CN114851797A - Adaptive flat base adaptive to variable ground - Google Patents
Adaptive flat base adaptive to variable ground Download PDFInfo
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- CN114851797A CN114851797A CN202210231509.1A CN202210231509A CN114851797A CN 114851797 A CN114851797 A CN 114851797A CN 202210231509 A CN202210231509 A CN 202210231509A CN 114851797 A CN114851797 A CN 114851797A
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- 239000006096 absorbing agent Substances 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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Abstract
The embodiment of the invention provides an adaptive flat-bottom plate adaptive to changeable ground, when the ground contacted by a first moving wheel set or a second moving wheel set is lifted or lowered to cause the corresponding first fixing seat or a second fixing seat to be lifted or lowered to a first height, based on the angle of the increase or decrease of the included angle between the connecting rods in the first moving wheel set or the second moving wheel set, the included angle between the two connecting rods in the second moving wheel set or the first moving wheel set is controlled to be decreased or increased in a linkage manner, so that the second fixing seat or the first fixing seat corresponding to the second moving wheel set or the first moving wheel set is lifted or lowered to the first height, the lifted height of the base is controlled, the level of the surface of an upper cover plate is finally realized, the level of a loaded object is ensured, the service life of the bottom plate is prolonged, and the damage of the object is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of mobile chassis, in particular to an adaptive flat base adaptive to changeable ground.
Background
Most of the existing mobile chassis have requirements on the leveling of the ground, and the structure suitable for variable ground is generally realized by hinging two base plates, so that when the chassis encounters uneven road surfaces, although all mobile wheels of the chassis can be guaranteed to land on the ground, the contact between the chassis and an upper cover plate is changed into the contact between a line and a surface, the contact surface is reduced, and the stress concentration can cause the deformation of the upper cover plate or a load, thereby affecting the service life of the chassis and damaging articles.
The application publication number of CN113879423A Chinese invention patent discloses a three-degree-of-freedom ground profiling chassis, wherein two groups of longitudinal profiling mechanisms are symmetrically arranged in the left and right direction of a vertical plane in a vehicle body according to a given rear wheel track, one group of transverse profiling mechanisms are arranged in front according to a given vehicle chassis axle base, share the same vehicle body, and are driven by two front wheels and four rear wheels to form the three-degree-of-freedom ground profiling chassis; the two groups of longitudinal profiling mechanisms independently profile the ground longitudinally, the transverse profiling mechanisms profile the transversely fluctuating ground, the vehicle chassis has three-degree-of-freedom ground profiling performance, has vehicle body stability under the condition of adapting to the complex ground, and realizes non-road ground profiling walking and operation on hills and sloping fields. The utility model discloses a chinese utility model patent that publication number is CN204037272U discloses a vehicle chassis of adjustable ground clearance and wheel base comprises frame, front axle, rear axle, rim system and frame from top-mounting device, and the vehicle front axle that is connected through leaf spring with the main frame is the exact same with the rear axle, is connected by the pull rod between the front and rear axle, the both sides of front axle, rear axle respectively are equipped with the vertical leg post of the pull of controlling, height-adjustable pivot steering, and the rim system is installed to the lower extreme of the vertical leg post of pull, has realized four wheel drive and steering function, has reached the purpose that has realized high strength, high moment of torsion, high ground clearance, high loading capacity.
In summary, in the prior art, the elastic suspension system composed of the shock absorber, the spring damper and other elements is used for improving the trafficability characteristic of the chassis, when the chassis encounters a ground bulge, the spring is compressed, and when the chassis encounters a pit, the spring is extended.
Disclosure of Invention
The embodiment of the invention provides an adaptive flat base adaptive to variable ground, wherein angles between connecting rods are controlled mechanically or electrically, so that the raised height of a base is controlled, the surface of an upper cover plate is leveled, the level of loaded articles is ensured, the service life of the base is prolonged, and the damage of the articles is reduced.
