CN107600269B - Vehicle body transverse moving wheel side swinging balance vehicle - Google Patents

Vehicle body transverse moving wheel side swinging balance vehicle Download PDF

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Publication number
CN107600269B
CN107600269B CN201710944194.4A CN201710944194A CN107600269B CN 107600269 B CN107600269 B CN 107600269B CN 201710944194 A CN201710944194 A CN 201710944194A CN 107600269 B CN107600269 B CN 107600269B
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China
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connecting rod
frame
omnidirectional wheel
wheel
intermediate shaft
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CN107600269A (en
Inventor
黄用华
李高明
庄未
李凯
钟艳如
黄美发
匡兵
刘夫云
钟永全
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a vehicle body transverse moving wheel side swinging balance vehicle which comprises a left large omnidirectional wheel and a right large omnidirectional wheel which are arranged in a left large omnidirectional wheel frame and a right large omnidirectional wheel frame, wherein the left large omnidirectional wheel frame comprises a left upper annular frame and a left lower annular frame; the front ends and the rear ends of the left upper ring frame and the right upper ring frame are respectively hinged through an upper front connecting rod and an upper rear connecting rod, the front ends and the rear ends of the left lower ring frame and the right lower ring frame are respectively hinged through a lower front connecting rod and a lower rear connecting rod, an upper intermediate shaft is arranged between the upper front connecting rod and the upper rear connecting rod, and a lower intermediate shaft is arranged between the lower front connecting rod and the lower rear connecting rod; a swing frame is arranged between the upper intermediate shaft and the lower intermediate shaft, the upper end of the swing frame is hinged with the upper intermediate shaft, the middle of the swing frame is fixedly connected with the lower intermediate shaft, a small omnidirectional wheel is installed at the lower end of the swing frame, and a motor for rotating the lower intermediate shaft is installed on the lower rear connecting rod. The invention can enable the large omnidirectional wheel to generate side sway, so as to simulate the characteristic that the curve inclines inwards, thereby enabling the balance car to be more stable during turning.

