CN108583699A - A kind of land detective vehicle self balancing device - Google Patents

A kind of land detective vehicle self balancing device Download PDF

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Publication number
CN108583699A
CN108583699A CN201810548033.8A CN201810548033A CN108583699A CN 108583699 A CN108583699 A CN 108583699A CN 201810548033 A CN201810548033 A CN 201810548033A CN 108583699 A CN108583699 A CN 108583699A
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CN
China
Prior art keywords
hinged
vehicle
balance
shaft
workbench
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201810548033.8A
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Chinese (zh)
Inventor
曾丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Jiushidu Industrial Product Design Co Ltd
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Chengdu Jiushidu Industrial Product Design Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chengdu Jiushidu Industrial Product Design Co Ltd filed Critical Chengdu Jiushidu Industrial Product Design Co Ltd
Priority to CN201810548033.8A priority Critical patent/CN108583699A/en
Publication of CN108583699A publication Critical patent/CN108583699A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention discloses a kind of land detective's vehicle self balancing devices, belong to detective's vehicle field, and the balancing device is mounted on the detective's vehicle of land comprising is had；Angular-rate sensor is used to detect the equilibrium state of detective's vehicle both sides；Controller is connected with angular-rate sensor, and receives to handle the equilibrium state data received from angular-rate sensor；Self balancing device, the self-balancing include balance motor（1403）, the movement of self balancing device center of gravity, balance motor can be driven to connect and be controlled by a controller with controller by the rotation of balance motor.