The embodiment of the invention provides a self-adaptive flat base adaptive to changeable ground, which comprises a base and at least two movable wheel sets arranged on the base; the moving wheel set at least comprises a first moving wheel set and a second moving wheel set which are arranged along the traveling direction; the first moving wheel set and the second moving wheel set respectively comprise two moving wheels arranged along the advancing direction, the two moving wheels of the first moving wheel set are rotationally connected to the first fixed seat through connecting rods with fixed lengths, and the two moving wheels of the second moving wheel set are rotationally connected to the second fixed seat through connecting rods with fixed lengths;
still include coordinated control system, coordinated control system is used for when the ground that first removal wheelset or second removal wheelset contact risees or reduces and leads to corresponding first fixing base or second fixing base rising or reduces first height, based on first removal wheelset or the angle that the contained angle between the connecting rod increases or reduces in the second removal wheelset the contained angle between the second connecting rod reduces or increases in the second removal wheelset or in the first removal wheelset to the end second removal wheelset or the second fixing base or the first fixing base that first removal wheelset corresponds risees or reduces first height.
Preferably, the first moving wheel set and the second moving wheel set further include a torsion spring, the first moving wheel set includes a first link and a second link, and the second moving wheel set includes a third link and a fourth link; the torsion spring is arranged on the first fixed seat or the second fixed seat, two arms of the torsion spring on the first fixed seat are respectively connected with one ends of the first connecting rod and the second connecting rod, and the other ends of the first connecting rod and the second connecting rod are connected with a movable wheel; two arms of the torsion spring on the second fixing seat are respectively connected with one end of the third connecting rod and one end of the fourth connecting rod, the other end of the third connecting rod and the other end of the fourth connecting rod are connected with a movable wheel, a first included angle is formed by the first connecting rod and the second connecting rod along the advancing direction, and a second included angle is formed by the third connecting rod and the fourth connecting rod along the advancing direction.
Preferably, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod have the same length, and the moving wheels in the first moving wheel set and the second moving wheel set have the same size.
Preferably, the linkage control system comprises a control system, a motor and a torque sensor, the motor and the torque sensor are installed on the first fixing seat and the second fixing seat, the torque sensor is used for collecting torque variation values of the first movable wheel set or the second movable wheel set so as to determine the angle of the first included angle or the second included angle, and the angle of the first included angle or the second included angle is increased or decreased and is transmitted to the control system, and the control system drives the second fixing seat or the motor on the first fixing seat so as to drive the second included angle or the first included angle to keep the base horizontal.
Preferably, the linkage control system comprises a slide rail, a control panel and a slide seat, wherein the slide rail is laid along a first direction, the control panel is fixedly connected with the slide seat, and the slide seat is slidably mounted in the slide rail so that the control panel can move along the slide rail;
the sliding rail is positioned between the first moving wheel set and the second moving wheel set, two ends of the control panel extend downwards to form a first connecting end and a second connecting end, control blocks capable of following the first connecting end and the second connecting end are respectively arranged in the first connecting end and the second connecting end, the first connecting end is connected with one end of the second connecting rod through the control blocks, and the second connecting end is connected to one end of the third connecting rod through the control blocks, so that one ends of the second connecting rod and the third connecting rod can move up and down along the first connecting end and the second connecting end.
Preferably, an upper cover plate is further installed above the base, and folded edges which are downward used for coating the edge of the base are arranged on the periphery of the upper cover plate.
Preferably, the two ends of the slide rail are further provided with limiting parts to limit the moving range of the control plate, and the control plate is integrally formed.
Preferably, the first link and the second link are both L1 in length, and the third link and the fourth link are both L2 in length; and L1cos (. alpha.) 1 /2)－L1 cos(α 2 /2)＝L2cos(β 1 /2)－L2 cos(β 2 /2) wherein α 1 、β 1 Are respectively metFirst angle, second angle, alpha, before rising or falling to the ground 2 、β 2 The first included angle and the second included angle are respectively formed after the ground is lifted or lowered.
