CN116812047A

CN116812047A - Automatic driving wheelbarrow

Info

Publication number: CN116812047A
Application number: CN202310820526.3A
Authority: CN
Inventors: 曹陆林
Original assignee: Beijing Longqiu Technology Co ltd
Current assignee: Beijing Longqiu Technology Co ltd
Priority date: 2023-07-06
Filing date: 2023-07-06
Publication date: 2023-09-29

Abstract

The invention discloses an automatic driving monocycle, which relates to the technical field of vehicles and comprises an aluminum alloy vehicle body, wherein bearing plates are arranged on two sides of the top of the aluminum alloy vehicle body, an energy storage module is fixedly arranged in the middle of the top of the aluminum alloy vehicle body, one side of the energy storage module is electrically connected with a camera, the other side of the energy storage module of the aluminum alloy vehicle body is provided with a balancing weight, two groups of momentum balance devices are arranged on the aluminum alloy vehicle body, the monocycle is designed in a hollowed-out way on one side of the aluminum alloy vehicle body, when the upper end of the aluminum alloy vehicle body is stressed, a first spring is compressed and deformed, one sliding sleeve drives a acting block to ascend, so that a driving rod drives a driving rod to drive a telescopic cylinder to move on a first motor shaft, the telescopic cylinder drives a momentum wheel to descend in time to adjust the aluminum alloy vehicle body to be stable, and when the aluminum alloy vehicle body descends, a variable resistance sliding block slides on a sliding rheostat to enable current to become large, an electromagnet is attracted a piston ball, and an outer ring of the momentum wheel is inflated and expanded to promote more stable angular momentum.

Description

Automatic driving wheelbarrow

Technical Field

The invention relates to the technical field of vehicles, in particular to an automatic driving wheelbarrow.

Background

Vehicles are a general term for "vehicles" and "vehicles" which are units of vehicles. By vehicle is meant a vehicle that turns on land with wheels; the vehicles are derived from ancient metering methods for vehicles. The vehicles at that time are typically two wheels, so that the vehicles are called one by one and are written later.

Wheelbarrows belong to a novel concept, in particular to a novel wheelbarrow, with the development of informatization, more and more automatic driving vehicles are provided, various automatic driving vehicles are in market, and at present, the vehicles capable of realizing automatic driving are mostly four-wheel, three-wheel and two-wheel;

based on the fact that an existing four-wheel vehicle-mounted system is huge, the vehicle body is large in volume, the specific places of the vehicle body are poor in trafficability, such as downtown streets, rural roads and roadways of a single wood bridge and a vehicle water-mark, the four-wheel vehicle is difficult to pass, the contact ground area is large, and the narrow-face passage is unfavorable to pass;

the operability of the tricycle is high, the turning centrifugal force is high, the turning radius is large, the tricycle is easy to turn over, and the tricycle is not suitable for a novice to directly drive;

two wheels are poor in balance, a driver needs to have a good foundation, a foot support is needed when the vehicle is parked, and in order to enable the vehicle to better develop after the automatic driving industry, the company develops a self-balancing single-wheel trolley capable of automatically driving; to this end we propose an autonomous wheelbarrow.

Disclosure of Invention

The present invention is directed to an autonomous wheelbarrow that solves the above-mentioned problems of the prior art.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an automatic wheelbarrow of driving, includes the aluminum alloy automobile body, the loading board is all installed to aluminum alloy automobile body top both sides, aluminum alloy automobile body top middle part fixed mounting has energy storage module, energy storage module one side electric connection has the camera, the balancing weight is installed to aluminum alloy automobile body in energy storage module's other one side, install two sets of momentum balancing device on the aluminum alloy automobile body, just momentum balancing device is symmetrical each other on the aluminum alloy automobile body, the gyro wheel is installed to aluminum alloy automobile body bottom, mid-mounting has driving roller to carry out pivoted drive arrangement in the aluminum alloy automobile body, the sliding sleeve is all installed at gyro wheel both ends axle head, one of them fixed mounting has first fixed plate between sliding sleeve and the drive arrangement, both sides are being close to two sliding sleeve top position departments in the aluminum alloy automobile body are connected with buffering damping device, damping device is used for guaranteeing that the vehicle steadily traveles to when increasing weight, make damping device tip drive momentum balancing device extend and come the adjustment focus position.

