CN111660747A - Vehicle body stability regulating and controlling device - Google Patents
Vehicle body stability regulating and controlling device Download PDFInfo
- Publication number
- CN111660747A CN111660747A CN202010552009.9A CN202010552009A CN111660747A CN 111660747 A CN111660747 A CN 111660747A CN 202010552009 A CN202010552009 A CN 202010552009A CN 111660747 A CN111660747 A CN 111660747A
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- China
- Prior art keywords
- vehicle body
- wheels
- wheel
- driving device
- driving
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B15/00—Wheels or wheel attachments designed for increasing traction
- B60B15/18—Wheels with ground-engaging plate-like shoes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the technical field of flexible transmission, and discloses a vehicle body stability regulating device which comprises a mechanical transmission device for driving wheels to move and an electromagnetic device matched with the mechanical transmission device, wherein the wheels move by extending or retracting anti-slip elements in the wheels to increase the wheel adhesion, and each group of wheels is provided with an independent driving device; the vehicle also comprises an inductive control device for controlling all wheels. When the vehicle body stability regulating device controls one wheel to realize one or more of lifting or descending, turning, extending or contracting actions of the anti-slip element through the induction control device according to the inclination degree of the vehicle body, other wheels are controlled to simultaneously implement compensation actions to maintain the stability of the vehicle body, the stable state of the trolley under various road conditions is met, and the operation requirements of various road condition environments are greatly met.
Description
Technical Field
The invention relates to the technical field of flexible transmission, in particular to a vehicle body stability regulating and controlling device.
Background
At present, fighting, medical aid, field transportation and the like need a plurality of trolleys to appear in a cluster mode, when vehicle bodies are connected in series, a common butt joint mode is a butt joint mode similar to a train carriage, wheels of each trolley cannot be independently controlled to move, and like the existing vehicles, flexible lifting and turning of each wheel cannot be realized, so that the phenomena of inclination and instability of the trolley often occur when the trolley passes through a hillside and a rugged mountain road, and the phenomena of skidding and tipping over often occur when the trolley is used on the hillside and a wetland, so that the trolley array is severely restricted from executing special tasks under various rugged road conditions.
Disclosure of Invention
The invention aims to overcome the defects and provides a vehicle body stability regulation and control device, wherein each group of wheels is provided with an independent mechanical transmission device for driving the wheels to move, an electromagnetic device matched with the mechanical transmission device and an induction control device for controlling, so that when a vehicle passes through an uneven road surface, the induction control device controls one wheel to realize one or more of lifting or descending, turning and extending or retracting actions of a skid-resistant element according to the inclination degree of the vehicle body, other wheels are controlled to simultaneously implement compensation actions to maintain the stability of the vehicle body, the stable state of a trolley under various road conditions is met, and the operation requirements of various road condition environments are greatly met.
The specific technical scheme provided by the invention is as follows:
a vehicle body stability regulating device comprises a driving device, wherein the driving device comprises a mechanical transmission device for driving wheels to move and an electromagnetic device matched with the mechanical transmission device, the wheels move and comprise anti-skid elements inside the wheels to extend or retract, and each group of wheels is provided with an independent driving device; and the device also comprises an inductive control device, so that when one wheel achieves one or more of lifting or descending, turning, extending or retracting actions of the anti-skid element, other wheels simultaneously implement compensation actions to maintain the stability of the vehicle body.
Preferably, the driving device comprises a linear motion driving device for driving the wheels to move up and down, a rotation driving device for driving the wheels to move in a turning way and a skid-proof driving device for driving the skid-proof elements to extend and retract.
Preferably, the linear motion driving device and the rotation driving device are both fixedly arranged on a bracket which is connected with the vehicle body and is positioned above the wheels.
Preferably, the linear motion driving device and the rotation driving device are provided with a same central shaft unit, the central shaft unit is driven by a linear motor provided in the linear motion driving device to realize lifting motion, and driven by a servo motor provided in the rotation driving device to realize rotation motion.
Preferably, the lower end of the central shaft unit is vertically connected with a wheel shaft of the wheel, the wheel internally comprises a skid-proof driving device, the skid-proof driving device is provided with a skid-proof unit and a driving motor which are matched with each other, and the driving motor enables the skid-proof element of the skid-proof unit to extend out of or retract into the wheel body.
