CN216695406U

CN216695406U - Linear motion type balancing instrument special for self-walking vehicle

Info

Publication number: CN216695406U
Application number: CN202220082473.0U
Authority: CN
Inventors: 章征凯
Original assignee: Guangxi Yongxiang New Energy Vehicle Technology Co ltd
Current assignee: Guangxi Yongxiang New Energy Vehicle Technology Co ltd
Priority date: 2022-01-13
Filing date: 2022-01-13
Publication date: 2022-06-07
Anticipated expiration: 2032-01-13

Abstract

The utility model discloses a special linear motion type balancing instrument for a self-walking vehicle, wherein a screw rod is movably arranged at the upper end part of a shell through two bearing seats, the special linear motion type balancing instrument also comprises a motor which is arranged in parallel with the screw rod, and the screw rod is in transmission connection with the motor; the upper end of the balancing weight is connected with the screw rod through an adjusting nut, and the lower end of the balancing weight is in contact with the bottom plate of the shell; the simple pendulum is suspended in the shell through a pin shaft, a front microswitch and a rear microswitch are fixed on the shells on two sides of the free end of the simple pendulum, and the swinging surface of the simple pendulum is parallel to the axis of the screw rod. The utility model can balance the vehicle body within the rated range, can be matched with a two-wheel front-back series type or two-wheel left-right parallel type self-balancing vehicle for use, and has the advantages of low production cost, high balancing precision and easy assembly and control.

Description

Linear motion type balancing instrument special for self-walking vehicle

Technical Field

The present invention relates to a vehicle balancing device, and more particularly, to a two-wheeled vehicle balancing device.

Background

The self-balancing vehicle is also called a body feeling vehicle, and is a novel green and environment-friendly product used as a walking tool and leisure and entertainment by modern people. The self-balancing vehicle has various types, mainly comprises a single wheel and two wheels in the market, and the two wheels are divided into a series type and a parallel type. From the use angle, the self-balancing bicycle can be used as a low-strength travel tool and a leisure and entertainment product. From the perspective of the weight and the load, a large-sized self-balancing vehicle can be loaded with the weight of an adult, and a small-sized self-balancing vehicle can be used as a robot with a camera and other devices mounted thereon.

Self-balancing vehicles are designed based on a basic principle called Dynamic Stabilization (Dynamic Stabilization), and detect changes of vehicle body postures by using a gyroscope and an acceleration sensor inside a vehicle body, and accurately drive a motor to perform corresponding adjustment by using a servo control system so as to keep balance of the system.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a special linear motion type balancing instrument for a self-walking vehicle, which can balance a vehicle body within a rated range, has wide application range, high balancing precision and simple and easy control.

In order to solve the technical problem, the special linear motion type balancing instrument for the self-walking vehicle comprises a rectangular shell, a screw rod and a motor, wherein the screw rod is movably arranged at the upper end of the shell through two bearing seats; the upper end of the balancing weight is connected with the screw rod through an adjusting nut, and the lower end of the balancing weight is in contact with the bottom plate of the shell; the simple pendulum is suspended in the shell through a pin shaft, a front microswitch and a rear microswitch are fixed on the shells on two sides of the free end of the simple pendulum, and the swinging surface of the simple pendulum is parallel to the axis of the screw rod.

As one implementation manner of the transmission connection, a free end of the screw rod is fixed with a driven gear, a main shaft of the motor is fixed with a driving gear, and the driving gear and the driven gear are mutually meshed.

Preferably, the lower end of the counterweight block is provided with a plurality of spherical cavities, and the spherical cavities are internally provided with balls which are in rolling friction with the bottom plate of the shell.

As a preferred scheme, the screw rod is arranged along the length direction of the shell, two spherical cavities are arranged along the width direction of the shell, two balls are correspondingly arranged, and when the screw rod rotates, the balls are matched with a bottom plate of the shell, so that the balancing weight is limited to only travel along the length direction of the shell but cannot rotate around the screw rod.

The utility model can balance the vehicle body within a rated range, can be matched with two-wheel front-back serial type or two-wheel left-right parallel type self-balancing vehicles for use, has low production cost and high balancing precision, and is easy to assemble and control.

Drawings

FIG. 1 is an exploded view of the self-propelled vehicle specific linear motion balancer of the present invention;

FIG. 2 is a cross-sectional view of the self-propelled vehicle dedicated linear motion balancer of the present invention taken along its length;

FIG. 3 is a cross-sectional view of the self-propelled vehicle dedicated linear motion balancer of the present invention taken along the width direction thereof;

fig. 4 is a top view of fig. 3.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.

As shown in fig. 1, 2, 3 and 4, the linear motion type balancer for self-propelled vehicles of the present invention comprises a rectangular housing 1, wherein in this embodiment, the housing 1 is formed by combining an upper box 10 in the shape of "Jiong" and a lower box 11 in the shape of "U", and the two boxes are connected by bolts; the shell 1 adopts a split structure, so that the assembly of all parts is convenient; the upper end part of the shell 1 is movably provided with a screw rod 2 through two bearing seats, and the shell further comprises a motor 3 arranged in parallel with the screw rod 2, wherein the screw rod 2 is in transmission connection with the motor 3; the upper end of the balancing weight 4 is connected with the screw rod 2 through an adjusting nut 40, and the lower end of the balancing weight 4 is in contact with the bottom plate of the shell 1; the simple pendulum is characterized by further comprising a simple pendulum 5 which is suspended in the shell 1 through a pin shaft, wherein front and rear micro switches 6 and 6' are fixed on the shell 1 on two sides of the free end of the simple pendulum 5, and the swinging surface of the simple pendulum 5 is parallel to the axis of the screw rod 2.

