CN115009366A - Auxiliary system based on four-wheat-wheel balance vehicle chassis - Google Patents
Auxiliary system based on four-wheat-wheel balance vehicle chassis Download PDFInfo
- Publication number
- CN115009366A CN115009366A CN202210653710.9A CN202210653710A CN115009366A CN 115009366 A CN115009366 A CN 115009366A CN 202210653710 A CN202210653710 A CN 202210653710A CN 115009366 A CN115009366 A CN 115009366A
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- frame
- wheel
- balance car
- driving source
- system based
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type 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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Handcart (AREA)
Abstract
The invention discloses an auxiliary system based on a chassis of a four-wheel balance car, which relates to the technical field of balance cars and comprises a car frame and a plurality of wheel sets arranged at the bottom of the car frame; the pulley structure comprises a pulley box body connected with the wheel set and a sliding rod connected with the frame, and the sliding rod can slide up and down relative to the pulley box body so that the wheel set can move up and down relative to the frame along the direction of the sliding rod; the auxiliary supporting assemblies comprise a first driving source arranged on the frame and a rotating arm driven by the first driving source, and guide wheels are arranged at the end parts of the rotating arms, so that the rotating arms are in contact with the ground through the guide wheels after rotating, and the balance car is centered; and at least one slider leveling assembly. The invention can adapt to the tiny up-and-down fluctuation of the Mecanum wheel to the balance car and the large up-and-down fluctuation and the back-and-forth swing of the balance car caused by the external motion terrain.
Description
Technical Field
The invention relates to the technical field of balance cars, in particular to an auxiliary system based on a chassis of a four-wheel balance car.
Background
Most of balance cars in the market at present only have a plurality of movement modes of turning, straight going and backing, the movement modes are single, the control performance is poor, the defects are particularly obvious when the balance cars face undulating terrain and narrow space, therefore, the four-wheel balance car is developed, the four independent driven Mecanum wheels are used, the movement performance and the control performance are better, and the omnidirectional flexible control can be realized.
However, due to the structural complexity of the Mecanum wheels and the characteristics of up-and-down fluctuation of the axle centers of the wheels caused by the rollers and the like, the four-wheel omnidirectional moving balance car needs to be provided with a good-performance suspension system to show the excellent performance of the balance car; the structural characteristics of the mecanum wheel balance vehicle determine that the motion stability of the mecanum wheel balance vehicle is lower than that of the common balance vehicle, so a new auxiliary design scheme is urgently required to be sought to solve the problems.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the auxiliary system based on the chassis of the four-wheel balance vehicle can adapt to the small up-and-down fluctuation of a balance vehicle caused by the Mecanum wheels and the large up-and-down fluctuation and the back-and-forth swing caused by the external motion terrain.
The auxiliary system based on the four-wheel balance car chassis comprises a car frame and a plurality of wheel sets arranged at the bottom of the car frame; the pulley suspension assemblies are installed between the wheel sets and the frame and comprise shock absorbers and pulley structures, the upper ends of the shock absorbers are connected with the frame, the lower ends of the shock absorbers are connected with the wheel sets, the pulley structures comprise pulley box bodies connected with the wheel sets and sliding rods connected with the frame, and the sliding rods can slide up and down relative to the pulley box bodies so that the wheel sets can move up and down relative to the frame along the direction of the sliding rods; the auxiliary supporting assemblies are arranged on the side edges of the frame and comprise a first driving source arranged on the frame and a rotating arm driven by the first driving source, and guide wheels are arranged at the end parts of the rotating arms so that the rotating arms can be in contact with the ground through the guide wheels after rotating, so that the balance car can be righted; and at least one slider leveling subassembly, slider leveling unit mount is in on the frame, slider leveling subassembly includes that the level sets up slide rail on the frame, with slide rail complex slider and drive the slider is followed the second driving source that the slide rail removed.
In an alternative or preferred embodiment, two said trolley suspension assemblies are provided for each said wheel set.
In an optional or preferred embodiment, the sliding rod is a square tube, the pulley box body is provided with a plurality of limiting structures which are distributed in a vertically staggered manner, each limiting structure comprises two mounting rods which are arranged on two sides of the sliding rod in parallel, the mounting rod sleeves are provided with a plurality of bearings, the bearings are abutted against the outer peripheral surface of the sliding rod to limit the sliding rod, and the mounting rods in the two limiting structures which are adjacent vertically are distributed vertically.