Description

A kind of land detective vehicle self balancing device
Technical field
The present invention relates to detective's vehicles.
Background technology
Scout car should be able to land and water traveling, and as possible use civilian component, Germany develop echo boomers' tonnage wheel Formula vehicle, front and back to share for 10 years, car body is the monocoque of steel plate welding, and part uses spaced armor, vehicle front left For cockpit, it is followed by actuating unit, is followed by load person cabin.
The vehicle if existing detective car owner someone scouts, there are also unmanned detective's vehicles, but it is applicable in various landform.
Invention content
It is an object of the invention to：In view of the above problems, a kind of land detective vehicle self balancing device is provided, it is special Sign is that the balancing device is mounted on the detective's vehicle of land comprising is had：Angular-rate sensor is used to detect detective The equilibrium state of vehicle both sides；
Controller is connected with angular-rate sensor, and receives to handle the equilibrium state data received from angular-rate sensor；
Self balancing device, the self-balancing include balance motor（1403）, can be driven certainly by the rotation of balance motor The movement of balancing device center of gravity, balance motor are connected and are controlled by a controller with controller.
As an improvement, the balance motor is connected with balancing pole, which is equipped with balance weight, balance weight and balancing pole Lead screw connects, and when the right balance motor of balancing pole drives rotation, balance weight can be moved along the axial direction of balancing pole.
As an improvement, the self balancing device further includes the balance road having on detective's vehicle（1401）, balance road The interior channel for being equipped with installation balancing pole, balance weight can be moved along the channel direction in balance road.
A kind of land detective vehicle comprising power 1-3 any one of them self balancing devices.
As an improvement, further including：
Workbench, the workbench are equipped with camera, and rear roller connecting rod, rear roller connection are connected on the workbench Bar is connected with 1 rear roller, which installs self balancing device；The workbench is also associated with middle roller connecting rod, in Roller connecting rod is connected with the middle idler wheel positioned at workbench both sides, and workbench is connected with front wheel connecting rod, front wheel connecting rod It is connected with the front wheel positioned at workbench both ends, front wheel is connected by two crawler belts respectively with rear roller；
Column, the column are fixedly connected with workbench；
Hinged block, the hinged block and column rotation connection, can along vertical direction rotate with column；
Rotating bar, the rotating bar and hinged block are hinged, and the articulated shaft is mobilizable articulated shaft, the articulated shaft It can move up and down along vertical direction, there are one telescopic shaft, the telescopic shaft and hinged blocks to connect for rotating bar connection It connects, the length of the telescopic shaft can change；
Cursor, the cursor and rotating bar are hinged, and articulated shaft is horizontal direction；
Telescopic arm, the telescopic arm are connected with cursor, and the telescopic arm can be opposite along the axial direction of telescopic arm It is flexible in cursor；
Instrument connecting seat, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the connecting seat of unloading For fixation surgical instrument；
Sampling pincers, sampling pincers include a central shaft, and center shaft end is hinged with three sampling arms, is cased on central shaft One portable pillar, portable pillar can be moved above along central shaft, be hinged with connecting rod in portable pillar, the other end of connecting rod and Sampling arm is hinged.
As an improvement, the cursor is equipped with channel for placing telescopic arm, set that there are one controls on cursor The flexible torque arm of telescopic arm, one end of the torque arm are connected with telescopic arm, and the other end is hinged in rotating bar.
As an improvement, being set on the telescopic arm, there are one decks, and spring is equipped between deck and cursor.
As an improvement, being set on the hinged block, there are one the hinged axis channel being distributed along vertical direction, the hinges The articulated shaft for connecing block is located in hinged axis channel and can be moved up and down along hinged axis channel.、
As an improvement, one end that the telescopic shaft is located at hinged block is connected with motor, the motor is located in hinged block, institute The telescopic shaft and rotating bar stated are threadedly coupled, and hinged block is controlled by motor drives telescopic shaft to rotate along hinged axis channel It moves in direction.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Unmanned detective's vehicle of the present invention Various landform can be applicable in, will not be met with obstruction in traveling process, and using robot arm device can use it is multiple from By the sampling spent, detective's vehicle of the invention sets the direction for vehicle of scouting by the rotation control of the wheel there are one wheel in rear end, It is easy to advance in various mountainous regions, reduces the mechanical resistance that rotation is brought.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the schematic diagram of present invention sampling pincers；
Fig. 3 is the structural schematic diagram of self balancing device；
Fig. 4 is the control principle drawing of balance motor；
