6) comprise a first fork branch (19), a second fork branch (20) and a third fork branch (21); the first fork branch (19), the second fork branch (20) and the third fork branch (21) form a Y shape.
5. The balanced retraction mechanism according to claim 4, wherein: the first fork branch (19) and the second fork branch (20) are connected with the fixed frame (12), and the third fork branch (21) is connected with the wheel arm (9).
6. The balanced telescoping mechanism of claim 1, wherein: the steering block (5) comprises a first steering arm (22) and a second steering arm (23), and an L shape is formed between the first steering arm (22) and the second steering arm (23); the end part of the first steering arm (22) is connected with the second fixing lug (14), and the end part of the second steering arm (23) is connected with one end of the transverse transmission arm (4).
7. The utility model provides a balance car which characterized in that: comprising a counterbalanced telescopic mechanism as claimed in any one of claims 1 to 6.
8. The balance car of claim 7, wherein: the place ahead of balance car automobile body is equipped with laser scanning distance measuring sensor (17) through support (16), be equipped with the acceleration of gravity gyroscope sensor on the horizontal direction of balance car automobile body, be equipped with lead screw (7) encoder on lead screw (7), wheel (8) be equipped with gear motor (1), the balance car still be equipped with and be used for controlling it to carry out the control system who initiatively moves away to avoid possible earthquakes.
9. The balance car of claim 8, wherein: the control system comprises:
road surface information acquisition system: the system is used for acquiring information whether the road surface is fluctuant or not;
vehicle body balance information acquisition system: the system is used for acquiring information whether the vehicle body is horizontal or not;
a motor drive system: used for adjusting the height of the driving wheels (8) and driving the driving wheels (8) to move;
monitoring a feedback system: for correcting the speed of advance of the body;
a processor system: and (3) calculating the acquired information of whether the road surface is fluctuated and whether the vehicle body is horizontal to obtain the time, the distance and the inclined angle of each wheel (8) to be lifted, and controlling a motor driving system to execute actions to finish shock absorption.
10. The balance car of claim 8, wherein: the support (16) be the trapezoidal that falls, range finding sensor be two, set up respectively the both ends of support (16), the distance between two range finding sensors is the same with the interval between the side wheel about.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710313317.4A CN106976496B (en) | 2017-05-05 | 2017-05-05 | Balanced telescopic machanism and contain its balance car |
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| CN201710313317.4A CN106976496B (en) | 2017-05-05 | 2017-05-05 | Balanced telescopic machanism and contain its balance car |
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| CN106976496B true CN106976496B (en) | 2022-12-13 |
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| CN107380293B (en) * | 2017-08-29 | 2020-05-19 | 歌尔科技有限公司 | Mobile robot |
| CN109515553B (en) * | 2018-12-04 | 2020-08-04 | 深圳前海达闼云端智能科技有限公司 | Transport robot and vehicle body thereof |
| 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 |
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