In an alternative or preferred embodiment, the pulley box body comprises four pulley side plates connected end to end in sequence, and two ends of the mounting rod are respectively mounted on the two opposite pulley side plates.
In an alternative or preferred embodiment, four auxiliary supporting assemblies are provided, and are respectively arranged at four corner positions of the frame.
In an alternative or preferred embodiment, the auxiliary support assembly further comprises a hinge support mounted on the frame, and the rotating arm is mounted on the hinge support via a transmission shaft, the transmission shaft being driven by the first drive source.
In an alternative or preferred embodiment, the auxiliary supporting assembly further comprises a rudder base mounted on the frame, the first driving source is a steering engine, and the first driving source is mounted on the rudder base.
In an alternative or preferred embodiment, the two slide block leveling assemblies are arranged in a left-right mode, and the slide rails are arranged along the front-back direction of the vehicle frame.
In an optional or preferred embodiment, the slider leveling component further comprises a guide rail frame installed on the vehicle frame, the slide rail is installed on the guide rail frame, the second driving source is a motor, the second driving source drives the slider to move through a transmission structure, and the second driving source and the transmission structure are installed on the guide rail frame.
In optional or preferred embodiment, the transmission structure includes the action wheel that is driven by the second driving source and through the hold-in range with the driven wheel that the action wheel realized the transmission, the slider pass through the tray with the clamp plate with the hold-in range is fixed, the tray with the clamp plate is connected from top to bottom and is pressed from both sides the hold-in range, the clamp plate with the slider is fixed.
Based on the technical scheme, the embodiment of the invention at least has the following beneficial effects: according to the technical scheme, by arranging the pulley suspension assembly, when the balance car passes through a fluctuating road section, under the action of upper load and self gravity, the wheel set can vertically move up and down under the condition that the gravity center of the whole car is not changed, so that the wheel set has high flexibility, the balance car is guaranteed to be always simultaneously grabbed by four wheels in the moving process under the condition that front and back additional forces are not generated, each Mecanum wheel is uniformly stressed, and the controllability is enhanced; by arranging the auxiliary supporting assembly, when the balance car is in unstable states such as toppling, the balance car can be corrected by rotating and extending the rotating arm, and the corresponding guide wheel is in contact with the ground to realize the auxiliary righting function of the balance car; through setting up slider leveling subassembly, the balance car is at the during operation, if meet barrier or undulate highway section, the unexpected condition that continuous swing even out of control will appear to the automobile body then, through the removal to the slider, makes correspondingly to the opposite direction of swing rapidly when the unexpected condition appears, gives the whole car a reverse momentum, realizes the real-time adjustment of whole car balanced state. Compared with the traditional balance car auxiliary system, the balance car auxiliary system has a simpler structure, so that the control system is easier to realize, the modular design degree is high, the part design is simple and efficient, the redundancy is low, and the interchangeability is higher.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a front view of an embodiment of the present invention;
FIG. 4 is a side view of an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of circle A of FIG. 1;
FIG. 6 is a perspective view of a trolley suspension assembly in an embodiment of the invention with the slide rods not shown;
FIG. 7 is a perspective view of the carriage structure in an embodiment of the invention, with the slide bar not shown;
FIG. 8 is an enlarged view of a portion of circle B of FIG. 1;
FIG. 9 is a perspective view of a secondary support assembly in an embodiment of the present invention;
FIG. 10 is an enlarged view of a portion of circle C of FIG. 1;
FIG. 11 is a perspective view of a slider leveling assembly in an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If there is a description of first and second for the purpose of distinguishing technical features only, this is not to be understood as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 11, an auxiliary system based on a four-wheel balance car chassis comprises a car frame 110 and a plurality of wheel sets 120 installed at the bottom of the car frame 110, wherein the car frame 110 is provided with four wheel sets 120, and the front side and the rear side of the car frame are respectively provided with two wheels. The auxiliary system based on the chassis of the four-wheel balance vehicle further comprises a plurality of pulley suspension assemblies 200, a plurality of auxiliary support assemblies 300 and at least one slider leveling assembly 400.
