CN215245300U

CN215245300U - Active side-tipping device and unmanned tricycle

Info

Publication number: CN215245300U
Application number: CN202121759315.6U
Authority: CN
Inventors: 李成; 肖野原; 杜刚
Original assignee: Shenzhen Lihe Precision Equipment Technology Co ltd
Current assignee: Shenzhen Lihe Precision Equipment Technology Co ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2021-12-21
Anticipated expiration: 2031-07-29

Abstract

The utility model discloses an active roll device and an unmanned tricycle, wherein the active roll device comprises a mounting frame, wheels, a roll actuator, a roll swing arm, a roll pull rod, a first roll rocker arm and a wheel connecting mechanism; the middle part of the side-tipping swing arm is fixedly connected with a side-tipping actuator; one end of the side-tipping pull rod is rotatably connected with one end of the side-tipping swing arm through a first rotating piece; one end of the first side-tipping rocker arm can be vertically and rotatably connected with the mounting frame, and the other end of the first side-tipping rocker arm is rotatably connected with the other end of the side-tipping pull rod through the second rotating piece. The roll matching assemblies are symmetrically arranged on the left side and the right side of the roll actuator, so that when the roll actuator rotates, the roll swing arm synchronously rotates, the roll rocker arm is pulled/pushed to vertically rotate through the roll pull rod, and the wheel connecting mechanism moves upwards/downwards to further drive the two wheels to roll.

Description

Active side-tipping device and unmanned tricycle

Technical Field

The utility model relates to an unmanned technical field especially relates to an initiative device and unmanned tricycle that heels.

Background

When the vehicle turns or passes through an inclined road surface, the vehicle body needs to be inclined at a certain angle, and the centrifugal force is resisted by the deflection angle, so that the stability of the vehicle body is kept, and the vehicle is prevented from directly rushing out of a curve. At present, a passive roll mechanism is generally adopted, the roll angle of a vehicle can be only passively adjusted, and the mobility and flexibility of the vehicle are low.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an initiative device and unmanned tricycle that heels aims at solving prior art, and vehicle roll angle can only passive regulation, the lower problem of mobility flexibility of vehicle.

In a first aspect, an embodiment of the present invention provides an active roll device, including a mounting frame, a wheel, a roll actuator, a roll swing arm, a roll pull rod, a first roll rocker arm, and a wheel connecting mechanism;

the mounting frame is a frame which is symmetrical left and right; two wheels are arranged; the side-tipping actuator is arranged in a vertical plane of a left-right symmetrical shaft on the mounting rack; the middle part of the side-tipping swing arm is fixedly connected with the side-tipping actuator; one end of the roll pull rod is rotatably connected with one end of the roll swing arm through a first rotating piece; one end of the first side-tipping rocker arm can be vertically and rotatably connected with the mounting rack, and the other end of the first side-tipping rocker arm can be rotatably connected with the other end of the side-tipping pull rod through a second rotating member; the wheel connecting mechanism is used for connecting the wheel and the first side-tilting rocker arm and driving the wheel to vertically move along with the swinging of the first side-tilting rocker arm on a vertical surface;

the first side-tipping rocker arm, the side-tipping pull rod and the wheel connecting mechanism are respectively provided with two side-tipping rocker arms, two side-tipping pull rods and two wheel connecting mechanisms, and the two side-tipping rocker arms, the two side-tipping pull rods and the two wheel connecting mechanisms are respectively symmetrically arranged on the left side and the right side of the side-tipping actuator.