Description

Vehicle body transverse moving wheel side swinging balance vehicle
Technical Field
The invention relates to a dynamic balance technology of a traveling vehicle, in particular to a vehicle body transverse moving wheel side-swinging balance vehicle.
Background
The balance vehicle is a wheel type road walking mechanism which is established on the principle of dynamic stability, detects the posture change of a vehicle body by utilizing a gyroscope and an acceleration sensor in the vehicle body, and correspondingly adjusts a driving motor through a servo control system so as to keep the system balance.
The existing balance cars generally have three types: one is that the vehicle body is provided with an operating lever, and a user stands on a pedal platform of the electric balance vehicle to operate the operating lever so as to move forward, backward and stop, and the control is also called manual control; the other is that the vehicle body is composed of two parts, the left part and the right part rotate mutually through a rotating mechanism, thereby realizing 'foot control'; yet another type is "leg-controlled" by the leg contacting the lever.
At present, a balance car can run according to simple straight lines and curved tracks, and mainly turns by means of two-wheel differential speed, and the turning radius is too large at high speed so that the turning travel is too long, and the balance car cannot be well adapted to sudden road conditions, such as short-distance obstacles or curves with large curvature and the like; if the turning radius is forcibly made small at a high speed, the vehicle may be laterally shifted or even turned over.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a vehicle body transverse moving wheel side swinging balance vehicle convenient for turning.
Can solve the automobile body sideslip wheel side pendulum balance car of above-mentioned technical problem, its technical scheme is:
1. the left large omnidirectional wheel frame comprises an upper left annular frame and a lower left annular frame which are connected into a whole, and the right large omnidirectional wheel frame comprises an upper right annular frame and a lower right annular frame which are connected into a whole.
2. The front end and the rear end of the left upper ring frame and the right upper ring frame are respectively hinged through an upper front connecting rod and an upper rear connecting rod, the front end and the rear end of the left lower ring frame and the right lower ring frame are respectively hinged through a lower front connecting rod and a lower rear connecting rod, an upper intermediate shaft is installed between the upper front connecting rod and the upper rear connecting rod, and a lower intermediate shaft is installed between the lower front connecting rod and the lower rear connecting rod.
3. The upper end of the swing frame is hinged with the upper intermediate shaft, a middle frame body of the swing frame is fixedly connected with the lower intermediate shaft, a small omnidirectional wheel capable of moving transversely is mounted at the lower end of the swing frame, and a motor for rotating the lower intermediate shaft is arranged on the lower front connecting rod or the lower rear connecting rod.
4. The left large omni wheel and the right large omni wheel are respectively driven by a left large omni wheel model airplane motor and a right large omni wheel model airplane motor, and the small omni wheel is driven by a small omni wheel model airplane motor.
Conventionally, large omni wheels are mounted in corresponding lower ring frames through wheel shafts.
Conventionally, a large omni-wheel model airplane motor is coaxially mounted with a large omni-wheel.
According to the using mode, a pedal or a seat can be installed between the upper front connecting rod and the upper rear connecting rod through a bracket.
The invention has the beneficial effects that:
1. in the vehicle body transverse moving wheel side swinging balance vehicle structure, the large omnidirectional wheel can be caused to swing laterally through the parallelogram link mechanism, so that the characteristic that a curve inclines inwards is simulated, and the balance vehicle is more stable during turning.
2. The invention relates to a balance car with a car body capable of transversely moving and wheels capable of laterally swinging, which has three turning modes for adapting to different road conditions according to different omnidirectional wheel driving combination modes:
(1) the speed of the two large omnidirectional wheels is respectively controlled through the two large omnidirectional wheel model airplane motors, and the turning is carried out by utilizing the differential speed of the two large omnidirectional wheels, so that the turning mode is applicable to the condition of the arc-shaped road.
(2) The small omnidirectional wheel rotates under the drive of the small omnidirectional wheel model airplane motor, the large omnidirectional wheel is not driven, the balance car can generate transverse movement, and the movement can be suitable for the road condition of quarter turn.
(3) The small omnidirectional wheel is driven by a small omnidirectional wheel model airplane motor to generate a transverse moving speed vector, the two large omnidirectional wheels are also driven by a corresponding large omnidirectional wheel model airplane motor to generate a longitudinal speed vector, the combination of the two speed vectors can realize the turning of the balance car, and the turning mode is applicable to the broken line type road condition.
Drawings
FIG. 1 is a top isometric view of one embodiment of the present invention.
Fig. 2 is a bottom isometric view of the embodiment of fig. 1.
Fig. 3 is a view showing the structure of the parallelogram linkage shown in fig. 1 and 2.
Drawing number identification: 1. a left large omni wheel; 2. a large right omni wheel; 3. a left upper ring frame; 4. a left lower ring frame; 5. a right upper ring frame; 6. a lower right ring frame; 7. an upper front connecting rod; 8. an upper rear connecting rod; 9. a lower front connecting rod; 10. a lower rear connecting rod; 11. an upper intermediate shaft; 12. a lower intermediate shaft; 13. placing a frame; 14. a small omni wheel; 15. a motor; 16. a left large omni-directional wheel model airplane motor; 17. a right large omnidirectional wheel model airplane motor; 18. a chair is provided.
Detailed Description
The technical solution of the present invention is further explained with reference to the embodiments shown in the drawings.