Preferably, the anti-slip unit comprises a spiral grooved wheel mounted on the wheel shaft and an anti-slip element connected with the spiral grooved wheel in a matching manner, wherein n anti-slip elements are provided, and n is an integer.
Preferably, the number of said anti-slip elements is: n is more than or equal to 3 and less than or equal to 5.
Preferably, the anti-skid element extends or retracts through a channel provided in the wheel tyre, the channel is uniformly distributed on the central cross section of the tyre, and a guide sleeve for guiding and a sealing ring for sealing are arranged on the inner side of the channel.
Preferably, the induction control device is mounted on the vehicle body, is connected with the electromagnetic device of each wheel, and controls the coordinated movement of all the wheels through transmitting signals according to the inclination degree of the vehicle body so as to maintain the stability of the vehicle body.
Preferably, the inductive control means comprises a gyroscope mounted on the chassis of the wheel.
It should be noted that each group of wheels of each trolley has self-lifting, turning and anti-skid elements extending out of the wheel body to increase the anti-skid function of the wheels on muddy roads and increase the adhesive force of the wheels, all the wheels drive the electromagnetic devices of the mechanical transmission device to move and are connected with the induction control device, and the induction control device transmits signals to control the states of all the wheels according to the condition of the trolley to be inclined so as to keep the trolley stable.
The invention has the beneficial effects that:
the vehicle body stability regulation and control device is characterized in that each group of wheels is provided with an independent mechanical transmission device for driving the wheels to move, an electromagnetic device matched with the mechanical transmission device and an induction control device for controlling, when a vehicle passes through an uneven road surface, the induction control device controls one wheel to realize one or more of lifting or descending, turning, stretching or contracting actions of a skid-resistant element according to the inclination degree of the vehicle body, controls other wheels to simultaneously implement compensation actions to maintain the stability of the vehicle body, meets the stable state of a trolley under various road conditions, and greatly meets the operation requirements of various road condition environments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural view of a vehicle body stability control device according to the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a view from the direction B of FIG. 1;
FIG. 4 is a cross-sectional view of the anti-skid member of FIG. 3 in a retracted state F-F;
FIG. 5 is a cross-sectional view of the anti-slide element of FIG. 3 in an extended state E-E;
fig. 6 is an isometric view of the anti-skid element of fig. 3 with only one wheel extending therefrom.
Wherein: 1-central axis; 2-a motor rotor; 3, a motor stator; 4-sliding rail sleeve; 5, a sliding rail; 6-linear motor; 6-linear bearing; 7-a linear motor; 8, a wheel; 9-wheel axle; 10-big hub motor; 11-small hub motor; 12-a helical sheave; 13-anti-slip foot grab; 14-a vehicle body support; 15-a gyroscope; 16-a sealing ring; 17-arc tooth one; 18-arc tooth two; 19-a guide sleeve; 20-channel.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated; the description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
Referring to fig. 1 to 6:
one embodiment of the invention:
a vehicle body stability regulation and control device comprises a driving device and an electromagnetic device, wherein the driving device comprises a linear motion driving device for driving a wheel 8 to move up and down, a rotation driving device for driving the wheel 8 to turn and a slip-resistant driving device for driving a slip-resistant foot grab 13 to stretch.
Preferably, the linear motion driving device and the rotation driving device are both fixedly mounted on a vehicle body support 14 which is connected with a vehicle body and located above the wheels 8, and the vehicle body support 14 is formed by extending a vehicle body chassis.
Preferably, the linear motion driving device and the rotation driving device are provided with a same central shaft 1, and a slide rail sleeve 4, a linear motor 6 and a linear bearing 7 are sequentially arranged on the periphery of the central shaft 1 from top to bottom; the lower end of the sliding rail sleeve 4 is firmly connected to the vehicle body support 14 through a bolt, a slidable servo motor stator 3 is arranged in the sliding rail sleeve 4, a motor rotor 2 matched with the motor stator 3 is firmly installed on the central shaft 1, a sliding rail 5 is arranged on the inner wall of the sliding rail sleeve 4, and the motor stator 3 can slide up and down along the sliding rail 5. When the servo motor is electrified, the central shaft 1 driven by the motor rotor 2 rotates under the action of a magnetic field, and the lower end of the central shaft 1 is vertically and fixedly connected with a wheel shaft 9 of a wheel 8, namely, the wheel 8 rotates under the drive of the central shaft 1.
