CN110667716B - Self-leveling chassis and vehicle - Google Patents
Self-leveling chassis and vehicle Download PDFInfo
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- CN110667716B CN110667716B CN201910958776.7A CN201910958776A CN110667716B CN 110667716 B CN110667716 B CN 110667716B CN 201910958776 A CN201910958776 A CN 201910958776A CN 110667716 B CN110667716 B CN 110667716B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Chemical & Material Sciences (AREA)
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Abstract
The invention relates to the technical field of chassis, and discloses a self-leveling chassis and a vehicle. The self-leveling chassis comprises a bearing frame, a platform arranged on the bearing frame, a cross shaft structure and a control device; the cross shaft structure comprises a first shaft and a second shaft which are perpendicular to each other, the first shaft is rotationally connected with the platform, and one of the second shafts is rotationally connected with the bearing frame; the control device can detect the inclination angle of the platform and control the first shaft to rotate so as to adjust the balance of the platform in the extension direction of the second shaft, and simultaneously control the second shaft to rotate so as to adjust the balance of the platform in the extension direction of the first shaft. The invention also provides a vehicle adopting the self-leveling chassis. The leveling device can realize the leveling of the platform of the chassis only through the cross shaft structure consisting of the first shaft and the second shaft which are vertical to each other; the control device is used for detecting the inclination angle of the platform and controlling the first shaft and the second shaft to rotate. The self-leveling chassis has a simple structure on the whole, and can better realize the leveling of the platform.
Description
Technical Field
The invention relates to the technical field of chassis, in particular to a self-leveling chassis and a vehicle.
Background
Some high-altitude operation cars, off-road trucks and the like have high requirements on the chassis, and the chassis is required to be capable of ensuring the level of the platform even on rugged or rugged road surfaces. In order to meet the above requirements, the chassis is required to have a certain leveling function. In order to realize the leveling function of the chassis, at present, a plurality of cylinders are mounted on a platform and are stretched and retracted on the existing chassis. The leveling is carried out by adopting the mode, the structure is complex, and the leveling effect is not ideal.
Disclosure of Invention
Based on the above, the invention aims to provide the self-adjusting flat base which is simple in structure and can better realize the leveling of a platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
a self-leveling chassis, comprising a carrier and a platform disposed on the carrier, further comprising:
the cross shaft structure comprises a first shaft and a second shaft which are perpendicular to each other, the first shaft is rotationally connected with the platform, and the other second shaft is rotationally connected with the bearing frame;
the control device is configured to detect the inclination angle of the platform and control the first shaft to rotate so as to adjust the balance of the platform in the extension direction of the second shaft; and controlling the second shaft to rotate so as to adjust the balance of the platform in the extending direction of the first shaft.
As a preferable scheme of the self-leveling chassis, the control device comprises a detection plate and a control plate which are electrically connected, the detection plate can detect the inclination angle of the platform, and the control plate can respectively control the rotation of the first shaft and the second shaft.
Preferably, the inclination angle comprises a first inclination of the platform in the direction of extension of the second axis and a second inclination of the platform in the direction of extension of the first axis.
As a preferable scheme of the self-leveling chassis, the control board can receive the first inclination angle and control the first shaft to rotate through the first inclination angle; and receiving the second inclination angle, and controlling the second shaft to rotate through the second inclination angle.
As a preferable scheme of the self-leveling chassis, the detection plate comprises an angle sensor which is arranged on the platform and can detect the inclination angle of the platform.
As a preferable scheme of the self-leveling chassis, a first bearing seat is arranged below the platform, and the first shaft is rotatably connected with the first bearing seat; the bearing frame is provided with a second bearing seat, and the second shaft is rotatably connected with the second bearing seat.
As a preferable scheme of the self-leveling chassis, the self-leveling chassis further comprises a first power device and a second power device which are electrically connected with the control device, the first power device can enable the first shaft to rotate, and the second power device can enable the second shaft to rotate.