In this embodiment, two pulley suspension assemblies 200 are correspondingly disposed for each wheel set 120, that is, eight pulley suspension assemblies 200 are disposed in total.
Specifically, referring to fig. 5 to 7, a pulley suspension assembly 200 is installed between the wheel set 120 and the frame 110, the pulley suspension assembly 200 includes a damper 210 and a pulley structure, the damper 210 is connected to the frame 110 at an upper end thereof and connected to the wheel set 120 at a lower end thereof, the pulley structure includes a pulley housing 230 connected to the wheel set 120 and a sliding rod 220 connected to the frame 110, and the sliding rod 220 is slidable up and down with respect to the pulley housing 230 so that the wheel set 120 is movable up and down with respect to the frame 110 in a direction of the sliding rod 220.
In this embodiment, the sliding rod 220 is a square tube, and the pulley box 230 includes four pulley side plates 231 connected end to end in sequence. The pulley box 230 is provided with a plurality of limiting structures which are distributed in a vertically staggered manner, each limiting structure comprises two mounting rods 232 which are arranged on two sides of the sliding rod 220 in parallel, and two ends of each mounting rod 232 are respectively arranged on two opposite pulley side plates 231. Specifically, the mounting rod 232 is a screw and is fixed by a nut.
Further, the mounting rod 232 is sleeved with a plurality of bearings 233, the bearings 233 abut against the outer peripheral surface of the sliding rod 220 to limit the sliding rod 220, and the mounting rods 232 in the two adjacent limiting structures are vertically distributed. Accordingly, the pulley side plate 231 is reserved with a reserved hole for the bearing 233 to roll.
It will be appreciated that the vertically movable trolley suspension assemblies 200, with each four sets of trolley suspension assemblies 200 engaging two wheel sets 120 on one side, enable the two side wheel sets to move freely up and down. When the balance car passes through a rough road section, under the action of upper load and self gravity, the sliding rod 220 can slide up and down relative to the pulley box body 230, namely the wheel set 120 can move up and down relative to the frame 110 along the direction of the sliding rod 220, and the wheel set 120 can vertically move under the condition that the gravity center of the whole car does not change, so that the wheel set has stronger flexibility, four wheels are always simultaneously grabbed on the ground in the moving process under the condition that front and back additional forces are not generated on the balance car, each Mecanum wheel is uniform in stress, and the controllability is enhanced. Within the vertical motion threshold, vertical motion of the tackle suspension assembly greatly enhances the mobility and obstacle-passing capability of the wheel set.
In the present embodiment, four auxiliary supporting assemblies 300 are provided, and are respectively disposed at four angular positions of the frame 110.
Referring to fig. 8 and 9, the auxiliary supporting assembly 300 is installed at a side of the frame 110, the auxiliary supporting assembly 300 includes a first driving source 312 installed on the frame 110 and a rotating arm 322 driven by the first driving source 312, and a guide wheel 323 is installed at an end of the rotating arm 322, so that the rotating arm 322 contacts the ground through the guide wheel 323 after rotating, thereby achieving the purpose of centering the balance car. In the design, the rotating arm 322 may adopt a structure in which two long plates clamp one pad, and two ends of the guide wheel 323 are hinged to the two long plates.
In addition, the auxiliary supporting assembly 300 further includes a hinge support 321 mounted on the frame 110, the rotating arm 322 is mounted on the hinge support 321 through a transmission shaft 324, and the transmission shaft 324 is driven by the first driving source 312. The auxiliary supporting assembly 300 further comprises a rudder base 311 installed on the frame 110, the first driving source 312 is a steering engine, the first driving source 312 is installed on the rudder base 311, one end of the transmission shaft 324 is connected with the first driving source 312, and the other end is installed on the hinge support 321 through a bearing and a snap spring.
It can be understood that when the balance car has an unstable state such as toppling over, the correction can be performed by extending the auxiliary supporting device 300, and the corresponding first driving source 312 drives the rotating arm 322 to rotate and extend, so that the guide wheel 323 contacts the ground to realize the auxiliary righting function of the balance car. Besides, when the stability degree is required to be high or the load capacity is large, the stability and the load bearing capacity of the balance car can be enhanced by extending the auxiliary supporting device of the guide wheel.