Two supporting platforms about automobile body support 14 is equipped with between two supporting platforms of automobile body support 14 linear electric motor 6 is equipped with to the periphery of center pin 1, and the suit is connected to linear electric motor 6 lower extreme the outlying linear electric bearing 7 that plays the direction supporting role of center pin 1, linear electric bearing 7 with automobile body support 14 fixed connection, after linear electric motor 6 circular telegram, under the effect in magnetic field, up-and-down motion is done to center pin 1, when the upper end of center pin 1 drives fixed connection's motor rotor 2 and reciprocates, motor stator 3 reciprocates along slide rail 5, promptly the maximum distance that center pin 1 reciprocated is H, and simultaneously, the lower extreme of center pin 1 drives wheel 8 and realizes going up and down, and the maximum distance that its goes up and down is H.
Preferably, the wheel 8 internally comprises a sliding-resistant driving device, the sliding-resistant driving device comprises a spiral grooved wheel 12 and a sliding-resistant foot grab 13 which are matched and connected through arc-shaped teeth, and a small hub motor 11 for driving, the spiral grooved wheel 12 is movably sleeved on the wheel shaft 9, and the number of the sliding-resistant foot grab 13 is n, preferably, the number is: n is more than or equal to 3 and less than or equal to 5, the n is uniformly distributed on the spiral grooved wheel 12, and the arc-shaped teeth I17 arranged on the anti-sliding foot grab 13 are matched and connected with the arc-shaped teeth II 18 arranged on the spiral grooved wheel 12.
Preferably, a channel 20 for extending or retracting the anti-skid foot grips 13 is arranged in the tire of the wheel 8, the channel 20 is uniformly distributed on the central cross section of the tire, and a guide sleeve 19 for guiding and a sealing ring 16 for sealing are arranged on the inner side of the channel 20.
The wheel shaft 9 inside the wheel 8 is sleeved with a large hub motor 10, and the large hub motor 10 drives the wheel 8 to rotate.
Preferably, the gyroscope 15 is mounted on the chassis of the vehicle body and is connected to the motor of each of said wheels 8, and controls the coordinated movement of all the wheels 8 by emitting signals to maintain the vehicle body stable according to the inclination of the vehicle body.
It should be noted that each group of wheels of each trolley has self-lifting, turning and anti-skid elements extending out of the wheel body to increase the anti-skid function of the wheels on muddy roads, all the electromagnetic devices driving the mechanical transmission devices to move by the wheels are connected with the induction control device, and the induction control device transmits signals to control the states of all the wheels according to the condition of the trolley to be inclined so as to keep the trolley stable.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. The utility model provides a regulation and control device is stabilized to automobile body, includes drive arrangement, its characterized in that: the driving device comprises a mechanical transmission device for driving wheels to move and an electromagnetic device matched with the mechanical transmission device, the wheels move and comprise anti-skid elements inside the wheels to extend or retract, and each group of wheels is provided with the independent driving device; and the device also comprises an inductive control device, so that when one wheel achieves one or more of lifting or descending, turning, extending or retracting actions of the anti-skid element, other wheels simultaneously implement compensation actions to maintain the stability of the vehicle body.
2. The vehicle body stability regulation device of claim 1, wherein: the driving device comprises a linear motion driving device for driving the wheels to move up and down, a rotation driving device for driving the wheels to move in a turning way and a slip resistant driving device for driving the slip resistant elements to stretch and retract.
3. The vehicle body stability regulation device of claim 2, wherein: the linear motion driving device and the rotation driving device are fixedly arranged on a support which is connected with the vehicle body and is positioned above the wheels.
4. The vehicle body stability regulation device of claim 3, wherein: the linear motion driving device and the rotation driving device are provided with the same central shaft unit, the central shaft unit is driven by a linear motor arranged on the linear motion driving device to realize lifting motion, and driven by a servo motor arranged on the rotation driving device to realize rotary motion.
5. The vehicle body stability regulation device of claim 4, wherein: the lower end of the central shaft unit is vertically connected with a wheel shaft of the wheel, the wheel internally comprises a skid-resistant driving device, the skid-resistant driving device is provided with a skid-resistant unit and a driving motor which are matched with each other, and the driving motor enables the skid-resistant element of the skid-resistant unit to extend out of or retract into the wheel body.
6. The vehicle body stability regulation device of claim 5, wherein: the anti-slip unit comprises a spiral grooved wheel arranged on the wheel shaft and anti-slip elements connected with the spiral grooved wheel in a matching mode, wherein the number of the anti-slip elements is n, and n is an integer.