Preferably, the first and second links are correspondingly hinged to a moving wheel with a radius of R1, the third and fourth links are correspondingly hinged to a moving wheel with a radius of R2, and L1cos (α) is provided 0 /2)+R1＝L2cos(β 0 /2) + R2, where α 0 、β 0 The first included angle and the second included angle are in an initial state.
Preferably, the device further comprises a plurality of third moving wheel sets or fourth moving wheel sets, the third moving wheel sets are parallel to the first moving wheel sets, and the third moving wheel sets and the first moving wheel sets are identical in structure and size; the fourth wheel set is parallel to the second movable wheel set, and the fourth movable wheel set and the second movable wheel set are identical in structure and size.
According to the adaptive flat pan adaptive to changeable ground provided by the embodiment of the invention, when the ground contacted by the first moving wheel set or the second moving wheel set is raised or lowered to cause the corresponding first fixing seat or the second fixing seat to be raised or lowered to a first height, based on the angle of increase or decrease of the included angle between the connecting rods in the first moving wheel set or the second moving wheel set, the included angle between the two connecting rods in the second moving wheel set or the first moving wheel set is controlled to be decreased or increased in a linkage manner, so that the second fixing seat or the first fixing seat corresponding to the second moving wheel set or the first moving wheel set is raised or lowered to a first height, the raised height of the base is controlled, the level of the surface of an upper cover plate is finally realized, the level of a loaded object is ensured, the service life of the chassis is prolonged, and the damage of the object is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a block diagram of an adaptive pan according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of an adaptive pan traveling on a ground with a height difference according to an embodiment of the present invention;
FIG. 3 is a block diagram of an adaptive pan according to another embodiment of the present invention;
fig. 4 is a schematic diagram of an adaptive flat pan traveling on a ground with a height difference according to another embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.
In the embodiment of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The terms "first" and "second" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "comprise" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a system, product or apparatus that comprises a list of elements or components is not limited to only those elements or components but may alternatively include other elements or components not expressly listed or inherent to such product or apparatus. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
Most of the existing mobile chassis have requirements on the leveling of the ground, and the structure suitable for variable ground is generally realized by hinging two base plates, so that when the chassis encounters uneven road surfaces, although all mobile wheels of the chassis can be guaranteed to land on the ground, the contact between the chassis and an upper cover plate is changed into the contact between a line and a surface, the contact surface is reduced, and the stress concentration can cause the deformation of the upper cover plate or a load, thereby affecting the service life of the chassis and damaging articles.
Therefore, the embodiment of the invention provides the self-adaptive flat base adaptive to the changeable ground, the included angle of the two moving wheels in the front-back moving wheel set is controlled to compensate front and back non-horizontality caused by rising or lowering of the ground, so that the raised height of the fixed seat is controlled, the surface of the upper cover plate is leveled finally, the level of loaded articles is ensured, the service life of the base is prolonged, and the damage to the articles is reduced. The following description and description will proceed with reference being made to various embodiments.
Example 1
Fig. 1 and 2 show that an adaptive flat pan adapted to variable ground is provided in an embodiment of the present invention, and includes a base 1, and at least two fixing seats mounted on the base 1, where the at least two fixing seats are arranged along a traveling direction, and each fixing seat is connected with a moving wheel set; an upper cover plate 10 is further installed above the base 1, and downward folded edges used for cladding are arranged on the periphery of the upper cover plate 10 and used for preventing foreign matters from falling into the base plate, and meanwhile, the objects are separated from the base plate, so that the chemical objects are convenient to clean and maintain when being transported.