It is marked in figure：It is marked in figure：1- columns, 101- idler wheels, 2- hinged blocks, 201- telescopic shafts, 3- rotating bars, 4- cursors, 401- torque arm, 5- telescopic arms, 501- springs, 502- decks, 6- instrument connecting seats, 7- sampling pincers, 701- central shafts, 702- samplings Arm, 703- portable pillars, 704- connecting rods, 8- workbench, 901- rear roller connecting rods, 902- rear rollers, idler wheel connects in 10- Bar, idler wheel in 1001-, 11- crawler belts, 12- cameras, 13- front wheel connecting rods, 1301- front wheels, 14- self balancing devices, 1401- balances road, 1402- balancing poles, 1403- balance motors, 1404- balance weights.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
Specific embodiment 1：As shown in Figs. 1-2, the present invention provides a kind of land detective vehicle, including：
Workbench, the workbench are equipped with camera, and rear roller connecting rod, rear roller connection are connected on the workbench Bar is connected with 1 rear roller, and the workbench is also associated with middle roller connecting rod, and middle roller connecting rod is connected with positioned at work The middle idler wheel of platform both sides, workbench are connected with front wheel connecting rod, and front wheel connecting rod is connected with before workbench both ends Idler wheel；
Column, the column are fixedly connected with workbench；
Hinged block, the hinged block and column rotation connection, can along vertical direction rotate with column；
Rotating bar, the rotating bar and hinged block are hinged, and the articulated shaft is mobilizable articulated shaft, the articulated shaft It can move up and down along vertical direction, there are one telescopic shaft, the telescopic shaft and hinged blocks to connect for rotating bar connection It connects, the length of the telescopic shaft can change；
Cursor, the cursor and rotating bar are hinged, and articulated shaft is horizontal direction；
Telescopic arm, the telescopic arm are connected with cursor, and the telescopic arm can be opposite along the axial direction of telescopic arm It is flexible in cursor；
Instrument connecting seat, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the connecting seat of unloading For fixation surgical instrument；
Sampling pincers, sampling pincers include a central shaft, and center shaft end is hinged with three sampling arms, is cased on central shaft One portable pillar, portable pillar can be moved above along central shaft, be hinged with connecting rod in portable pillar, the other end of connecting rod and Sampling arm is hinged.
The cursor is equipped with the channel for placing telescopic arm, is set on cursor flexible there are one telescopic arm is controlled Torque arm, one end of the torque arm connects with telescopic arm, and the other end is hinged in rotating bar, and the telescopic arm is equipped with one A deck is equipped with spring between deck and cursor.What is be distributed along vertical direction there are one being set on the hinged block is hinged The articulated shaft of axis channel, the hinged block is located in hinged axis channel and can be moved up and down along hinged axis channel.Institute One end that the telescopic shaft stated is located at hinged block is connected with motor, and the motor is located in hinged block, the telescopic shaft and turn Lever is threadedly coupled, and control hinged block by motor drives telescopic shaft to rotate moves along articulated shaft channel direction.
The sampling arm surface is equipped with wearing layer, and the wearing layer is by titanium alloy material by way of electrostatic spinning It is ejected into sampling arm surface, titanium alloy includes 100 parts of titanium, 10 parts of lithium, 2 parts of gallium, 1 part of indium, 1 part of lanthanum, cerium 1 according to parts by weight Part.
Embodiment 2：Relative to embodiment 1, the improvement of embodiment 2 is, is filled according to having self balancing device, self-balancing It sets on the detective's vehicle of land comprising have：Angular-rate sensor is used to detect the equilibrium state of detective's vehicle both sides；
Controller is connected with angular-rate sensor, and receives to handle the equilibrium state data received from angular-rate sensor；
Self balancing device, the self-balancing include balance motor 1403, can be driven from flat by the rotation of balance motor The movement for the device center of gravity that weighs, balance motor are connected and are controlled by a controller with controller.
The balance motor and balancing pole 1402 connect, which is equipped with balance weight 1404, balance weight and balancing pole Lead screw connects, and when the right balance motor of balancing pole drives rotation, balance weight can be moved along the axial direction of balancing pole, The self balancing device further includes the balance road 1401 having on detective's vehicle, balances and is equipped with the logical of installation balancing pole in road Road, balance weight can be moved along the channel direction in balance road.
When the on the way road surface of injustice, detective's vehicle left and right directions deflects, and angular-rate sensor detector is inclined Indexing is set, and then controls moving left and right for balance weight by controller, is moved to the side of rise, and then keeps the flat of detective's vehicle Weighing apparatus.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
In the description of the present invention, it should be noted that term "center", "lower", "left", "right", " is erected at "upper" Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or Person be the invention product using when the orientation or positional relationship usually put, be merely for convenience of the description present invention and simplification retouched It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation, Therefore it is not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or It is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be by between intermediary It connects connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition The concrete meaning of above-mentioned term in the present invention.