7. The vehicle body stability regulation device of claim 6, wherein: the number of the anti-slip elements is as follows: n is more than or equal to 3 and less than or equal to 5.
8. The vehicle body stability regulation device of claim 7, wherein: the anti-skid element extends out or retracts through a channel arranged on the wheel tire, the channel is uniformly distributed on the central cross section of the tire, and a guide sleeve for guiding and a sealing ring for sealing are arranged on the inner side of the channel.
9. The vehicle body stability regulation device of claim 8, wherein: the induction control device is installed on the vehicle body, is connected with the electromagnetic device of each wheel, and controls the coordinated movement of all the wheels through transmitting signals according to the inclination degree of the vehicle body so as to maintain the stability of the vehicle body.
10. The vehicle body stability regulation device of claim 9, wherein: the inductive control device comprises a gyroscope mounted on a chassis of the wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010552009.9A CN111660747A (en) | 2020-06-17 | 2020-06-17 | Vehicle body stability regulating and controlling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010552009.9A CN111660747A (en) | 2020-06-17 | 2020-06-17 | Vehicle body stability regulating and controlling device |
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| Publication Number | Publication Date |
|---|---|
| CN111660747A true CN111660747A (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010552009.9A Pending CN111660747A (en) | 2020-06-17 | 2020-06-17 | Vehicle body stability regulating and controlling device |
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| CN (1) | CN111660747A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184054A (en) * | 2021-05-20 | 2021-07-30 | 上海擎朗智能科技有限公司 | Robot chassis and robot chassis control method |
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|---|---|---|---|---|
| US20030010550A1 (en) * | 2001-05-24 | 2003-01-16 | Prucher Bryan P. | Motor in wheel electric drive system |
| CN105128595A (en) * | 2015-08-13 | 2015-12-09 | 孟红琳 | Rapid switched-type anti-skidding device for car tire |
| CN106864249A (en) * | 2015-12-11 | 2017-06-20 | 成都德善能科技有限公司 | Electric motor car |
| CN107867113A (en) * | 2016-09-26 | 2018-04-03 | 比亚迪股份有限公司 | Anti-skidding wheel hub, snow tire and vehicle |
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN110979035A (en) * | 2019-12-28 | 2020-04-10 | 芜湖安普机器人产业技术研究院有限公司 | Trolley capable of walking on reducing cambered surface of rotary cement kiln |
| CN212637075U (en) * | 2020-06-17 | 2021-03-02 | 北京洺楠汇科技有限公司 | Vehicle body stability regulation and control device |
-
2020
- 2020-06-17 CN CN202010552009.9A patent/CN111660747A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030010550A1 (en) * | 2001-05-24 | 2003-01-16 | Prucher Bryan P. | Motor in wheel electric drive system |
| CN105128595A (en) * | 2015-08-13 | 2015-12-09 | 孟红琳 | Rapid switched-type anti-skidding device for car tire |
| CN106864249A (en) * | 2015-12-11 | 2017-06-20 | 成都德善能科技有限公司 | Electric motor car |
| CN107867113A (en) * | 2016-09-26 | 2018-04-03 | 比亚迪股份有限公司 | Anti-skidding wheel hub, snow tire and vehicle |
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN110979035A (en) * | 2019-12-28 | 2020-04-10 | 芜湖安普机器人产业技术研究院有限公司 | Trolley capable of walking on reducing cambered surface of rotary cement kiln |
| CN212637075U (en) * | 2020-06-17 | 2021-03-02 | 北京洺楠汇科技有限公司 | Vehicle body stability regulation and control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184054A (en) * | 2021-05-20 | 2021-07-30 | 上海擎朗智能科技有限公司 | Robot chassis and robot chassis control method |
| CN113184054B (en) * | 2021-05-20 | 2023-09-15 | 上海擎朗智能科技有限公司 | Robot chassis and robot chassis control method |
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Effective date of registration: 20220721 Address after: 100144 room c-0597, floor 2, building 3, yard 30, Shixing street, Shijingshan District, Beijing (cluster registration) Applicant after: Beijing muyue Intelligent Technology Co.,Ltd. Address before: 100176 102, block C, building 2, Beidou navigation Industrial Park, 8 Kechuang 12th Street, Yizhuang Economic Development Zone, Daxing District, Beijing Applicant before: Beijing mingnanhui Technology Co.,Ltd. |