As a preferable scheme of the self-leveling chassis, a first speed reduction device is arranged between the first power device and the first shaft, and a second speed reduction device is arranged between the second power device and the second shaft.
As a preferable scheme of the self-leveling chassis, the first shaft or the second shaft is arranged along the walking direction of the self-leveling chassis.
A vehicle comprises a walking device and the self-leveling chassis in any one of the above aspects, wherein the walking device comprises crawler belts arranged at two ends of the bearing frame.
The invention has the beneficial effects that: the leveling of the platform of the chassis can be realized only through a cross shaft structure consisting of a first shaft and a second shaft which are vertical to each other; one of the first shaft and the second shaft of the cross shaft structure is rotationally connected with the platform, and the other shaft of the cross shaft structure is rotationally connected with the bearing frame; the balance in the X direction and the balance in the Y direction are respectively adjusted by rotating the first shaft and the second shaft; the control device detects the inclination angle of the platform and controls the first shaft and the second shaft to rotate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic view of a self-adjusting pan provided in accordance with an embodiment of the present invention;
FIG. 2 is a side view of a self-adjusting pan provided in accordance with an embodiment of the present invention;
fig. 3 is a front view of an adaptive flat pan provided by an embodiment of the present invention.
In the figure:
1-a platform; 2-a bearing frame; 3-a walking device;
4-a cross axle structure; 41-a first shaft; 42-a second axis; 43-a first bearing seat; 44-a second bearing block; 45-a first power plant; 46-a second power plant; 47-first reduction; 48-second reduction;
5-a control device; 51-a detection plate; 52-control panel.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, the present embodiment provides a self-leveling chassis including a platform 1 provided on a carrier 2 and a carrier 2, with a spider structure 4 between the carrier 2 and the platform 1. The self-levelling undercarriage further comprises control means 5 for detecting the levelness of the platform for closed-loop adjustment. As shown in fig. 1, the carriage 2 is provided with running gear 3, such as tires, tracks, mechanical feet. When walking on a bumpy road, the carrier 2 will follow the inclination, thereby tilting the platform 1 thereon. In order to solve the problem, a cross axle structure 4 is arranged between the bearing frame 2 and the platform 1, referring to fig. 2, the cross axle structure 4 comprises a first shaft 41 and a second shaft 42 which are arranged perpendicular to each other, the first shaft 41 is rotatably connected with the platform 1, and the second shaft 42 is rotatably connected with the bearing frame 2. The control device 5 can detect the inclination angle of the platform 1 and control the first shaft 41 to rotate so as to adjust the balance of the platform 1 in the extension direction of the second shaft 42; while controlling the rotation of the second shaft 42 to adjust the balance of the platform 1 in the direction of extension of the first shaft 41.
The self-adjusting flat base of the embodiment can realize the leveling of the platform 1 of the base only through the cross shaft structure 4 consisting of the first shaft 41 and the second shaft 42 which are vertical to each other; one of the first shaft 41 and the second shaft 42 of the cross-axle structure 4 is rotationally connected with the platform 1, and the other one is rotationally connected with the carrier 2; adjusting the balance of the extending direction of the second shaft 42 and the extending direction of the first shaft 41 by rotating the first shaft 41 and the second shaft 42, respectively; the control device 5 is used for detecting the tilt angle of the platform 1 and controlling the first shaft 41 and the second shaft 42 to rotate. The self-leveling chassis has a simple structure on the whole, and can better realize the leveling of the platform 1.
The control device 5 comprises a detection plate 51 and a control plate 52 which are electrically connected, wherein the detection plate 51 can detect the inclination angle of the platform 1, and the control plate 52 can receive the inclination angle information of the platform 1 detected by the detection plate 51 and respectively control the rotation of the first shaft 41 and the second shaft 42. Specifically, the detection plate 51 is electrically connected with an angle sensor, and the angle sensor is arranged on the platform 1 and can detect the inclination angle of the platform 1. The angle sensor detects the tilt angle in the prior art, which is not described herein.