In this embodiment, two slider leveling assemblies are provided and are arranged in a left-right manner.
Referring to fig. 10 and 11, the slider leveling assembly 400 is mounted on the vehicle frame 110, and the slider leveling assembly 400 includes a slide rail 431 horizontally disposed on the vehicle frame 110, a slider 432 engaged with the slide rail 431, and a second driving source 412 driving the slider 432 to move along the slide rail 431, wherein the slide rail 431 is arranged in a front-rear direction of the vehicle frame 110.
The slide block leveling assembly 400 further comprises a guide rail bracket 411 installed on the vehicle frame 110, a slide rail 431 is installed on the guide rail bracket 411, the second driving source 412 is a motor, the second driving source 412 drives the slide block 432 to move through a transmission structure, and the second driving source 412 and the transmission structure are installed on the guide rail bracket 411.
Specifically, the transmission structure includes a driving wheel 421 driven by the second driving source 412 and a driven wheel 423 for realizing transmission with the driving wheel 421 through a synchronous belt 422. Wherein, the middle part of the guide rail bracket 411 is an aluminum pipe for installing the slide rail 431; auxiliary plates are arranged at two ends of the aluminum pipe and are respectively used for arranging a driving wheel 421 and a driven wheel 423, and the driving wheel 421 and the driven wheel 423 can be arranged on the auxiliary plates through polished rod screws.
The slider 432 is fixed to the timing belt 422 by a tray 434 and a pressing plate 433, the tray 434 and the pressing plate 433 are vertically connected to clamp the timing belt 422, and the pressing plate 433 is fixed to the slider 432.
When the balance car works, if the balance car meets an obstacle or an undulating road section, the car frame can swing continuously or even be out of control, in the two slide block leveling assemblies 400, the two motors with higher response speeds respectively rapidly make correspondence to opposite swinging directions when the accident occurs, namely the slide block 432 is driven to move along the slide rail 431, a reverse momentum is given to the whole car, and the real-time adjustment of the balance state of the whole car is realized. In addition, the sliding block leveling component can enable the balance car to have a quick starting and stopping response speed, and the auxiliary mechanism greatly enhances the flexibility of the balance car.
In other embodiments, the tray 434 on the slider 432 can adjust the weight according to different practical situations, so as to improve the response speed.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides an auxiliary system based on four wheat wheel balance car chassis which characterized in that: comprises that
The device comprises a frame and a plurality of wheel sets arranged at the bottom of the frame;
the pulley suspension assemblies are installed between the wheel sets and the frame and comprise shock absorbers and pulley structures, the upper ends of the shock absorbers are connected with the frame, the lower ends of the shock absorbers are connected with the wheel sets, the pulley structures comprise pulley box bodies connected with the wheel sets and sliding rods connected with the frame, and the sliding rods can slide up and down relative to the pulley box bodies so that the wheel sets can move up and down relative to the frame along the direction of the sliding rods;
the auxiliary supporting assemblies are arranged on the side edges of the frame and comprise a first driving source arranged on the frame and a rotating arm driven by the first driving source, and guide wheels are arranged at the end parts of the rotating arms so that the rotating arms can be contacted with the ground through the guide wheels after rotating, so that the balance car is centered; and
at least one slider leveling subassembly, slider leveling subassembly is installed on the frame, slider leveling subassembly includes that the level sets up slide rail on the frame, with slide rail complex slider and drive the slider is followed the second driving source that the slide rail removed.
2. The auxiliary system based on four-wheel balance car chassis of claim 1, characterized in that: and each wheel set is correspondingly provided with two pulley suspension assemblies.
3. The auxiliary system based on the four-wheel balance car chassis as claimed in claim 1 or 2, wherein: the utility model discloses a tackle box, including the tackle box, the slide bar is square pipe, a plurality of limit structure of crisscross distribution about the tackle box is installed, limit structure includes parallel arrangement two installation poles of slide bar both sides, the installation pole cover is equipped with a plurality of bearing, the bearing supports and leans on the slide bar outer peripheral face, it is right to carry out spacingly, adjacent two from top to bottom among the limit structure installation pole vertical distribution.
4. The auxiliary system based on the four-wheel balance car chassis of claim 3 is characterized in that: the pulley box body comprises four pulley side plates which are sequentially connected end to end, and two ends of the mounting rod are respectively mounted on the two opposite pulley side plates.