Preferably, the momentum balance device comprises a first motor which is symmetrically placed on two sides of the aluminum alloy vehicle body, a driving disc is sleeved on an output shaft of the first motor, one side of the driving disc is rotationally connected with a plurality of fixing rods, one ends of the fixing rods are fixedly provided with telescopic cylinders, the output shaft of the first motor extends into the telescopic cylinders, one ends of the telescopic cylinders are fixedly provided with momentum wheels, and the momentum wheels are balanced when rotating.

Preferably, the driving device comprises a transmission gear fixed at the shaft end of one roller, a rack sleeved on the transmission gear, a second motor is connected in a sliding manner in the middle of the inside of the aluminum alloy vehicle body, and a gear and rack are meshed with each other on an output shaft of the second motor.

Preferably, the damping device comprises two first springs fixedly mounted at the top of the sliding sleeve, a pair of second fixing plates fixed inside the aluminum alloy vehicle body, wherein an acting block is fixedly mounted at the top of one sliding sleeve, the acting block is in sliding connection with the second fixing plates, a pair of driving strips are connected to the top shaft of the acting block, a deflector rod is fixedly mounted at one end of each driving strip, and the deflector rod is in sliding connection with the other side of the driving disc.

Preferably, a sliding bar is fixedly arranged on the inner wall of one side of the middle part in the aluminum alloy vehicle body, the second motor is in sliding connection with the sliding bar, a dovetail plate is fixedly arranged at the bottom of the sliding bar, and sliding balls and driving bars are arranged at two ends of the dovetail plate and are in collision.

Preferably, an adjusting device is fixedly arranged in the momentum wheel and used for expanding the angular momentum of the outer ring of the momentum wheel so that the vehicle maintains a more stable posture under the condition of being stressed.

Preferably, a converter is installed on one side of the outer portion of the aluminum alloy vehicle body, a varistor slider is fixedly installed at one end of one sliding sleeve, a sliding rheostat is installed on the outer portion of the aluminum alloy vehicle body, close to the varistor slider, and the sliding rheostat is electrically connected with the converter.

Preferably, the adjusting device comprises a connector with a threaded connection character at one end of the telescopic cylinder, an electromagnet is rotationally connected to one side of the connector, a piston ball is slidingly connected to the inside of the telescopic cylinder, a second spring is fixedly arranged on one side of the piston ball, a plurality of ventilation channels are formed in the momentum wheel, the ventilation channels are communicated with the telescopic cylinder, and an expansion ball is fixedly arranged at one end of each ventilation channel on the outer ring of the momentum wheel.

Preferably, at least three ventilation channels are provided and are equidistant from each other.

Preferably, the wire harness pipes are fixedly arranged at the other two ends of the outer part of the aluminum alloy vehicle body, one end of the converter is connected with a wire penetrating through the wire harness pipes and fixedly connected with the wire connector, and the sealing cover is arranged at the position, close to the sliding rheostat, of the outer part of the aluminum alloy vehicle body.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention adopts a double-motion wheel structure, can stand in a balanced way and can turn freely; the device is sunk and the gravity center is lower; the adaptability of the circuit board is high, and a plurality of groups of strip hole sites provide the maximum design space for the circuit; laser cutting and numerical control CNC, matching with precision, and disassembling all the parts of the vehicle, so that the assembly is convenient; edge chamfering treatment, namely, not scratching hands;

2. according to the invention, through the hollow design of one side of the aluminum alloy vehicle body, and then through arranging the sliding sleeves at two ends of the roller, a first spring is arranged between the two sliding sleeves and the second fixed plate, when the upper end of the aluminum alloy vehicle body is stressed, the first spring is compressed and deformed, one sliding sleeve drives the acting block to ascend, so that the driving bar drives the driving rod to drive the telescopic cylinder to move on the first motor shaft, the telescopic cylinder drives the momentum wheel to descend and timely adjust the stability of the aluminum alloy vehicle body, and when the aluminum alloy vehicle body descends, the varistor sliding block slides on the sliding rheostat to enlarge current, the electromagnet attracts the piston ball, the expansion ball of the outer ring of the momentum wheel is inflated and expanded, and the more stable angular momentum is promoted;