Claims (9)

  1. The vehicle self balancing device 1. a kind of land is scouted, which is characterized in that the balancing device is mounted on the detective's vehicle of land, Include：Angular-rate sensor is used to detect the equilibrium state of detective's vehicle both sides；
    Controller is connected with angular-rate sensor, and receives to handle the equilibrium state data received from angular-rate sensor；
    Self balancing device, the self-balancing include balance motor（1403）, can be driven certainly by the rotation of balance motor The movement of balancing device center of gravity, balance motor are connected and are controlled by a controller with controller.
  2. The vehicle self balancing device 2. land according to claim 1 is scouted, which is characterized in that the balance motor and balancing pole （1402）Connection, the balancing pole are equipped with balance weight（1404）, balance weight is connected with balancing pole lead screw, in the right balance electricity of balancing pole When machine drives rotation, balance weight can be moved along the axial direction of balancing pole.
  3. The vehicle self balancing device 3. land according to claim 2 is scouted, which is characterized in that the self balancing device also wraps Include the balance road on detective's vehicle（1401）, balance is equipped with the channel for installing balancing pole in road, and balance weight can be along Balance the channel direction movement in road.
  4. A kind of vehicle 4. land is scouted comprising power 1-3 any one of them self balancing devices.
  5. The vehicle 5. land according to claim 4 is scouted, which is characterized in that further include：
    Workbench（8）, the workbench（8）It is equipped with camera（12）, rear roller connecting rod is connected on the workbench （901）, rear roller connecting rod is connected with 1 rear roller, which installs self balancing device；The workbench is also associated with Middle roller connecting rod（13）, middle roller connecting rod is connected with the middle idler wheel positioned at workbench both sides（1001）, workbench is connected with Front wheel connecting rod, front wheel connecting rod are connected with the front wheel positioned at workbench both ends（1301）, front wheel and rear roller divide Do not pass through two crawler belts（11）Connection；
    Column（1）, the column is fixedly connected with workbench；
    Hinged block（2）, the hinged block and column（1）Rotation connection, can along vertical direction rotate with column；
    Rotating bar（3）, the rotating bar and hinged block is hinged, and the articulated shaft is mobilizable articulated shaft, the hinge Spindle can move up and down along vertical direction, and there are one telescopic shafts for rotating bar connection（201）, the telescopic shaft and Hinged block connects, and the length of the telescopic shaft can change；
    Cursor（4）, the cursor and rotating bar is hinged, and articulated shaft is horizontal direction；
    Telescopic arm（5）, the telescopic arm connects with cursor, and the telescopic arm can be along the axial direction phase of telescopic arm It is flexible for cursor；
    Instrument connecting seat（6）, the mechanical connection seat and telescopic arm are hinged, and articulated shaft is horizontal direction, the company of unloading Joint chair is used for fixation surgical instrument；
    Sampling pincers（7）, the sampling pincers include a central shaft（701）, center shaft end is hinged with three sampling arms （702）, there are one portable pillars for set on central shaft（703）, portable pillar can move above along central shaft, be hinged in portable pillar Connecting rod（704）, the other end and sampling arm of connecting rod are hinged.
  6. The vehicle 6. land according to claim 1 is scouted, which is characterized in that the cursor is equipped with flexible for placing The channel of arm, sets that there are one the flexible torque arm of control telescopic arm on cursor（401）, one end of the torque arm and telescopic arm connect It connects, the other end is hinged on rotating bar（3）On.
  7. The vehicle 7. land according to claim 2 is scouted, which is characterized in that deck there are one being set on the telescopic arm （502）, spring is equipped between deck and cursor（501）.
  8. The vehicle 8. land according to claim 3 is scouted, which is characterized in that along vertical there are one being set on the hinged block The articulated shaft of the hinged axis channel of directional spreding, the hinged block is located in hinged axis channel and can be logical along articulated shaft Road moves up and down.
  9. The vehicle 9. land according to claim 4 is scouted, which is characterized in that one end that the telescopic shaft is located at hinged block connects It is connected to motor, the motor is located in hinged block, and the telescopic shaft and rotating bar are threadedly coupled, and is driven by motor flexible Shaft rotation is dynamic and then control hinged block is moved along articulated shaft channel direction.
CN201810548033.8A 2018-05-31 2018-05-31 A kind of land detective vehicle self balancing device Withdrawn CN108583699A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810548033.8A CN108583699A (en) 2018-05-31 2018-05-31 A kind of land detective vehicle self balancing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810548033.8A CN108583699A (en) 2018-05-31 2018-05-31 A kind of land detective vehicle self balancing device

Publications (1)

Publication Number Publication Date
CN108583699A true CN108583699A (en) 2018-09-28

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Application Number Title Priority Date Filing Date
CN201810548033.8A Withdrawn CN108583699A (en) 2018-05-31 2018-05-31 A kind of land detective vehicle self balancing device

Country Status (1)

Country Link
CN (1) CN108583699A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113048325A (en) * 2021-03-03 2021-06-29 东华理工大学 Wireless remote control type pipeline detector

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113048325A (en) * 2021-03-03 2021-06-29 东华理工大学 Wireless remote control type pipeline detector

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Application publication date: 20180928