In a second aspect, an embodiment of the present invention provides an unmanned tricycle, including the active heeling apparatus, further comprising:

a vehicle body frame;

the laser radar is arranged on the vehicle body framework and used for sensing the front obstacle information;

the binocular cameras are arranged on the periphery of the car body framework and used for detecting image information around the car body;

a roll motor controller provided in the vehicle body frame, the roll motor controller being configured to control the active roll device to perform an active roll maneuver;

the hub motor is arranged in the vehicle body framework and used for providing power for the tricycle;

the hub motor controller is arranged in the vehicle body framework and used for controlling the hub motor;

the gyroscope is arranged in the vehicle body framework and used for detecting the side-tipping angle of the vehicle body;

the navigation system is arranged in the vehicle body framework and is used for realizing autonomous navigation;

the DBS hydraulic brake is arranged in the vehicle body framework and used for providing brake pressure and performing brake-by-wire;

the DBS controller is arranged in a vehicle body framework and is used for controlling the DBS hydraulic brake;

the power supply module is arranged in the middle of the bottom of the vehicle body framework and used for providing electric energy;

the navigation system, the laser radar, the binocular camera and the gyroscope are respectively connected with an industrial personal computer arranged in the vehicle body framework, the navigation system sends a position signal to the industrial personal computer through a first signal path, the laser radar sends a distance signal between a vehicle body and a road obstacle to the industrial personal computer through a second signal path, the binocular camera sends an image signal of the peripheral side of the vehicle body to the industrial personal computer through a third signal path, and the gyroscope sends a vehicle body side inclination angle signal to the industrial personal computer through a fourth signal path;

the industrial personal computer is connected with a VCU (vertical control unit) arranged in the vehicle body framework, the VCU is connected with the roll motor controller, the hub motor controller and the DBS (direct brake system) controller, and the industrial personal computer controls the roll motor controller, the hub motor controller and the DBS controller to respectively drive the active roll device, the hub motor and the DBS hydraulic brake to work through the VCU.

The embodiment of the utility model provides a set up in the cooperation subassembly that heels (first side-tipping rocking arm, the pull rod that heels and wheel connection mechanism promptly) of the executor left and right sides that heels through the symmetry for the executor that heels is when rotating, and the swing arm that heels rotates in step, and through the pull rod pull/promote the vertical rotation of the rocker arm that heels, wheel connection mechanism is along with upwards/downstream, and then drives and appear heeling between two wheels.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

Fig. 1 is a schematic structural diagram of an active roll device according to an embodiment of the present invention;

fig. 2 is another schematic structural diagram of an active roll device according to an embodiment of the present invention;

fig. 3 is a schematic block diagram of a connection relationship of the unmanned tricycle according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

It should be noted that only one side of the mounting frame is provided with the shock absorber in the drawing, because the shock absorber is hidden, the structure is not compact and complicated, and the shock absorber is convenient to understand by the drawing.

Referring to fig. 1-2, an active roll device includes a mounting frame 100, a wheel 200, a roll actuator 310, a roll swing arm 320, a roll pull rod 330, a first roll swing arm 340, and a wheel connecting mechanism;

the mounting frame 100 is a frame symmetrical left and right; two wheels 200 are provided; the roll actuator 310 is provided in a right-left symmetrical axis vertical plane on the mounting bracket 100; the roll swing arm 320 is fixedly connected at its middle to the roll actuator 310; roll link 330 one end of the roll link 330 is rotatably connected to one end of the roll swing arm 320 via a first rotating member; the first roll rocker 340 has one end of the first roll rocker 340 vertically rotatably connected to the mounting block 100, and the other end of the first roll rocker 340 is rotatably connected to the other end of the roll rod 330 via a second rotating member; the wheel connecting mechanism is used for connecting the wheel 200 and the first roll rocker 340, and driving the wheel 200 to vertically move along with the swing of the first roll rocker 340 on a vertical plane;

two of the first roll rocker 340, the roll pull rod 330 and the wheel connecting mechanism are respectively disposed, and are respectively symmetrically disposed at left and right sides of the roll actuator 310.

In this embodiment, the roll swing arm 320 is fixed at its middle portion to an output flange of the roll actuator 310, and both ends of the roll swing arm 320 are connected to roll rods 330 provided on both left and right sides of the roll actuator 310, respectively.