In this embodiment, as shown in fig. 1 and fig. 2, the fixed seats include a first fixed seat 2 and a second fixed seat 3 arranged along a traveling direction, and the moving wheel set includes a first moving wheel set and a second moving wheel set; the first moving wheel set and the second moving wheel set respectively comprise two moving wheels 5 arranged along the advancing direction, the two moving wheels 5 of the first moving wheel set are rotationally connected to the first fixed seat 2 through connecting rods with fixed lengths, and the two moving wheels 5 of the second moving wheel set are rotationally connected to the second fixed seat 3 through connecting rods with fixed lengths; specifically, the first moving wheel set and the second moving wheel set further include a torsion spring 4, the first moving wheel set includes a first link 6 and a second link 7, and the second moving wheel set includes a third link 8 and a fourth link 9; the torsion spring 4 is mounted on the first fixed seat 2 or the second fixed seat 3, two arms of the torsion spring 4 on the first fixed seat 2 are respectively connected with one ends of the first connecting rod 6 and the second connecting rod 7, and the other ends of the first connecting rod 6 and the second connecting rod 7 are connected with a moving wheel 5; two arms of the torsion spring 4 on the second fixing seat 3 are respectively connected with one ends of the third connecting rod 8 and the fourth connecting rod 9, the other ends of the third connecting rod 8 and the fourth connecting rod 9 are connected with a moving wheel 5, the first connecting rod 6 and the second connecting rod 7 form a first angle alpha along the traveling direction, and the third connecting rod 8 and the fourth connecting rod 9 form a second angle beta along the traveling direction. Each fixed seat is hinged with two connecting rods and a torsion spring 4, and the torsion spring 4 enables the two connecting rods to be fixed at an angle.
The lengths of the first connecting rod 6, the second connecting rod 7, the third connecting rod 8 and the fourth connecting rod 9 are the same, and the sizes of the moving wheels 5 in the first moving wheel set and the second moving wheel set are the same.
In this embodiment, the adaptive pan further includes a linkage control system, where the linkage control system is configured to, when the ground contacted by the first moving wheel set or the second moving wheel set rises or falls to cause the corresponding first fixing seat 2 or second fixing seat 3 to rise or fall to a first height, based on an angle of an increase or a decrease of an included angle between the connecting rods in the first moving wheel set or the second moving wheel set, perform linkage control on a decrease or an increase of an included angle between the two connecting rods in the second moving wheel set or the first moving wheel set, so as to cause the second moving wheel set or the second fixing seat 3 or first fixing seat 2 corresponding to the first moving wheel set to rise or fall to the first height.
Specifically, the linkage control system in this embodiment includes a control system, a motor 14 and a torque sensor installed on the first fixed seat 2 and the second fixed seat 3, the torque sensor is configured to collect a torque variation value of the first movable wheel set or the second movable wheel set to determine an increasing or decreasing angle of the first angle α or the second angle β, and transmit the angle to the control system, and the control system drives the motor 14 on the second fixed seat 3 or the first fixed seat 2 to drive the second angle β or the first angle α to decrease or increase an included angle so as to keep the seat horizontal. The first fixing seat 2 and the second fixing seat 3 are respectively fixedly connected with the motor 14 and the torque sensor, when the chassis moves and meets the ground with height difference, the moving wheel 5 contacting with the ground height is lifted, the angle between the first connecting rod 6 and the second connecting rod 7 of the first moving wheel set is increased, the torque sensor on the first fixing seat 2 detects the torque, the signal is transmitted to the control system, the control system drives the motor 14 on the second fixing seat 3 to drive the third connecting rod 8 and the fourth connecting rod 9 in the second moving wheel set to be close to each other, the second fixing seat 3 at the top is lifted, and therefore the upper cover plate 10 is guaranteed to be horizontal.
Example 2
Fig. 3 and 4 show that an adaptive flat pan adapted to variable ground is provided in an embodiment of the present invention, including a base 1, and at least two fixing seats installed on the base 1, where the at least two fixing seats are arranged along a traveling direction, and each fixing seat is connected with a moving wheel set; an upper cover plate 10 is further installed above the base 1, and downward folded edges used for wrapping the edges of the base 1 are arranged on the periphery of the upper cover plate 10, so that foreign matters are prevented from falling into the base, meanwhile, the objects and the base are separated, and the chemical objects are convenient to clean and maintain during transportation.