3. the diamond has the unique shape that the gravity center is concentrated on the central line, the shape is attractive, the two momentum wheels are symmetrically placed in a 45-degree inward inclined mode, the diamond can freely rotate while standing upright, the acting force is concentrated on the central line, the whole diamond is made of aluminum alloy metal, and all parts are detachable and convenient to assemble;

4. the invention has small volume occupation, can freely distribute dynamic balance, realizes stop-and-go and high market applicability.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall additional view structure of the present invention;

FIG. 3 is an enlarged schematic view of the structure of FIG. 2A according to the present invention;

FIG. 4 is a schematic diagram of the overall internal structure of the present invention;

FIG. 5 is a schematic view of a shock absorbing device according to the present invention;

FIG. 6 is a schematic diagram of the combination of the vibration damping device and the momentum balance device according to the present invention;

FIG. 7 is a schematic view of a momentum balance device according to the present invention;

FIG. 8 is an enlarged schematic view of the structure of FIG. 6B in accordance with the present invention;

FIG. 9 is a schematic view of the internal structure of the momentum wheel of the present invention.

In the figure: 1-an aluminum alloy vehicle body; 2-a carrier plate; 3-a camera; 4-an energy storage module; 5-balancing weight; 6-beam tubes; 7-a first motor; 8-a roller; 9-a transmission gear; 10-racks; 11-momentum wheel; 12-capping; 13-a slide rheostat; 14-a varistor slider; 15-a converter; 16-a second motor; 17-a first fixing plate; 18-a second fixing plate; 19-a first spring; 20-sliding strips; 21-a dovetail plate; 22-driving bars; 23-a deflector rod; 24-acting block; 25-wire connector; 26-an expansion ball; 27-a drive disk; 28-fixing bars; 29-a telescopic cylinder; 30-a second spring; 31-a piston ball; 32-an electromagnet.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-9, the present invention provides a technical solution: the utility model provides an automatic driving wheelbarrow, includes aluminum alloy automobile body 1, aluminum alloy automobile body 1 top both sides all install loading board 2, aluminum alloy automobile body 1 top middle part is fixed to be installed energy storage module 4, energy storage module 4 one side electric connection has camera 3, aluminum alloy automobile body 1 installs balancing weight 5 in energy storage module 4's the other side, install two sets of momentum balancing device on aluminum alloy automobile body 1, and momentum balancing device is symmetrical each other on aluminum alloy automobile body 1, aluminum alloy automobile body 1 installs gyro wheel 8 in the bottom, mid-mounting has driving roller 8 in the aluminum alloy automobile body 1 and carries out pivoted drive arrangement, gyro wheel 8 both ends axle head all installs the sliding sleeve, one of them fixed plate 17 is installed between sliding sleeve and the drive arrangement to the fixed mounting, aluminum alloy automobile body 1 inside both sides are connected with buffering damping device in the position department of being close to two sliding sleeves top, damping device is used for guaranteeing that the vehicle steadily traveles, and when increasing weight aluminum alloy automobile body 1 descends, makes the end drive the balancing device and extends the momentum balancing device and adjusts focus position;

the wheelbarrow standing condition can be seen in two parts and three stages. Two parts: a momentum wheel 11 control part and a roller 8 control part; three stages: left-right-momentum wheel 11 control, front-back-roller 8 control, steering-momentum wheel 11 control;