Specifically, the inclination angles include a first inclination angle of the platform 1 in the extension direction of the second axis 42, and a second inclination angle of the platform 1 in the extension direction of the first axis 41; the control board 52 can receive the first inclination angle and control the first shaft 41 to rotate through the first inclination angle; receives the second tilt angle and controls the second shaft 42 to rotate through the second tilt angle. Further specifically, the angle sensor also includes a first sensor that detects the first inclination angle and a second sensor that detects the second inclination angle.
The first inclination angle and the second inclination angle are detected and respectively used as angles for controlling the first shaft 41 and the second shaft 42 to rotate, compared with a scheme that one inclination angle is detected and the first inclination angle and the second inclination angle are obtained through conversion of a complex algorithm, the scheme of the embodiment is simpler, the calculation process and the calculation time of the complex algorithm are reduced, the first shaft 41 and the second shaft 42 only need to rotate correspondingly according to the first inclination angle and the second inclination angle, the rotation angle is more accurate, and the response speed is higher.
In this embodiment, a first bearing seat 43 is disposed below the platform 1, and the first shaft 41 is rotatably connected to the first bearing seat 43; the carrier 2 is provided with a second bearing seat 44, and the second shaft 42 is rotatably connected with the second bearing seat 44. When the second shaft 42 rotates, the spider structure 4 and the platform 1 together change the inclination in the direction of extension of the first shaft 41; when the first shaft 41 is rotated, the platform 1 alone changes the inclination in the extending direction of the second shaft 42, thereby achieving the leveling function of the platform 1.
In particular, the self-levelling chassis further comprises a first power means 45 and a second power means 46 electrically connected to the control means 5. More specifically, the first power unit 45 and the second power unit 46 are electrically connected to the control board 52. The first power means 45 is able to rotate the first shaft 41 and the second power means 46 is able to rotate the second shaft 42. In this embodiment, the first power unit 45 and the second power unit 46 may be stepping motors.
In order to ensure that the first shaft 41 and the second shaft 42 have proper rotating speeds, a first speed reduction device 47 is arranged between the first power device 45 and the first shaft 41, and a second speed reduction device 48 is arranged between the second power device 46 and the second shaft 42.
Alternatively, the first power means 45 and the first reduction gear 47 are arranged below the platform 1, close to one end of the first shaft 41; a second power means 46 and a second reduction gear 48 are arranged above the carrier 2 and near one end of the second shaft 42. The arrangement mode can further simplify the structure of the self-adjusting flat disc and reduce the size of the self-adjusting flat disc.
Preferably, the first shaft 41 or the second shaft 42 is arranged in the walking direction of the self-adjusting pan. In this embodiment, the first shaft 41 is disposed along the traveling direction of the self-adjusting pan, and with respect to the forward direction of the self-adjusting pan, the first shaft 41 is rotated to adjust the left-right balance of the platform 1, and the second shaft 42 is rotated to adjust the front-back balance of the platform 1, so that the first shaft 41 and the second shaft 42 are rotated to corresponding first inclination angle and second inclination angle, thereby achieving the leveling of the platform 1 of the self-adjusting pan.
To further ensure the walking stability of the self-adjusting pan, the walking device 3 comprises a crawler belt arranged at both ends of the bearing frame 2. In other embodiments, the person skilled in the art may set the running gear 3 as a tire according to practical situations, and is not limited specifically herein.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A self-levelling undercarriage comprising a carrier (2) and a platform (1) arranged on the carrier (2), characterised in that it further comprises:
the cross shaft structure (4) comprises a first shaft (41) and a second shaft (42) which are perpendicular to each other, the first shaft (41) is rotatably connected with the platform (1), and the second shaft (42) is rotatably connected with the bearing frame (2);
a control device (5) configured to detect the inclination angle of the platform (1) and control the first shaft (41) to rotate so as to adjust the balance of the platform (1) in the extension direction of the second shaft (42); and controlling the second shaft (42) to rotate so as to adjust the balance of the platform (1) in the extension direction of the first shaft (41);
the control device (5) comprises a detection plate (51) and a control plate (52) which are electrically connected, the detection plate (51) can detect the inclination angle of the platform (1), and the control plate (52) can respectively control the rotation of the first shaft (41) and the second shaft (42);
the inclination angles comprise a first inclination angle of the platform (1) along the extension direction of the second shaft (42) and a second inclination angle of the platform (1) along the extension direction of the first shaft (41).