In this embodiment, as shown in fig. 3 and 4, the fixed seats include a first fixed seat 2 and a second fixed seat 3 arranged along the traveling direction, and the moving wheel set includes a first moving wheel set and a second moving wheel set; the first moving wheel set and the second moving wheel set respectively comprise two moving wheels 5 arranged along the advancing direction, the two moving wheels 5 of the first moving wheel set are rotationally connected to the first fixed seat 2 through connecting rods with fixed lengths, and the two moving wheels 5 of the second moving wheel set are rotationally connected to the second fixed seat 3 through connecting rods with fixed lengths; specifically, the first moving wheel set and the second moving wheel set further include a torsion spring, the first moving wheel set includes a first link 6 and a second link 7, and the second moving wheel set includes a third link 8 and a fourth link 9; the torsion spring 4 is mounted on the first fixed seat 2 or the second fixed seat 3, two arms of the torsion spring 4 on the first fixed seat 2 are respectively connected with one ends of the first connecting rod 6 and the second connecting rod 7, and the other ends of the first connecting rod 6 and the second connecting rod 7 are connected with a moving wheel 5; two arms of the torsion spring 4 on the second fixing seat 3 are respectively connected with one ends of the third connecting rod 8 and the fourth connecting rod 9, the other ends of the third connecting rod 8 and the fourth connecting rod 9 are connected with a moving wheel 5, the first connecting rod 6 and the second connecting rod 7 form a first angle alpha along the traveling direction, and the third connecting rod 8 and the fourth connecting rod 9 form a second angle beta along the traveling direction. Each fixed seat is hinged with one torsion spring 4 of the two connecting rods, and the two connecting rods are fixed at an angle by the torsion springs 4.
The first connecting rod 6, the second connecting rod 7, the third connecting rod 8 and the fourth connecting rod 9 are the same in length, and the moving wheels 5 in the first moving wheel set and the second moving wheel set are the same in size.
In this embodiment, the adaptive pan further includes a linkage control system, where the linkage control system is configured to, when the ground contacted by the first moving wheel set or the second moving wheel set rises or falls to cause the corresponding first fixing seat 2 or second fixing seat 3 to rise or fall to a first height, based on an angle of an increase or a decrease of an included angle between the connecting rods in the first moving wheel set or the second moving wheel set, perform linkage control on a decrease or an increase of an included angle between the two connecting rods in the second moving wheel set or the first moving wheel set, so as to cause the second moving wheel set or the second fixing seat 3 or first fixing seat 2 corresponding to the first moving wheel set to rise or fall to the first height.
Specifically, the linkage control system in this embodiment includes a slide rail 11, a control panel 13 and a slide carriage 12, the slide rail 11 is laid along a first direction, and the control panel 13 is mounted on the slide rail 11 through the slide carriage 12; the control board 13 is fixedly connected with 2 sliding seats 12, and the sliding seats 12 are slidably mounted in the sliding rail 11, so that the control board 13 can move along the sliding rail 11;
the slide rail 11 is located between the first moving wheel set and the second moving wheel set, two ends of the control plate 13 extend downwards to form a first connecting end and a second connecting end, control blocks capable of following the first connecting end and the second connecting end are respectively arranged in the first connecting end and the second connecting end, the first connecting end is connected with one end of the moving wheel 5 corresponding to the second connecting rod 7 through the control blocks, and the second connecting end is connected to one end of the moving wheel 5 corresponding to the third connecting rod 8 through the control blocks, so that one ends of the second connecting rod 7 and the third connecting rod 8 can move up and down along the first connecting end and the second connecting end.
Two ends of the slide rail 11 are further provided with limiting parts to limit the moving range of the control board 13, and the control board 13 is integrally formed.