(action of momentum balancing device) one stage: left-right-momentum wheel 11

Newton's third law of motion applies: the forces and the reaction forces between two objects which interact are always equal in magnitude and opposite in direction and act on the same straight line. Here, two objects are respectively one of them: motor housing and aluminum alloy automobile body 1, two: a first motor 7 rotor and a momentum wheel 11, when the rotor and the momentum wheel 11 are accelerated to rotate, a motor housing and the aluminum alloy vehicle body 1 generate a force in the opposite direction to the rotor and the momentum wheel 11; but because the roller 8 contacts the ground, this force is converted into a force rotating around the bottom roller 8, thereby controlling the left-right balance;

two stages: front-back-inverted pendulum

And the inverted pendulum is obtained by inverting the pendulum with a common pendulum. It is an unstable state. The aluminum alloy vehicle body 1 is applied to the monocycle, and the aluminum alloy vehicle body 1 cannot fall down left and right (the mahonia of the momentum wheel 11);

and when both elements are adjusted, the two elements can be erected successfully. The turning action can be achieved by controlling the rotational speed difference of the two momentum wheels 11. The forward and backward actions of the wheelbarrow can be realized by controlling the dynamic zero point on the basis of standing.

The above is suitable for under empty load or whole focus balanced state, when aluminum alloy automobile body 1 top bears the weight excessively, or when the eccentric bears, central point changes, consequently, the momentum wheel 11 rotation of original position department provides the work of doing can't correct aluminum alloy automobile body 1 whole balanced, consequently aluminum alloy automobile body 1 goes under the inclined condition, be unfavorable for traffic, in this scheme, when aluminum alloy automobile body 1 need carry out the load, it is to place the goods on loading board 2 about aluminum alloy automobile body 1, damping device carries out the work, it is inside to arrange in aluminum alloy automobile body 1 wholly upwards with gyro wheel 8 and drive arrangement, simultaneously damping device drive momentum balance device downward sloping removes, the contained angle between two momentum wheels 11 is 90, consequently, every momentum wheel 11 and aluminum alloy automobile body 1 center contained angle is 45 for aluminum alloy automobile body 1 provides stability, when aluminum alloy automobile body 1 bears, momentum wheel 11 moves a bit distance downwards towards original fixed direction along the output shaft, the low focus, outwards extension angular momentum maintains the balance.

Specifically, the driving device comprises a transmission gear 9 with one roller 8 fixed at the shaft end, a rack 10 sleeved on the transmission gear 9, a second motor 16 is connected in a sliding manner in the middle of the inside of the aluminum alloy vehicle body 1, and the output shaft of the second motor 16 is provided with a gear and the rack 10 to be meshed; the second motor 16 drives the rack 10 to drive, the rack 10 drives the transmission gear 9 to rotate, and the transmission gear 9 drives the roller 8 to independently walk on the ground;

further, the momentum balance device comprises a first motor 7 symmetrically placed on two sides of the aluminum alloy vehicle body 1, a driving disc 27 is sleeved on an output shaft of the first motor 7, one side of the driving disc 27 is rotatably connected with a plurality of fixing rods 28, one ends of the fixing rods 28 are fixedly provided with telescopic cylinders 29, the output shaft of the first motor 7 extends into the telescopic cylinders 29, one ends of the telescopic cylinders 29 are fixedly provided with momentum wheels 11, when the momentum wheels 11 rotate, the balance of the aluminum alloy vehicle body 1 is maintained, when the shafts of the first motor 7 rotate, the driving disc 27 is driven to rotate, and meanwhile, the telescopic cylinders 29 are driven to rotate, so that the momentum wheels 11 and the telescopic cylinders 29 rotate integrally, when the aluminum alloy vehicle body 1 bears, the first fixing plate 17 drives the sliding sleeve to ascend, the shafts of the second motor 16 slide on the aluminum alloy vehicle body 1, redundant parts of the aluminum alloy vehicle body 1 descend, and the gravity center of gravity descends easily and is stable.