By symmetrically arranging the roll-fitting components (i.e., the first roll rocker 340, the roll link 330, and the wheel connecting mechanism) on the left and right sides of the roll actuator 310, when the roll actuator 310 rotates, the roll rocker 320 rotates synchronously, and the roll rocker is pulled/pushed by the roll link 330 to rotate vertically, and the wheel connecting mechanism moves up/down to drive the two wheels 200 to roll.

The principle of the active roll device is explained below by way of an example:

when the vehicle turns right, a certain height difference needs to occur between the left and right wheels 200, that is, the height of the right wheel 200 is higher than that of the left wheel, so that the vehicle body is inclined to the right, the centripetal force of the turning is overcome, and the vehicle is prevented from turning over.

Similarly, the left side of the roll swing arm 320 also rotates counterclockwise, pushing the corresponding roll pull rod 330 downward, driving the first roll swing arm 340 to rotate downward, and further pushing the wheel connection mechanism downward, so that the left wheel 200 is pushed downward.

In the left turn, the roll actuator 310 is controlled to rotate clockwise.

Both clockwise and counterclockwise herein are references to designating the same viewing angle.

In one embodiment, the wheel connecting mechanism comprises a rolling base 350 and a second rolling rocker arm 360, the top of the rolling base 350 is connected with the first rolling rocker arm 340, the bottom of the rolling base 350 is vertically and rotatably connected with the second rolling rocker arm 360 through a rotating shaft, and the bottom side of the second rolling rocker arm 360 is rotatably connected with the wheel 200.

In this embodiment, the wheel connecting mechanism is provided as two sections of connecting parts which can rotate relatively, so that the wheel 200 can be adjusted conveniently; that is, the connection relationship between the second roll arm 360 and the roll base 350 is set to be vertically rotatable, so that the included angle between the second roll arm 360 and the roll base 350 is conveniently adjusted, and the wheel 200 mounted on the second roll arm 360 is adjusted.

In one embodiment, a shock absorber 370 is disposed between the roll base 350 and the second roll rocker arm 360.

In the present embodiment, by providing the shock absorber 370, there is a good cushion between the second roll arm 360 and the roll base 350, and the connection angle between the second roll arm 360 and the roll base 350 is adjusted so that the second roll arm 360 is always perpendicular to the ground.

In one embodiment, the roll base 350 extends forward and downward such that the top and bottom of the roll base 350 are not on the same right and left vertical plane, the second roll arm 360 extends rearward and downward such that the top and bottom of the second roll arm 360 are not on the same right and left vertical plane, and the shock absorber 370 connects the top lower side of the roll base 350 and the bottom upper side of the second roll arm 360, respectively.

In this embodiment, the tilting base 350 and the second tilting arm 360 are enclosed into a semi-closed frame, so that the shock absorber 370 disposed at the opening of the frame formed by the tilting base 350 and the second tilting arm 360 can be close to a vertical state, thereby achieving a good shock absorbing effect, and the angles of the second tilting arm 360 and the tilting base 350 can be conveniently adjusted, so that the steering arm is always vertical to the ground.

In one embodiment, the top of the roll base 350 is connected to the first roll rocker 340 by a swivel connection.

In this embodiment, the rotational connection is a rotational shaft.

In one embodiment, the rotational connector is a first ball hinge.

In the present embodiment, the rotation angle is made larger.

In one embodiment, one end of the first roll rocker 340 is configured in a downward, two-step shape, including a first step and a second step, the second step connecting the roll link 330.

In this embodiment, one end of the first roll rocker 340 is set to be stepped downward in two steps, so that the roll rod 330 can be set longer, the rotation angle of the first roll rocker 320 is ensured, and the roll height of the wheel 200 is prevented from being affected because the roll rod 330 is too short to cause the first roll rocker 320 to swing by a larger angle.

In one embodiment, the first rotating member is a second ball hinge.

In this embodiment, by providing the spherical hinge, the rotation is more free, and the rotation angle is larger, so that the rotation can be freely performed in the hemispherical surface.