The control plate 13 can translate along the slide rail, two sections of the slide rail 11 are provided with a limiting piece, and the control plate 13 cannot exceed; one end of the first moving wheel set, which is connected with the control plate, of the second connecting rod 7 and the third connecting rod 8 can move up and down below the control plate 13; when the chassis moves and meets the poor ground of height, contact the high removal wheel 5 in ground and lift, first connecting rod 6 increases with 7 angles of second connecting rod in the first removal wheelset, and second connecting rod 7 promotes the control panel and removes in the first removal wheelset, and the control panel drives third connecting rod 8 and the shrink of fourth connecting rod 9, raises top second fixing base 3 to guarantee that upper cover plate 10 is competent.
Example 3
On the basis of embodiment 1, when the lengths of the connecting rods or the sizes of the moving wheel sets are different and the same, if the lengths of the first connecting rod and the second connecting rod are both L1, the lengths of the third connecting rod and the fourth connecting rod are both L2; and L1cos (. alpha.) 1 /2)－L1 cos(α 2 /2)＝L2cos(β 1 /2)－L2 cos(β 2 /2) wherein α 1 、β 1 A first included angle and a second included angle alpha before rising or falling when meeting the ground respectively 2 、β 2 The first included angle and the second included angle are respectively formed after the ground is lifted or lowered.
The radius of the moving wheel correspondingly hinged with the first connecting rod and the second connecting rod is R1, the radius of the moving wheel correspondingly hinged with the third connecting rod and the fourth connecting rod is R2, and L1cos (alpha) 0 /2)+R1＝L2cos(β 0 /2) + R2, where α 0 、β 0 The first included angle and the second included angle are in an initial state.
Example 4
On the basis of the embodiments 1 to 3, the device further comprises a plurality of third moving wheel sets or fourth moving wheel sets, wherein the third moving wheel sets are parallel to the first moving wheel sets, and the third moving wheel sets and the first moving wheel sets are identical in structure and size; the fourth wheel set is parallel to the second moving wheel set, and the fourth moving wheel set and the second moving wheel set are identical in structure and size; in this embodiment, the same structure and size means that the corresponding connecting rods, included angles, and radii of the moving wheels are the same, and in this embodiment, the linkage control systems and control modes of the moving wheel sets arranged in parallel are also the same.
The embodiments of the present invention can be combined arbitrarily to achieve different technical effects.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions described in accordance with the present application are generated, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid state disk), among others.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A self-adaptive flat base adaptive to changeable ground is characterized by comprising a base and at least two movable wheel sets arranged on the base; the moving wheel set at least comprises a first moving wheel set and a second moving wheel set which are arranged along the traveling direction; the first moving wheel set and the second moving wheel set respectively comprise two moving wheels arranged along the advancing direction, the two moving wheels of the first moving wheel set are rotationally connected to the first fixed seat through connecting rods with fixed lengths, and the two moving wheels of the second moving wheel set are rotationally connected to the second fixed seat through connecting rods with fixed lengths;
still include coordinated control system, coordinated control system is used for when first removal wheelset or the ground that the second removed the wheelset contact risees or reduces and leads to corresponding first fixing base or second fixing base rising or reduces first height, based on first removal wheelset or the angle that the contained angle between the connecting rod increases or reduces in the second removal wheelset the second removes the wheelset or contained angle between the connecting rod reduces or increases in the first removal wheelset to make the end second removal wheelset or the second fixing base or the first fixing base that the first removal wheelset corresponds risees or reduces first height.
2. The adaptive variable terrain adaptive pan of claim 1, wherein the first and second moving wheel sets further comprise torsion springs, the first moving wheel set comprises first and second links, and the second moving wheel set comprises third and fourth links; the torsion spring is arranged on the first fixed seat or the second fixed seat, two arms of the torsion spring on the first fixed seat are respectively connected with one ends of the first connecting rod and the second connecting rod, and the other ends of the first connecting rod and the second connecting rod are connected with a movable wheel; two arms of the torsion spring on the second fixing seat are respectively connected with one end of the third connecting rod and one end of the fourth connecting rod, the other end of the third connecting rod and the other end of the fourth connecting rod are connected with a movable wheel, a first included angle is formed by the first connecting rod and the second connecting rod along the advancing direction, and a second included angle is formed by the third connecting rod and the fourth connecting rod along the advancing direction.