Further, the damping device includes two the first spring 19 of the equal fixed mounting in sliding sleeve top, a pair of second fixed plate 18 of fixing in the inside of aluminum alloy automobile body 1, one of them sliding sleeve top fixed mounting has the acting block 24, acting block 24 and second fixed plate 18 sliding connection, acting block 24 top hub connection has a pair of actuating strip 22, every actuating strip 22 one end all fixed mounting has driving plate 23, just driving plate 23 and driving plate 27 other side sliding connection, when aluminum alloy automobile body 1 descends, first spring 19 is compressed by the compression deformation of second fixed plate 18, and the acting block 24 is risen by the rising drive of sliding sleeve simultaneously, and when acting block 24 risen, drives actuating strip 22 and is articulated the activity, and the undulant driving plate 27 of driving plate 23 is followed first motor 7 output shaft and is slided down, and wherein driving plate 27 is connected with one end and inserts driving plate 27 one side inside and actuating plate 27 sliding connection as shown in fig. 5, and driving plate 27 output shaft and first motor 27 and first motor 7 drive plate 7 and first drive plate 29 are gone down to the same amount of rotation, and expansion cylinder 29 carries out the expansion cylinder 29 and does not have the moment to drive plate 11, and expansion cylinder 29 simultaneously, and expansion cylinder 29 is moved with the same amount of momentum, and expansion cylinder 29 is formed the expansion cylinder is moved.

The sliding strip 20 is fixedly arranged on the inner wall of one side of the middle part in the aluminum alloy vehicle body 1, the second motor 16 is in sliding connection with the sliding strip 20, the dovetail plate 21 is fixedly arranged at the bottom of the sliding strip 20, sliding balls are respectively arranged at two ends of the dovetail plate 21 and are abutted against the driving strips 22, the sliding strip 20 is favorable for stabilizing the second motor 16 when the second motor rises, and the dovetail plate 21 is used for assisting in driving the driving strips 22 to spread.

Furthermore, an adjusting device is fixedly installed inside the momentum wheel 11, the adjusting device is used for expanding the angular momentum of the outer ring of the momentum wheel 11 to enable the vehicle to maintain a more stable posture under the condition of being stressed, a converter 15 is installed on one side of the outer part of the aluminum alloy vehicle body 1, a varistor block 14 is fixedly installed at one end of one sliding sleeve, a sliding rheostat 13 is installed on the outer part of the aluminum alloy vehicle body 1 near the varistor block 14, the sliding rheostat 13 is electrically connected with the converter 15, when the aluminum alloy vehicle body 1 descends, the situation that the eccentric bearing of the top of the aluminum alloy vehicle body 1 is too large can not be met only by the fact that the momentum wheel 11 descends, correction force is too small, therefore, the size of the outer ring of the momentum wheel 11 needs to be changed, more momentum is provided, and therefore when the aluminum alloy vehicle body 1 descends, the varistor block 14 slides on the sliding rheostat 13, resistance is reduced, and after the converter 15 is electrically connected with the varistor block 14, the adjusting device obtains larger current to change the size of the outer ring of the momentum wheel 11.

Further, the adjusting device comprises a wire connector 25 which is connected with one end of the telescopic tube 29 in a threaded manner, an electromagnet 32 is rotatably connected to one side of the wire connector 25, a piston ball 31 is slidably connected to the inside of the telescopic tube 29, a second spring 30 is fixedly arranged on one side of the piston ball 31, a plurality of ventilation channels are formed in the momentum wheel 11, the ventilation channels are communicated with the telescopic tube 29, an expansion ball 26 is fixedly arranged on the outer ring of the momentum wheel 11 at one end of each ventilation channel, when the aluminum alloy vehicle body 1 descends, the current enhancement electromagnet 32 at the port of the wire connector 25 is magnetically enhanced, the electromagnet 32 works on the piston ball 31 more strongly, when the piston ball 31 slides in the telescopic tube 29, air in the telescopic tube 29 is extruded, so that the air enters the expansion ball 26 along the ventilation channels, the expansion ball 26 is expanded, the outer ring range of the momentum wheel 11 is increased while the outer ring of the momentum wheel 11 is increased, more angular momentum is increased for maintaining the aluminum alloy vehicle body 1, and the expansion amount of the momentum wheel 11 is required to be matched with the expansion amount of the first spring 19 and the momentum wheel 11 one by one when the experiment is implemented, so that a state is achieved.

The wire harness tube 6 is fixedly installed at the other two ends of the outer portion of the aluminum alloy vehicle body 1, one end of the converter 15 is connected with a wire penetrating through the wire harness tube 6 and fixedly connected with the wire connector 25, the sealing cover 12 is installed at the position, close to the sliding rheostat 13, of the outer portion of the aluminum alloy vehicle body 1, the wire harness tube 6 can effectively prevent the wire from interfering, and the sealing cover 12 can effectively prevent the sliding rheostat 13 from sand and ash entering to reduce the service performance.