The invention relates to a vehicle body transverse moving wheel side swinging balance vehicle which structurally comprises a left large omnidirectional wheel 1 and a right large omnidirectional wheel 2 which are respectively arranged in a left large omnidirectional wheel frame and a right large omnidirectional wheel frame, wherein the left large omnidirectional wheel frame and the right large omnidirectional wheel frame are connected through a parallelogram link mechanism, the parallelogram link mechanism is provided with a swinging frame 13 for driving the parallelogram link mechanism to deform and a motor 15 for driving the swinging frame 13 to swing, the swinging frame 13 is provided with a small omnidirectional wheel 14, the small omnidirectional wheel 14 and the bottoms of the left large omnidirectional wheel 1 and the right large omnidirectional wheel 2 are positioned on the same plane, the left large omnidirectional wheel 1 and the right large omnidirectional wheel 2 are longitudinal traveling wheels, and the small omnidirectional wheel 14 is a transverse traveling wheel, as shown in figures 1 and 2.
The left large omnidirectional wheel frame comprises an oval left upper ring frame 3 and a left lower ring frame 4 which are connected into a whole, the right large omnidirectional wheel frame comprises an oval right upper ring frame 5 and a right lower ring frame 6 which are connected into a whole, a wheel body of a left large omnidirectional wheel 1 is arranged in the left upper ring frame 3 and the left lower ring frame 4, the left large omnidirectional wheel 1 is arranged on the left lower ring frame 4 through a wheel shaft, the left large omnidirectional wheel 1 is driven by a left large omnidirectional wheel model airplane motor 16 which is coaxially arranged with the left large omnidirectional wheel 1, a wheel body of a right large omnidirectional wheel 2 is arranged in the right upper ring frame 5 and the right lower ring frame 6, the right large omnidirectional wheel 2 is arranged on the right lower ring frame 6 through a wheel shaft, and the right large omnidirectional wheel 2 is driven by a right large omnidirectional wheel model airplane motor 17 which is coaxially arranged with the right large omnidirectional wheel 2, as shown in fig. 1, fig. 2 and fig. 3.
The parallelogram link mechanism comprises an upper front connecting rod 7, an upper rear connecting rod 8, a lower front connecting rod 9 and a lower rear connecting rod 10, wherein the upper front connecting rod 7 is transversely arranged at the front ends of the left upper ring frame 3 and the right upper ring frame 5, the left and right ends of the upper front connecting rod 7 are respectively hinged with the front ends of the left upper ring frame 3 and the right upper ring frame 5, the upper rear connecting rod 8 is transversely arranged at the rear ends of the left upper ring frame 3 and the right upper ring frame 5, the left and right ends of the upper rear connecting rod 8 are respectively hinged with the rear ends of the left upper ring frame 3 and the right upper ring frame 5, the lower front connecting rod 9 is transversely arranged at the front ends of the left lower ring frame 4 and the right lower ring frame 6, the left and right ends of the lower front connecting rod 9 are respectively hinged with the front ends of the left lower ring frame 4 and the right lower ring frame 6, the lower rear connecting rod 10 is transversely arranged at the rear ends of the left lower ring frame 4 and the right lower ring frame 6, and the left and right ends of the lower rear connecting rod 10 are respectively hinged with the rear ends of the left lower ring frame 4 and the right lower ring frame 6; a longitudinal upper intermediate shaft 11 is arranged in the middle between the upper front connecting rod 7 and the upper rear connecting rod 8, and a longitudinal lower intermediate shaft 12 is arranged in the middle between the lower front connecting rod 9 and the lower rear connecting rod 10, as shown in fig. 1, 2 and 3.
The swing frame 13 is vertically arranged in the middle of the upper intermediate shaft 11 and the lower intermediate shaft 12, the upper end of the swing frame 13 is hinged with the upper intermediate shaft 11, the middle frame body of the swing frame 13 is fixedly connected with the lower intermediate shaft 12, the small omnidirectional wheel 14 is mounted between the front frame plate and the rear frame plate at the lower end of the swing frame 13 through the wheel shaft, and the small omnidirectional wheel 14 is driven by a coaxially mounted small omnidirectional wheel model airplane motor, as shown in fig. 1, fig. 2 and fig. 3.
The motor 15 is installed in the middle of the lower rear connecting rod 10, and the rear end of the lower intermediate shaft 12 extends out of the lower rear connecting rod 10 and is connected with the output shaft of the motor 15, as shown in fig. 1 and 2.
In the structure, the motor 15 drives down the jackshaft 12 and rotates, and the jackshaft 12 drives the swing frame 13 swing down, and the swing frame 13 drives simultaneously through the last jackshaft 11 that the skew takes place for lower front connecting rod 9 and lower back connecting rod 10 position for preceding connecting rod 7 and last back connecting rod 8, and the last preceding connecting rod 7 and the last back connecting rod 8 of skew drive the left side and go up ring frame 3 and the 5 beat of ring frame on the right side, realize that the big omniwheel 1, 2 in left and right takes place the sidesway promptly.
A seat 18 is mounted between the upper front link 7 and the upper rear link 8 through a bracket, as shown in fig. 1 and 2.
The operation mode of the invention is as follows:
1. the left and right large omni-directional wheel model motors 16 and 17 drive the left and right large omni- directional wheels 1 and 2 at the same speed to generate longitudinal movement, and the balance vehicle moves straightly.
2. The left and right large omnidirectional wheel model motors 16 and 17 drive the left and right large omnidirectional wheels 1 and 2 at different speeds (differential speed), and the balance vehicle makes arc-shaped turning motion.
3. The small omnidirectional wheel model airplane motor drives the small omnidirectional wheel 14, and the balance car moves transversely.
The combination of the above three different movements can realize the walking of the balance car on roads with various road conditions.