3. The adaptive variable terrain adaptive pan of claim 2, wherein the first, second, third, and fourth links are of the same length, and wherein the moving wheels of the first and second sets of moving wheels are of the same size.
4. The adaptive variable-terrain adaptive flat pan according to claim 3, wherein the linkage control system comprises a control system, and a motor and a torque sensor which are installed on the first fixed seat and the second fixed seat, the torque sensor is used for collecting a torque variation value of the first movable wheel set or the second movable wheel set so as to determine an angle at which the first included angle or the second included angle is increased or decreased, and transmitting the torque variation value to the control system, and the control system drives the motor on the second fixed seat or the first fixed seat to decrease or increase the second included angle or the first included angle so as to keep the base horizontal.
5. The adaptive variable-terrain adaptive flat pan of claim 3, wherein the linkage control system comprises a slide rail, a control panel, and a slide carriage, the slide rail being laid along a first direction, the control panel being fixedly connected to the slide carriage, the slide carriage being slidably mounted within the slide rail such that the control panel is movable along the slide rail;
the sliding rail is positioned between the first moving wheel set and the second moving wheel set, two ends of the control panel extend downwards to form a first connecting end and a second connecting end, control blocks capable of following the first connecting end and the second connecting end are respectively arranged in the first connecting end and the second connecting end, the first connecting end is connected with one end of the second connecting rod through the control blocks, and the second connecting end is connected to one end of the third connecting rod through the control blocks, so that one ends of the second connecting rod and the third connecting rod can move up and down along the first connecting end and the second connecting end.
6. The adaptive variable-ground-adapting adaptive flat base according to claim 1, wherein an upper cover plate is further mounted above the base, and folded edges which are downward and used for wrapping the edge of the base are arranged on the periphery of the upper cover plate.
7. The adaptive variable-ground-adaptive flat tray according to claim 5, wherein limiting members are further arranged at two ends of the slide rail to limit the moving range of the control plate, and the control plate is integrally formed.
8. The adaptive pan for adapting to changing terrain according to claim 2, wherein the first and second links are each L1 in length, and the third and fourth links are each L2 in length; and L1cos (. alpha.) 1 /2)－L1 cos(α 2 /2)＝L2cos(β 1 /2)－L2 cos(β 2 /2) wherein α 1 、β 1 A first included angle and a second included angle alpha before rising or falling when meeting the ground 2 、β 2 The first included angle and the second included angle are respectively formed after the ground is lifted or lowered.
9. The adaptive pan for adapting to varied floors of claim 8, wherein the first and second links have a corresponding hinged moving wheel radius of R1, the third and fourth links have a corresponding hinged moving wheel radius of R2, and L1cos (α) 0 /2)+R1＝L2cos(β 0 /2) + R2, where α 0 、β 0 The first included angle and the second included angle are in an initial state.
10. The adaptive variable-terrain adaptive flat pan according to claim 1, further comprising a plurality of third moving wheel sets or fourth moving wheel sets, wherein the third moving wheel sets are juxtaposed to the first moving wheel sets, and the third moving wheel sets are identical to the first moving wheel sets in structure and size;
the fourth wheel set is parallel to the second movable wheel set, and the fourth movable wheel set and the second movable wheel set are identical in structure and size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210231509.1A CN114851797A (en) | 2022-03-10 | 2022-03-10 | Adaptive flat base adaptive to variable ground |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210231509.1A CN114851797A (en) | 2022-03-10 | 2022-03-10 | Adaptive flat base adaptive to variable ground |
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| CN114851797A true CN114851797A (en) | 2022-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210231509.1A Pending CN114851797A (en) | 2022-03-10 | 2022-03-10 | Adaptive flat base adaptive to variable ground |
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