In one embodiment, the second rotating member is a third ball hinge.

Referring to fig. 3, an unmanned tricycle includes the active roll device, and further includes:

a vehicle body frame;

In this embodiment, the positional relationship between the vehicle body frame, the laser radar, the binocular camera, the roll motor controller, the in-wheel motor controller, the gyroscope, the navigation system, the DBS hydraulic brake, the DBS controller, and the power module is not specifically limited herein, and may be set according to actual conditions in specific production and life.

The industrial personal computer monitors external data information through a navigation system, a laser radar, a binocular camera and a gyroscope, sends out corresponding instructions according to information change and preset processing strategies, converts the instructions into corresponding specific instructions through a VCU (virtual central processing unit), sends the specific instructions to a corresponding roll motor controller, a hub motor controller and a DBS (direct source bus) controller for connection, and respectively drives an active roll device, a hub motor and a DBS hydraulic brake to work through the connection of the roll motor controller, the hub motor controller and the DBS controller, so that the aim of unmanned driving is fulfilled.

Specifically, in controlling the active roll device, mainly the roll actuator 310 is controlled to rotate, and the specific principle can be referred to above.

Specifically, a vcu (vehicle control unit) vehicle controller is used as a central control unit of the new energy vehicle, and is the core of the whole control system.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An active roll device, comprising:

the mounting frame (100) is a frame which is symmetrical left and right;

two wheels (200) are provided;

a roll actuator (310) provided in a right-left symmetrical axis vertical plane on the mounting bracket (100);

the middle part of the roll swing arm (320) is fixedly connected with the roll actuator (310);

a roll link (330), one end of the roll link (330) being rotatably connected to one end of the roll swing arm (320) through a first rotating member;

a first roll rocker (340), one end of the first roll rocker (340) is vertically and rotatably connected with the mounting frame (100), and the other end of the first roll rocker (340) is rotatably connected with the other end of the roll pull rod (330) through a second rotating member;

the wheel connecting mechanism is used for connecting the wheel (200) and the first roll rocker (340) and driving the wheel (200) to vertically move along with the swing of the first roll rocker (340) on a vertical plane;

the first roll rocker arm (340), the roll pull rod (330) and the wheel connecting mechanism are respectively provided in two numbers, and are respectively symmetrically arranged on the left side and the right side of the roll actuator (310).

2. The active roll device of claim 1 wherein: the wheel connecting mechanism comprises a roll base (350) and a second roll rocker (360), the top of the roll base (350) is connected with the first roll rocker (340), the bottom of the roll base (350) is vertically and rotatably connected with the second roll rocker (360) through a rotating shaft, and the bottom side of the second roll rocker (360) is rotatably connected with the wheel (200).

3. The active roll device of claim 2 wherein: a shock absorber (370) is disposed between the roll base (350) and the second roll rocker (360).

4. The active roll device of claim 3 wherein: the roll base (350) extends forward and downward such that the top and bottom of the roll base (350) are not on the same right and left vertical plane, the second roll rocker (360) extends rearward and downward such that the top and bottom of the second roll rocker (360) are not on the same right and left vertical plane, and the shock absorbers (370) connect the top lower side of the roll base (350) and the bottom upper side of the second roll rocker (360), respectively.

5. The active roll device of claim 2 wherein: the top of the roll base (350) is connected to the first roll rocker (340) by a swivel connection.

6. The active roll device of claim 5 wherein: the rotating connecting piece is a first ball hinge.

7. The active roll device of claim 1 wherein: one end of the first roll rocker (340) is arranged in a downward two-step shape, comprising a first step and a second step, and the second step is connected with the roll pull rod (330).

8. The active roll device of claim 1 wherein: the first rotating piece is a second ball hinge.

9. The active roll device of claim 1 wherein: the second rotating piece is a third ball hinge.

10. An unmanned tricycle, comprising the active roll device of any of claims 1-9, further comprising:

a vehicle body frame;