As one of the implementation manners of the transmission connection, a driven gear 20 is fixed at one free end of the screw rod 2, and a driving gear 30 is fixed on a main shaft of the motor 3, wherein the driving gear 30 is meshed with the driven gear 20.

As a preferable scheme, a plurality of spherical cavities are arranged at the lower end part of the balancing weight 4, balls 41 are arranged in the spherical cavities, and the balls 41 are in rolling friction with the bottom plate of the shell 1. In this embodiment, the screw rod 2 is arranged along the length direction of the housing 1, two spherical cavities are arranged along the width direction of the housing 1, and two balls 41 are correspondingly arranged, so that when the screw rod 2 rotates, the balls 41 are matched with the bottom plate of the housing 1, and the counterweight block 4 is limited to only travel along the length direction of the housing 1 and cannot rotate around the screw rod.

The working principle is as follows:

the utility model can be used as a gyroscope of a self-balancing vehicle to play a role in auxiliary balancing.

For example, for a two-wheeled tandem vehicle, the inclination of which occurs on both sides of the vehicle body, the linear motion type balancing instrument dedicated for the self-propelled vehicle is arranged on the center line of the vehicle body in the left-right direction, that is, the screw rod 2 is arranged perpendicular to the connecting line between the front and rear two wheels, and the counterweight 4 can travel relative to the vehicle body in the left-right direction.

The simple pendulum 5 is suspended on the shell through a pin shaft and always keeps the direction of a plumb line. When the posture of the vehicle body is balanced, the vehicle does not incline left and right, and the simple pendulum 5 is not contacted with the front and rear micro switches 6 and 6'. When the automobile body inclines leftwards or rightwards, the shell 1 inclines along with the automobile body and deflects relative to the simple pendulum 5, at the moment, the simple pendulum 5 is in contact with one of the front and rear micro switches 6 and 6', the micro switches send signals to the motor 3 through the control circuit, the motor 3 works, the screw rod 2 rotates to drive the counterweight block 4 to walk for compensation, and the counterweight block 4 also walks along the left and right directions of the automobile body due to the fact that the screw rod is arranged along the left and right directions of the automobile body, so that the integral gravity center is adjusted on the left and right sides, and self-balancing of the automobile body within a rated range is achieved. The ball 41 that the balancing weight 4 bottom set up plays the effect of reducing coefficient of friction on the one hand, and on the other hand also restricts the balancing weight and can only walk and can not rotate. During the balancing process, the feeding direction of the balancing weight 4 is opposite to the inclining direction of the vehicle body.

In the balancing process, the rotation direction, the starting time and the working time of the motor are determined by signals given by the front and the rear micro switches 6 and 6'. Because two microswitches are respectively arranged on two sides of the simple pendulum, the inclination direction of the vehicle body is easy to identify, and the control difficulty is greatly reduced.

For a two-wheeled left-right parallel self-balancing vehicle, the inclination of the vehicle occurs in the front-back direction of the vehicle body, the special linear dynamic balancing instrument for the self-walking vehicle is arranged on the central line of the vehicle body in the front-back direction, namely the screw rod 2 is arranged perpendicular to the connecting line between the left and right two wheels, the control process of the self-walking vehicle is similar to that of a front-back serial vehicle, and the details are not repeated.

The embodiments of the present invention include, but are not limited to, the above-mentioned embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present invention without departing from the spirit and the substance of the present invention, and still fall into the scope of the present invention.

Claims

1. The utility model provides a from dedicated linear motion formula balancing appearance of walking vehicle, includes rectangular casing (1), its characterized in that: the upper end part of the shell (1) is movably provided with a screw rod (2) through two bearing seats, the shell further comprises a motor (3) which is arranged in parallel with the screw rod (2), and the screw rod (2) is in transmission connection with the motor (3); the upper end of the balancing weight (4) is connected with the screw rod (2) through an adjusting nut (40), and the lower end of the balancing weight (4) is in contact with the bottom plate of the shell (1); the simple pendulum is characterized by further comprising a simple pendulum (5) which is suspended in the shell (1) through a pin shaft, wherein front and rear micro switches (6 and 6') are fixed on the shells (1) on two sides of the free end of the simple pendulum (5), and the swinging surface of the simple pendulum (5) is parallel to the axis of the screw rod (2).

2. The linear motion balancer for self-propelled vehicles according to claim 1, wherein: a driven gear (20) is fixed at one free end of the screw rod (2), a driving gear (30) is fixed on a main shaft of the motor (3), and the driving gear (30) is meshed with the driven gear (20).

3. The linear motion balancer for self-propelled vehicles according to claim 1, wherein: the lower end part of the balancing weight (4) is provided with a plurality of spherical cavity bodies, the spherical cavities are internally provided with rolling balls (41), and the rolling balls (41) are in rolling friction with the bottom plate of the shell (1).