Claims (4)

1. The balance car with the lateral-moving wheels of the car body is characterized in that:
the device comprises a left large omnidirectional wheel (1) and a right large omnidirectional wheel (2) which can move longitudinally, wherein the left large omnidirectional wheel (1) and the right large omnidirectional wheel (2) are respectively arranged in a left large omnidirectional wheel frame and a right large omnidirectional wheel frame, the left large omnidirectional wheel frame comprises a left upper ring frame (3) and a left lower ring frame (4) which are connected into a whole, and the right large omnidirectional wheel frame comprises a right upper ring frame (5) and a right lower ring frame (6) which are connected into a whole;
the front ends and the rear ends of the left upper ring frame (3) and the right upper ring frame (5) are respectively hinged through an upper front connecting rod (7) and an upper rear connecting rod (8), the front ends and the rear ends of the left lower ring frame (4) and the right lower ring frame (6) are respectively hinged through a lower front connecting rod (9) and a lower rear connecting rod (10), an upper intermediate shaft (11) is installed between the upper front connecting rod (7) and the upper rear connecting rod (8), and a lower intermediate shaft (12) is installed between the lower front connecting rod (9) and the lower rear connecting rod (10);
a swing frame (13) is arranged between the upper intermediate shaft (11) and the lower intermediate shaft (12), the upper end of the swing frame (13) is hinged with the upper intermediate shaft (11), a middle frame body of the swing frame (13) is fixedly connected with the lower intermediate shaft (12), a small omnidirectional wheel (14) capable of moving transversely is installed at the lower end of the swing frame (13), and a motor (15) for rotating the lower intermediate shaft (12) is arranged on the lower front connecting rod (9) or the lower rear connecting rod (10);
the left and right large omnidirectional wheels (1, 2) are respectively driven by left and right large omnidirectional wheel model airplane motors (16, 17), and the small omnidirectional wheel (14) is driven by a small omnidirectional wheel model airplane motor.
2. A vehicle body traversing wheel side-sway balancing vehicle as set forth in claim 1, wherein: the large omni wheel is arranged in the corresponding lower ring frame through a wheel shaft.
3. A vehicle body traversing wheel side-sway balancing vehicle as set forth in claim 2, wherein: the large omnidirectional wheel model airplane motor and the large omnidirectional wheel are coaxially arranged.
4. A vehicle body transverse wheel side-sway balancing vehicle as claimed in any one of claims 1 to 3, wherein: a pedal or a seat (18) is arranged between the upper front connecting rod (7) and the upper rear connecting rod (8) through a bracket.
CN201710944194.4A 2017-09-30 2017-09-30 Vehicle body transverse moving wheel side swinging balance vehicle Active CN107600269B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710944194.4A CN107600269B (en) 2017-09-30 2017-09-30 Vehicle body transverse moving wheel side swinging balance vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710944194.4A CN107600269B (en) 2017-09-30 2017-09-30 Vehicle body transverse moving wheel side swinging balance vehicle

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CN107600269A CN107600269A (en) 2018-01-19
CN107600269B true CN107600269B (en) 2022-10-28

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Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN200942841Y (en) * 2006-06-07 2007-09-05 黄长江 Double-driven universally walking electric vehicle
CN101428667B (en) * 2008-11-28 2010-12-08 宁波舒博曼斯体育健身器材有限公司 Squeeze-proof steering structure of carriage for children
CN201385731Y (en) * 2009-02-03 2010-01-20 张积春 Front-driving back-steering reclining type three-wheeled bicycle
CN201447013U (en) * 2009-02-04 2010-05-05 华南理工大学 Tricycle with high steering flexibility and high stability and frame thereof
TW201029881A (en) * 2009-02-06 2010-08-16 Michael Liu One driving wheel vehicle and the rear wheel turning mechanism
CN203315197U (en) * 2013-05-08 2013-12-04 河北工业大学 Reconfigurable wheel-leg combined type wheelchair
CN205163431U (en) * 2015-08-06 2016-04-20 广州新市医院、广东药学院附属第三医院 Many functional safety wheelchair
CN206243331U (en) * 2016-12-12 2017-06-13 苏州科勒迪电子有限公司 Omni-mobile balance car based on Mecanum wheel design
CN206307196U (en) * 2016-12-23 2017-07-07 桂林电子科技大学 Can omnibearing movable single wheel mechanism of car
CN106741403B (en) * 2016-12-23 2022-04-08 桂林电子科技大学 Double-single-wheel auxiliary walking device capable of realizing lateral movement
CN207417032U (en) * 2017-09-30 2018-05-29 桂林电子科技大学 The traversing wheel side-sway balance car of car body

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