2. The self-leveling chassis of claim 1, wherein the control board (52) is capable of receiving the first inclination information and controlling the first shaft (41) to rotate through the first inclination; -receiving the second inclination information and controlling the second shaft (42) to rotate through the second inclination.
3. Self-levelling chassis according to claim 1, wherein the sensing plate (51) comprises an angle sensor, arranged on the platform (1), capable of sensing the inclination of the platform (1).
4. Self-levelling undercarriage according to claim 1 wherein a first bearing seat (43) is provided below the platform (1), the first shaft (41) being rotatably connected to the first bearing seat (43); the bearing frame (2) is provided with a second bearing seat (44), and the second shaft (42) is rotatably connected with the second bearing seat (44).
5. Self-levelling undercarriage according to claim 1 further comprising a first power means (45) and a second power means (46) electrically connected to the control means (5), the first power means (45) enabling the first shaft (41) to rotate and the second power means (46) enabling the second shaft (42) to rotate.
6. Self-adjusting pan according to claim 5, characterized in that a first reduction gear (47) is provided between the first power means (45) and the first shaft (41) and a second reduction gear (48) is provided between the second power means (46) and the second shaft (42).
7. Self-levelling chassis according to claim 1, wherein the first shaft (41) or the second shaft (42) is arranged in the walking direction of the self-levelling chassis.
8. A vehicle comprising a running gear (3), characterized in that it further comprises a self-levelling chassis according to any one of claims 1-7, the running gear (3) comprising tracks arranged at both ends of the carriage (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910958776.7A CN110667716B (en) | 2019-10-10 | 2019-10-10 | Self-leveling chassis and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910958776.7A CN110667716B (en) | 2019-10-10 | 2019-10-10 | Self-leveling chassis and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110667716A CN110667716A (en) | 2020-01-10 |
| CN110667716B true CN110667716B (en) | 2021-03-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910958776.7A Active CN110667716B (en) | 2019-10-10 | 2019-10-10 | Self-leveling chassis and vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN110667716B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2356809A1 (en) * | 1976-06-29 | 1978-01-27 | Charbonnages De France | CONTINUOUS SUPPORT MOBILE BATTERY |
| DE3322270C2 (en) * | 1983-06-21 | 1985-10-24 | Liebherr-Werk Bischofshofen GmbH, Bischofshofen | Undercarriage, preferably crawler undercarriage for cranes |
| US6158539A (en) * | 1998-09-24 | 2000-12-12 | Risley Enterprises Ltd. | Levelling system and method for off-road vehicles |
| CN207059675U (en) * | 2017-06-07 | 2018-03-02 | 四川农业大学 | A kind of electronic screw mandrel levelling device |
| CN109760757A (en) * | 2018-12-18 | 2019-05-17 | 湖北省农业机械工程研究设计院 | One kind is transported for Hills woods fruit, can self-leveling trolley |
| CN109906700B (en) * | 2019-04-17 | 2022-02-11 | 河北农业大学 | Novel leveling device for orchard operation platform |
| CN110182270A (en) * | 2019-05-15 | 2019-08-30 | 湖北省农业机械工程研究设计院 | A kind of levelling device and method for travelling bogie |
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2019
- 2019-10-10 CN CN201910958776.7A patent/CN110667716B/en active Active
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| CN110667716A (en) | 2020-01-10 |
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