The scheme also comprises a control system of the correlation to support the description of the scheme:

motor drive module in first state: the automatic driving balance wheelbarrow is controlled to stand and walk by 3 motors (comprising two first motors 7 and one second motor 16), the left and right of the car model is kept stand and turn by controlling the rotation direction and the rotation acceleration of the two first motors 7, and the front and back stand and walk by controlling the rotation direction and the speed of the travelling motor which only contacts the ground. The control modes of the three motors are that the rotating speed is controlled by a single-chip microcomputer PWM, and the larger the PWM parameters are, the higher the rotating speed of the motors is. And the rotation direction of the motor is controlled through the GPIO port of the singlechip. The IO port outputs high level, the motor rotates positively, the IO port outputs low level, and the motor rotates reversely;

the automatic driving balance wheelbarrow collects the colors of the field through the camera 3 and sends the data to the singlechip, the singlechip collects the camera data and then carries out binarization processing by a threshold method, the colors of the field are divided into black and white colors, the colors below the threshold are set to be black, and the colors above the threshold are set to be white. The singlechip controls the vehicle model to walk along the two side lines by extracting the edge information of the two colors as the side lines of the runway;

the camera 3 is powered by 3.3V and has a row interrupt control pin, a field interrupt control pin, a clock signal corner, a set of SCCB communication pins and 8 data outlets using SCCB bus communication. The size of the image acquisition window can be freely set, and the total view area 188 is 120 pixels.

The automatic driving balance wheelbarrow outputs camera images and state information of each module through a TFT1.8 inch screen, realizes man-machine interaction and is convenient to debug. The TFT1.8 inch screen adopts SPI communication mode. SPI is a synchronous serial interface technology, is a high-speed, full duplex, synchronous communication bus, and supports full duplex communication. The TFT1.8 screen is provided with VCC and GND power interfaces, a CS chip selection input port, an SCK clock input port, an SDI data input port, a D/C data command selection port and an RST reset port. The needed information is printed on the TFT screen in an SPI communication mode, so that the debugging is more convenient, and when a vehicle needs to be debugged, the vehicle is adjusted at the ground leveling position.

Adopting an automatic driving single-wheel balance trolley to use a vertical ring and a direction ring to use a position vector PID control algorithm, using a speed ring to use an incremental PID control algorithm, and finally superposing a vertical ring PID and a speed ring PID to form a parallel pole PID control model for vertical and automatic driving; in the vertical ring position vector PID control algorithm, the angular deviation value collected by the gyroscope is multiplied by KP proportional control, the integral deviation value is multiplied by KI integral control, the angular acceleration value collected by the gyroscope is multiplied by KD acceleration ring control, and three values are overlapped to form the vertical ring position vector PID control of the two first motors 7 and the second motor 16.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic wheelbarrow of driving, includes aluminum alloy automobile body (1), loading board (2), its characterized in that are all installed to aluminum alloy automobile body (1) top both sides: energy storage module (4) are fixedly installed in middle part at top of aluminum alloy automobile body (1), energy storage module (4) one side electric connection has camera (3), balancing weight (5) are installed in other one side of energy storage module (4) of aluminum alloy automobile body (1), install two sets of momentum balance device on aluminum alloy automobile body (1), just momentum balance device is symmetrical each other on aluminum alloy automobile body (1), gyro wheel (8) are installed to aluminum alloy automobile body (1) bottom, mid-mounting has driving roller (8) to carry out pivoted drive arrangement in aluminum alloy automobile body (1), the sliding sleeve is all installed at gyro wheel (8) both ends axle head, one of them fixed mounting has first fixed plate (17) between sliding sleeve and the drive arrangement, both sides are being connected with buffering buffer damper in being close to two sliding sleeve top positions in aluminum alloy automobile body (1), buffer damper is used for guaranteeing that the vehicle steadily travels to aluminum alloy automobile body (1) descends when increasing weight, makes buffer end drive buffer damper drive the momentum balance device and comes the adjustment focus position.