5. The auxiliary system based on the four-wheel balance car chassis of claim 1, wherein: the auxiliary supporting assemblies are four and are respectively arranged at four angular positions of the frame.
6. The auxiliary system based on the four-wheel balance car chassis as claimed in claim 1 or 5, wherein: the auxiliary supporting assembly further comprises a hinged support arranged on the frame, the rotating arm is arranged on the hinged support through a transmission shaft, and the transmission shaft is driven by the first driving source.
7. The auxiliary system based on four-wheel balance car chassis of claim 6, characterized in that: the auxiliary supporting assembly further comprises a rudder base arranged on the frame, the first driving source is a steering engine, and the first driving source is arranged on the rudder base.
8. The auxiliary system based on the four-wheel balance car chassis of claim 1, wherein: the sliding block leveling assemblies are arranged in two and are arranged in the left and right directions, and the sliding rails are arranged in the front and back directions of the frame.
9. The auxiliary system based on the four-wheel balance car chassis as claimed in claim 1 or 8, wherein: slider leveling subassembly is still including installing guide rail frame on the frame, the slide rail is installed guide rail puts up, the second driving source is the motor, the second driving source passes through the drive structure drive the slider removes, the second driving source with the drive structure is installed guide rail puts up.
10. The auxiliary system based on the four-wheel balance car chassis of claim 9, wherein: the transmission structure includes by second driving source driven action wheel and through the hold-in range with the driven driving wheel realizes driven follow driving wheel, the slider pass through tray and clamp plate with the hold-in range is fixed, the tray with the clamp plate is connected from top to bottom and is pressed from both sides the hold-in range, the clamp plate with the slider is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210653710.9A CN115009366B (en) | 2022-06-10 | 2022-06-10 | Auxiliary system based on four wheat wheel balance car chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210653710.9A CN115009366B (en) | 2022-06-10 | 2022-06-10 | Auxiliary system based on four wheat wheel balance car chassis |
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| Publication Number | Publication Date |
|---|---|
| CN115009366A true CN115009366A (en) | 2022-09-06 |
| CN115009366B CN115009366B (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210653710.9A Active CN115009366B (en) | 2022-06-10 | 2022-06-10 | Auxiliary system based on four wheat wheel balance car chassis |
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| WO2014202693A1 (en) * | 2013-06-19 | 2014-12-24 | Techni-Metal Systemes | Ground contacting module and vehicle using at least one ground contacting module |
| CN109572891A (en) * | 2017-09-29 | 2019-04-05 | 上海领景智能科技有限公司 | A kind of vehicle with automatic balancing arrangement |
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN213199391U (en) * | 2020-10-13 | 2021-05-14 | 天津市兴世达科技有限公司 | Vehicle balance suspension shock-absorbing system |
| CN113212578A (en) * | 2021-05-08 | 2021-08-06 | 重庆工程职业技术学院 | Robot chassis suspension mechanism |
| CN114291193A (en) * | 2022-01-17 | 2022-04-08 | 东莞理工学院城市学院 | Double-slider control system based on two-wheeled balance car |
-
2022
- 2022-06-10 CN CN202210653710.9A patent/CN115009366B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014202693A1 (en) * | 2013-06-19 | 2014-12-24 | Techni-Metal Systemes | Ground contacting module and vehicle using at least one ground contacting module |
| CN109572891A (en) * | 2017-09-29 | 2019-04-05 | 上海领景智能科技有限公司 | A kind of vehicle with automatic balancing arrangement |
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN213199391U (en) * | 2020-10-13 | 2021-05-14 | 天津市兴世达科技有限公司 | Vehicle balance suspension shock-absorbing system |
| CN113212578A (en) * | 2021-05-08 | 2021-08-06 | 重庆工程职业技术学院 | Robot chassis suspension mechanism |
| CN114291193A (en) * | 2022-01-17 | 2022-04-08 | 东莞理工学院城市学院 | Double-slider control system based on two-wheeled balance car |
Non-Patent Citations (1)
| Title |
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| 孙俊杰: "自主双轮平衡车智能控制研究" * |
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| CN115009366B (en) | 2023-05-23 |
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