CN205468385U - Developments of many rounds of individual drives hang self -balancing frame - Google Patents
Developments of many rounds of individual drives hang self -balancing frame Download PDFInfo
- Publication number
- CN205468385U CN205468385U CN201520900734.5U CN201520900734U CN205468385U CN 205468385 U CN205468385 U CN 205468385U CN 201520900734 U CN201520900734 U CN 201520900734U CN 205468385 U CN205468385 U CN 205468385U
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- sensor unit
- adjustable suspension
- combination sensor
- vehicle frame
- independent
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Abstract
The utility model provides a developments of many rounds of individual drives hang self -balancing frame, includes frame platform, individual drive wheel, independent adjustable suspension, CPU, control software, combination sensor unit and serial communication bus, its characterized in that: the individual drive wheel is installed in independent adjustable suspension, and the independent adjustable ystem installation that hangs is on the frame platform, and CPU, combination sensor unit and serial communication bus are installed on the frame platform, and data communication is carried out through the total line transmission of serial communication between combination sensor unit, CPU, individual drive wheel, the independent adjustable suspension to parameter during combination sensor unit collection vehicle frame platform movement. The beneficial effects of the hand and wrist rehabilitation evaluation monitoring device are that, the utility model discloses can keep course, the speed of a ship or plane of frame system automatically, possess high mobility nature, hang height -adjustable festival within range simultaneously, possess the trafficability characteristic of complicated topography, keep horizontal attitude stabilization of frame and anti -shake simultaneously.
Description
Technical field
This utility model relates to mechanical manufacturing field, and what specifically many wheels independently drove is dynamically suspended from balance frame.
Background technology
Traditional frame system and frame mainly completes the wheel support to vehicle frame by resilient suspension, completes power distribution between drivewheel by power transmission shaft, completes speed between wheel when turning to by differential mechanism and regulates.Suspension, power transmission shaft, differential mechanism Heavy Weight, mobility is poor, cannot dynamically adjust simultaneously, and vehicle frame platform is poor by property, can shake with ground uneven simultaneously.
Summary of the invention
This utility model aim to provide a kind of many wheels independent drive be dynamically suspended from balance frame, mainly solving the suspension of existing vehicle frame, power transmission shaft, differential mechanism Heavy Weight, mobility is poor, cannot dynamically adjust simultaneously, it is poor that vehicle frame platform passes through property, the problem simultaneously can shaken with ground uneven.
In order to solve the problems referred to above, independent driving that what this utility model provided take turns more be dynamically suspended from balance frame, have employed following technical scheme:
What a kind of many wheels independently drove is dynamically suspended from balance frame, including vehicle frame platform, independent driving wheel, Independent adjustable suspension, CPU, control software, combination sensor unit and serial communication bus, it is characterised in that:
Independent driving wheel is arranged in Independent adjustable suspension, Independent adjustable suspension is arranged on vehicle frame platform, CPU, combination sensor unit and serial communication bus are arranged on vehicle frame platform, the parameter during motion of combination sensor unit collecting cart body panel, carries out data communication by serial communication bus transmission between combination sensor unit, CPU, independent driving wheel, Independent adjustable suspension.
Preferably, described vehicle frame platform, there is the Independent adjustable suspension of three or more than three to support.
Preferably, described Independent adjustable suspension has height-adjustable electronic or hydraulic actuating mechanism.
Preferably, the actuator of described Independent adjustable suspension, by controlling the height of the instruction regulation Independent adjustable suspension of software.
Preferably, described control software, the vehicle frame platform data that combination sensor unit is collected is carried out data fusion, it is judged that the attitude of vehicle frame platform.
Preferably, described combination sensor unit, when vehicle runs, in real time detection vehicle frame platform is at the speed of plane and direction delta data, by CPU with control software analysis, adjusts each independent driving wheel moment data, it is achieved speed and the closed loop control in direction.
Preferably, described combination sensor unit, when vehicle runs, detection vehicle frame platform change of pitch angle in the horizontal direction in real time, by CPU with control software analysis, adjust each Independent adjustable suspension in vertical orientation data, automatically keep vehicle frame plateau levels and filter ground surface or terrain change and shake.
The beneficial effects of the utility model are: hang and compared with transmission shaft structure with the existing spring commonly used, simple in construction is light and handy, can automatically keep desired course, the speed of a ship or plane, possesses high maneuverability, simultaneously in suspension height adjustable extent, possess complicated landform by property, keep vehicle frame horizontal attitude stable and stabilization simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
For the clearer technical scheme understanding that this utility model provides, it is described further with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As it is shown in figure 1, a kind of many wheels independent drive be dynamically suspended from balance frame, including vehicle frame platform 7, independent driving wheel 5, Independent adjustable suspension 4, CPU1, control software 2, combination sensor unit 3 and serial communication bus 6, it is characterised in that:
Independent driving wheel 5 is arranged in Independent adjustable suspension 4, Independent adjustable suspension 4 is arranged on vehicle frame platform 7, CPU1, combination sensor unit 3 and serial communication bus 6 are arranged on vehicle frame platform 7, parameter when combination sensor unit 3 collecting cart body panel 7 moves, carries out data communication by serial communication bus 6 transmission between combination sensor unit 3, CPU1, independent driving wheel 5, Independent adjustable suspension 4.