2. An autonomous wheelbarrow as defined in claim 1 wherein: the momentum balance device comprises a first motor (7) which is symmetrically placed on two sides of an aluminum alloy vehicle body (1), a driving disc (27) is sleeved on an output shaft of the first motor (7), one side of the driving disc (27) is rotationally connected with a plurality of fixing rods (28), one ends of the fixing rods (28) are fixedly provided with telescopic cylinders (29), the output shaft of the first motor (7) extends into the telescopic cylinders (29), one ends of the telescopic cylinders (29) are fixedly provided with momentum wheels (11), and the balance of the aluminum alloy vehicle body (1) is maintained when the momentum wheels (11) rotate.

3. An autonomous wheelbarrow as defined in claim 2 wherein: the driving device comprises a transmission gear (9) fixed at the shaft end of one roller (8), a rack (10) sleeved on the transmission gear (9), a second motor (16) is connected to the middle part inside the aluminum alloy vehicle body (1) in a sliding mode, and a gear and the rack (10) are meshed with the output shaft of the second motor (16).

4. A self-propelled wheelbarrow according to claim 3 wherein: the damping device comprises two first springs (19) fixedly installed at the top of the sliding sleeve, a pair of second fixing plates (18) fixedly installed inside an aluminum alloy vehicle body (1), one of the second fixing plates (18) is fixedly installed at the top of the sliding sleeve, the acting block (24) and the second fixing plates (18) are in sliding connection, a pair of driving strips (22) are connected to the top shaft of the acting block (24), a deflector rod (23) is fixedly installed at one end of each driving strip (22), and one side of each deflector rod (23) is in sliding connection with the other side of the driving disc (27).

5. An autonomous wheelbarrow as defined in claim 4 wherein: the sliding strip (20) is fixedly arranged on the inner wall of one side of the middle part in the aluminum alloy vehicle body (1), the second motor (16) is in sliding connection with the sliding strip (20), the dovetail plate (21) is fixedly arranged at the bottom of the sliding strip (20), and sliding balls and driving strips (22) are respectively arranged at two ends of the dovetail plate (21) to be abutted.

6. An autonomous wheelbarrow as defined in claim 2 wherein: the inside of the momentum wheel (11) is fixedly provided with an adjusting device which is used for expanding the angular momentum of the outer ring of the momentum wheel (11) so that the vehicle maintains a more stable posture under the condition of being stressed.

7. An autonomous wheelbarrow as defined in claim 6 wherein: the novel variable resistor is characterized in that a converter (15) is arranged on one side of the outer portion of the aluminum alloy vehicle body (1), a variable resistor slide block (14) is fixedly arranged at one end of one sliding sleeve, a sliding rheostat (13) is arranged at the position, close to the variable resistor slide block (14), of the outer portion of the aluminum alloy vehicle body (1), and the sliding rheostat (13) is electrically connected with the converter (15).

8. An autonomous wheelbarrow as defined in claim 7 wherein: the adjusting device comprises a wire connector (25) which is connected with one end of a telescopic tube (29) through threads, an electromagnet (32) is rotationally connected to one side of the wire connector (25), a piston ball (31) is slidingly connected to the inside of the telescopic tube (29), a second spring (30) is fixedly arranged on one side of the piston ball (31), a plurality of ventilation channels are formed in the momentum wheel (11), the ventilation channels are communicated with the telescopic tube (29), and an expansion ball (26) is fixedly arranged on the outer ring of the momentum wheel (11) at one end of each ventilation channel.

9. An autonomous wheelbarrow as defined in claim 8 wherein: the ventilation channels are at least three and are equidistant from each other.

10. An autonomous wheelbarrow as defined in claim 7 wherein: the wire harness tube (6) is fixedly arranged at the other two ends of the outer portion of the aluminum alloy car body (1), one end of the converter (15) is connected with a wire penetrating through the wire harness tube (6) and fixedly connected with the wire connector (25), and the sealing cover (12) is arranged at the position, close to the sliding rheostat (13), of the outer portion of the aluminum alloy car body (1).