nullVehicle frame platform 7，The Independent adjustable suspension 4 having three or more than three supports，Independent adjustable suspension 4 has electronic or hydraulic actuating mechanism，By controlling the height of the instruction regulation Independent adjustable suspension 4 of software 2，Vehicle frame platform 7 data that combination sensor unit 3 is collected by control software 2 carry out data fusion，Judge the attitude of vehicle frame platform 7，And when vehicle runs，Combination sensor unit 3 detects vehicle frame platform 7 in real time at the speed of plane and direction delta data，Analyzed by CPU1 and control software 2，Adjust each independent driving wheel 5 moment data，Realize the closed loop control in speed and direction，Detection vehicle frame platform 7 change of pitch angle in the horizontal direction the most in real time，Analyzed by CPU1 and control software 2，Adjust each Independent adjustable suspension 4 in vertical orientation data，Automatically keep vehicle frame platform 7 level and filter ground surface or terrain change and shake.
The beneficial effects of the utility model are: this utility model can keep the course of frame system and frame, the speed of a ship or plane automatically, possess high maneuverability, simultaneously in suspension height adjustable extent, possess complicated landform by property, keep vehicle frame horizontal attitude stably and stabilization simultaneously.
The above is only preferred implementation of the present utility model; it should be pointed out that, for those skilled in the art, on the premise of without departing from this utility model principle; can also make some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (7)
1. what more than, wheel independently drove is dynamically suspended from a balance frame, including vehicle frame platform, independent driving wheel, Independent adjustable suspension, CPU, control software, combination sensor unit and serial communication bus, it is characterised in that:
Independent driving wheel is arranged in Independent adjustable suspension, Independent adjustable suspension is arranged on vehicle frame platform, CPU, combination sensor unit and serial communication bus are arranged on vehicle frame platform, the parameter during motion of combination sensor unit collecting cart body panel, carries out data communication by serial communication bus transmission between combination sensor unit, CPU, independent driving wheel, Independent adjustable suspension.
What a kind of many wheels the most according to claim 1 independently drove is dynamically suspended from balance frame, it is characterised in that: described vehicle frame platform, there is the Independent adjustable suspension of three or more than three to support.
What a kind of many wheels the most according to claim 1 independently drove is dynamically suspended from balance frame, it is characterised in that: described Independent adjustable suspension has height-adjustable electronic or hydraulic actuating mechanism.
4. dynamically it is suspended from balance frame according to what a kind of many wheels described in claim 1 or 3 independently drove, it is characterised in that: the actuator of described Independent adjustable suspension, by controlling the height of the instruction regulation Independent adjustable suspension of software.
What a kind of many wheels the most according to claim 1 independently drove is dynamically suspended from balance frame, it is characterised in that: described control software, the vehicle frame platform data that combination sensor unit is collected is carried out data fusion, it is judged that the attitude of vehicle frame platform.
What a kind of many wheels the most according to claim 1 independently drove is dynamically suspended from balance frame, it is characterized in that: described combination sensor unit, when vehicle runs, in real time detection vehicle frame platform is at the speed of plane and direction delta data, by CPU and control software analysis, adjust each independent driving wheel moment data, it is achieved speed and the closed loop control in direction.
What a kind of many wheels the most according to claim 1 independently drove is dynamically suspended from balance frame, it is characterized in that: described combination sensor unit, when vehicle runs, detection vehicle frame platform change of pitch angle in the horizontal direction in real time, by CPU and control software analysis, adjust each Independent adjustable suspension in vertical orientation data, automatically keep vehicle frame plateau levels and filter ground surface or terrain change and shake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520900734.5U CN205468385U (en) | 2015-11-12 | 2015-11-12 | Developments of many rounds of individual drives hang self -balancing frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520900734.5U CN205468385U (en) | 2015-11-12 | 2015-11-12 | Developments of many rounds of individual drives hang self -balancing frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205468385U true CN205468385U (en) | 2016-08-17 |
Family
ID=56660635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520900734.5U Expired - Fee Related CN205468385U (en) | 2015-11-12 | 2015-11-12 | Developments of many rounds of individual drives hang self -balancing frame |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205468385U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106696629A (en) * | 2015-11-12 | 2017-05-24 | 昆山罗伯斯特机器人科技有限公司 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
-
2015
- 2015-11-12 CN CN201520900734.5U patent/CN205468385U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106696629A (en) * | 2015-11-12 | 2017-05-24 | 昆山罗伯斯特机器人科技有限公司 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180828 Address after: 519000 teaching area 1, Software Park Road, Tangjia Bay, Zhuhai high tech Zone, Guangdong 1, two, 205-206 Co-patentee after: Pan Haiyang Patentee after: ZHUHAI CROP GUARD AVIATION PLANT PROTECTION TECHNOLOGY CO., LTD. Co-patentee after: Chen Xuesong Co-patentee after: Zou Fan Address before: 215300 No. 58 new energy road, Yushan Town, Kunshan, Suzhou, Jiangsu Patentee before: Kinsman Robust Robot Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20181112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |