CN115009366B - Auxiliary system based on four wheat wheel balance car chassis - Google Patents
Auxiliary system based on four wheat wheel balance car chassis Download PDFInfo
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- CN115009366B CN115009366B CN202210653710.9A CN202210653710A CN115009366B CN 115009366 B CN115009366 B CN 115009366B CN 202210653710 A CN202210653710 A CN 202210653710A CN 115009366 B CN115009366 B CN 115009366B
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- frame
- balance car
- pulley
- wheel
- driving source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an auxiliary system based on a chassis of a four-wheel balance car, and relates to the technical field of balance cars, comprising a car frame and a plurality of wheel sets arranged at the bottom of the car frame; the plurality of pulley hanging assemblies comprise shock absorbers and pulley structures, the pulley structures comprise pulley box bodies connected with the wheel sets and sliding rods connected with the vehicle frames, and the sliding rods can slide up and down relative to the pulley box bodies so that the wheel sets can move up and down along the directions of the sliding rods relative to the vehicle frames; the auxiliary supporting components comprise a first driving source arranged on the frame and a rotating arm driven by the first driving source, and guide wheels are arranged on the end parts of the rotating arm so that the rotating arm contacts the ground through the guide wheels after rotating, and thus the righting balance car is realized; and at least one slider leveling assembly. The invention can adapt to the tiny up-and-down fluctuation and the external motion topography brought by the Mecanum wheel itself to the balance car so as to cause the large-amplitude up-and-down fluctuation and the back-and-forth swing.
Description
Technical Field
The invention relates to the technical field of balance vehicles, in particular to an auxiliary system based on a chassis of a four-wheel balance vehicle.
Background
The balance car in the market at present mainly only has a plurality of movement forms of turning, straight running and backing, the movement form is single, the control performance is poor, the defect is particularly obvious when facing to fluctuating terrains and narrow spaces, so the research and development of the four-wheel balance car are realized, and four independently-driven Mecanum wheels used by the four-wheel balance car enable the movement performance and the control performance to be better, and the omnidirectional flexible control can be realized.
However, due to the structural complexity of the Mecanum wheels, the up-and-down fluctuation of wheel shafts caused by rollers and the like, the four-wheel omni-directional mobile balance car needs to be provided with a suspension system with good performance, and can show the excellent performance of the balance car; the structural characteristics of the Mecanum wheel balance car determine that the motion stability of the Mecanum wheel balance car is lower than that of a common balance car, so that a new auxiliary design scheme is required to be sought to solve the problems.
Disclosure of Invention
The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art. Therefore, the embodiment of the invention provides an auxiliary system based on the chassis of the four-wheat wheel balance car, which can adapt to micro up-and-down fluctuation and external motion topography brought by a Mecanum wheel to the balance car so as to cause the micro up-and-down fluctuation and the forward-and-backward swing.
The auxiliary system based on the four-wheat wheel balance vehicle chassis comprises a vehicle frame and a plurality of wheel sets arranged at the bottom of the vehicle frame; the pulley hanging components are arranged between the wheel sets and the frame, the pulley hanging components comprise shock absorbers and pulley structures, the upper ends of the shock absorbers are connected with the frame, the lower ends of the shock absorbers are connected with the wheel sets, the pulley structures comprise pulley boxes connected with the wheel sets and sliding rods connected with the frame, and the sliding rods can slide up and down relative to the pulley boxes so that the wheel sets can move up and down along the directions of the sliding rods relative to the frame; the auxiliary supporting components are arranged on the side edges of the frame, each auxiliary supporting component comprises a first driving source arranged on the frame and a rotating arm driven by the first driving source, and guide wheels are arranged on the end parts of the rotating arms so that the rotating arms are contacted with the ground through the guide wheels after rotating, and therefore the balance car is righted; and the slide block leveling assembly is arranged on the frame and comprises a slide rail horizontally arranged on the frame, a slide block matched with the slide rail and a second driving source for driving the slide block to move along the slide rail.
In an alternative or preferred embodiment, two of said trolley suspension assemblies are provided for each of said wheel sets.
In an optional or preferred embodiment, the sliding rod is a square tube, the pulley box is provided with a plurality of limiting structures which are distributed in an up-down staggered manner, each limiting structure comprises two mounting rods which are arranged on two sides of the sliding rod in parallel, each mounting rod is sleeved with a plurality of bearings, and the bearings are abutted against the peripheral surface of the sliding rod so as to limit the sliding rod, and the mounting rods in the two limiting structures are vertically distributed.
In an alternative or preferred embodiment, the pulley box comprises four pulley side plates connected end to end in sequence, and two ends of the mounting rod are respectively mounted on two opposite pulley side plates.
In an alternative or preferred embodiment, the auxiliary jacking assemblies are provided in four, respectively arranged at four corners of the frame.
In an alternative or preferred embodiment, the auxiliary propping-up assembly further comprises a hinge support mounted on the frame, the rotating arm being mounted on the hinge support by a transmission shaft, the transmission shaft being driven by the first drive source.
In an alternative or preferred embodiment, the auxiliary supporting assembly further comprises a steering engine seat mounted on the frame, the first driving source is a steering engine, and the first driving source is mounted on the steering engine seat.
In an alternative or preferred embodiment, two slide leveling assemblies are provided and arranged left and right, and the slide rails are arranged along the front-rear direction of the frame.
In an alternative or preferred embodiment, the slider leveling assembly further comprises a guide rail frame mounted on the frame, the slide rail is mounted on the guide rail frame, the second driving source is a motor, the second driving source drives the slider to move through a transmission structure, and the second driving source and the transmission structure are mounted on the guide rail frame.
In an alternative or preferred embodiment, the transmission structure comprises a driving wheel driven by the second driving source and a driven wheel driven by the driving wheel through a synchronous belt, the sliding block is fixed with the synchronous belt through a tray and a pressing plate, the tray and the pressing plate are connected up and down to clamp the synchronous belt, and the pressing plate is fixed with the sliding block.
Based on the technical scheme, the embodiment of the invention has at least the following beneficial effects: according to the technical scheme, through the arrangement of the pulley suspension assembly, when the balance car passes through a fluctuating road section, the wheel set can vertically move up and down under the action of the upper load and the gravity of the pulley set under the condition that the gravity center of the whole car does not change in height, so that the wheel set has high flexibility, the balance car is ensured to have four wheels to simultaneously grip the ground in the movement process under the condition that the front and rear additional force is not generated, each Mecanum wheel is uniformly stressed, and the adjustable performance is enhanced; by arranging the auxiliary supporting component, when the balance car is in an unstable state such as toppling, the balance car can be corrected by rotating and extending the rotating arm, and the corresponding guide wheel contacts the ground to realize the auxiliary centering function of the balance car; through setting up slider leveling subassembly, the balance car is at the during operation, if meet barrier or undulation highway section, then the unexpected condition that continuous swing even out of control will appear in the automobile body, through the removal to the slider, makes correspondingly to the opposite direction of swing rapidly when the unexpected condition appears, gives a reverse momentum to whole car, realizes the real-time adjustment of whole car balanced state. Compared with the traditional balance car auxiliary system, the balance car auxiliary system has a simpler structure, so that the control system is easier to realize, the modularized design degree is high, the part design is simple and efficient, the redundancy is low, and the interchangeability is higher.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a front view of an embodiment of the present invention;
FIG. 4 is a side view of an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of circle A of FIG. 1;
FIG. 6 is a perspective view of the sled suspension assembly of the present embodiment wherein the slide bar is not shown;
FIG. 7 is a perspective view of the sled structure of the present embodiment wherein the slide bar is not shown;
FIG. 8 is an enlarged view of a portion of circle B of FIG. 1;
FIG. 9 is a perspective view of an auxiliary propping up assembly in an embodiment of the present invention;
FIG. 10 is an enlarged view of a portion of circle C of FIG. 1;
figure 11 is a perspective view of a slider leveling assembly in accordance with an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 11, an auxiliary system based on a chassis of a four-wheel balance car comprises a frame 110 and a plurality of wheel sets 120 arranged at the bottom of the frame 110, wherein the frame 110 is provided with four wheel sets 120 in total, and two front sides, two rear sides and two left sides are respectively arranged. The four-wheel balance car chassis based auxiliary system further comprises a plurality of sled suspension assemblies 200, a plurality of auxiliary spreader assemblies 300, and at least one sled leveling assembly 400.
In this embodiment, two pulley hanging assemblies 200 are disposed corresponding to each pulley set 120, i.e. eight pulley hanging assemblies 200 are disposed in total.
Specifically, referring to fig. 5 to 7, the pulley suspension assembly 200 is installed between the wheel set 120 and the frame 110, the pulley suspension assembly 200 includes a shock absorber 210 and a pulley structure, the shock absorber 210 is connected to the frame 110 at an upper end thereof and is connected to the wheel set 120 at a lower end thereof, the pulley structure includes a pulley case 230 connected to the wheel set 120 and a sliding rod 220 connected to the frame 110, and the sliding rod 220 is slidable up and down with respect to the pulley case 230 so that the wheel set 120 can move up and down with respect to the frame 110 in a direction of the sliding rod 220.
In this embodiment, the sliding rod 220 is a square tube, and the pulley box 230 includes four pulley side plates 231 connected end to end in sequence. The pulley box 230 is provided with a plurality of limit structures which are distributed in an up-down staggered manner, the limit structures comprise two mounting rods 232 which are arranged at two sides of the sliding rod 220 in parallel, and two ends of the mounting rods 232 are respectively arranged on two opposite pulley side plates 231. Specifically, the mounting bar 232 is a screw and is fixed by a nut.
Further, the mounting rod 232 is sleeved with a plurality of bearings 233, and the bearings 233 are abutted against the outer circumferential surface of the sliding rod 220 to limit the sliding rod 220, and the mounting rods 232 in the upper and lower adjacent limiting structures are vertically distributed. Correspondingly, the pulley side plate 231 is reserved with a reserved hole for the bearing 233 to roll.
It will be appreciated that the vertically moving carriage suspension assemblies 200, each four sets of carriage suspension assemblies 200 cooperate with two wheelsets 120 on one side to enable free up and down movement of the wheelsets on both sides. When the balance car passes through the undulating road section, under the action of the upper load and the gravity of the balance car, as the sliding rod 220 can slide up and down relative to the carriage body 230, namely the wheel set 120 can move up and down relative to the frame 110 along the direction of the sliding rod 220, the wheel set 120 can vertically move under the condition that the gravity center of the whole car does not change in height, so that the wheel set has stronger flexibility, four wheels are ensured to be simultaneously grabbed in the movement process of the balance car under the condition that the front and back additional force is not generated, the stress of each Mecanum wheel is uniform, and the adjustable performance is enhanced. Within the vertical motion threshold, the vertical motion of the sled suspension assembly greatly enhances the flexibility and obstacle passing capability of the wheelset.
In this embodiment, four auxiliary supporting assemblies 300 are disposed at four corners of the frame 110.
Referring to fig. 8 and 9, the auxiliary supporting assembly 300 is installed at a side of the frame 110, and the auxiliary supporting assembly 300 includes a first driving source 312 installed at the frame 110 and a rotating arm 322 driven by the first driving source 312, and a guide wheel 323 is installed at an end of the rotating arm 322 such that the rotating arm 322 is rotated to contact the ground through the guide wheel 323, thereby achieving centering of the balance car. In design, the rotating arm 322 may have a structure in which two long plates are clamped by a cushion block, and two ends of the guide wheel 323 are hinged to the two long plates.
In addition, the auxiliary strut assembly 300 further includes a hinge bracket 321 mounted on the frame 110, and a rotating arm 322 is mounted on the hinge bracket 321 through a driving shaft 324, the driving shaft 324 being driven by the first driving source 312. The auxiliary supporting assembly 300 further comprises a steering engine seat 311 arranged on the frame 110, the first driving source 312 is a steering engine, the first driving source 312 is arranged on the steering engine seat 311, one end of a transmission shaft 324 is connected with the first driving source 312, and the other end of the transmission shaft is arranged on a hinged support 321 through a bearing and a clamp spring.
It can be understood that when the balance car is in an unstable state such as toppling, the auxiliary supporting device 300 can be extended to correct the situation, and the corresponding first driving source 312 drives the rotating arm 322 to rotate and extend, so that the guide wheel 323 contacts the ground to realize the auxiliary centering function of the balance car. In addition, when the stability degree is high or the carrying capacity is high, the stability and the carrying capacity of the balance car can be enhanced by extending the guide wheel auxiliary supporting device.
In this embodiment, two slider leveling assemblies are provided and are arranged left and right.
Referring to fig. 10 and 11, the slider leveling assembly 400 is mounted on the carriage 110, and the slider leveling assembly 400 includes a slide rail 431 horizontally disposed on the carriage 110, a slider 432 engaged with the slide rail 431, and a second driving source 412 driving the slider 432 to move along the slide rail 431, wherein the slide rail 431 is disposed in a front-rear direction of the carriage 110.
The slider leveling assembly 400 further includes a rail frame 411 mounted on the frame 110, a slide rail 431 mounted on the rail frame 411, a second driving source 412 is a motor, the second driving source 412 drives the slider 432 to move through a transmission structure, and the second driving source 412 and the transmission structure are mounted on the rail frame 411.
Specifically, the transmission structure includes a driving wheel 421 driven by the second driving source 412 and a driven wheel 423 that realizes transmission with the driving wheel 421 through a timing belt 422. Wherein, the middle part of the guide rail frame 411 is an aluminum pipe for installing a slide rail 431; auxiliary plates are arranged at two ends of the aluminum pipe and used for installing a driving wheel 421 and a driven wheel 423 respectively, and the driving wheel 421 and the driven wheel 423 can be installed on the auxiliary plates through polished rod screws.
The slider 432 is fixed to the timing belt 422 by a tray 434 and a pressing plate 433, the tray 434 and the pressing plate 433 are vertically connected to clamp the timing belt 422, and the pressing plate 433 is fixed to the slider 432.
When the balance car works, if an obstacle or a fluctuating road section is encountered, the car frame can continuously swing or even run away, and in the two slide block leveling assemblies 400, two motors with higher response speeds respectively make corresponding directions of swing in opposite directions, namely, the slide blocks 432 are driven to move along the slide rails 431, so that opposite momentum is given to the whole car, and real-time adjustment of the balance state of the whole car is realized. In addition, the sliding block leveling assembly can enable the balance car to have a rapid starting and stopping response speed, and the auxiliary mechanism greatly enhances the flexibility of the balance car.
In other embodiments, the tray 434 on the slider 432 can adjust the weight according to different practical situations, thereby better improving the response speed.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (9)
1. An auxiliary system based on four wheat wheel balance car chassis which characterized in that: comprising
A frame and a plurality of wheel sets arranged at the bottom of the frame;
the pulley hanging components are arranged between the wheel groups and the frame, the pulley hanging components comprise a shock absorber and a pulley structure, the upper end of the shock absorber is connected with the frame, the lower end of the shock absorber is connected with the wheel groups, the pulley structure comprises a pulley box body connected with the wheel groups and a sliding rod connected with the frame, the sliding rod can slide up and down relative to the pulley box body, so that the wheel groups can move up and down along the direction of the sliding rod relative to the frame, the sliding rod is a square tube, the pulley box body is provided with a plurality of limiting structures which are distributed in a staggered manner up and down, the limiting structures comprise two mounting rods which are arranged at two sides of the sliding rod in parallel, a plurality of bearings are sleeved on the mounting rods, and the bearings are abutted against the peripheral surface of the sliding rod so as to limit the sliding rod, and the mounting rods in the two adjacent limiting structures are vertically distributed;
the auxiliary supporting components are arranged on the side edges of the frame, each auxiliary supporting component comprises a first driving source arranged on the frame and a rotating arm driven by the first driving source, and guide wheels are arranged on the end parts of the rotating arms so that the rotating arms are contacted with the ground through the guide wheels after rotating, and therefore the balance car is righted; and
the sliding block leveling assembly is installed on the frame and comprises a sliding rail horizontally arranged on the frame, a sliding block matched with the sliding rail and a second driving source for driving the sliding block to move along the sliding rail.
2. The four-wheeled balance car chassis-based auxiliary system of claim 1, wherein: each wheel group is correspondingly provided with two pulley hanging components.
3. The four-wheeled balance car chassis-based auxiliary system of claim 1, wherein: the pulley box comprises four pulley side plates connected end to end in sequence, and two ends of the mounting rod are respectively mounted on the two opposite pulley side plates.
4. The four-wheeled balance car chassis-based auxiliary system of claim 1, wherein: the auxiliary supporting components are arranged in four corners of the frame respectively.
5. The four-wheeled balance car chassis-based auxiliary system of claim 1 or 4, wherein: the auxiliary supporting assembly further comprises a hinged support arranged on the frame, the rotating arm is arranged on the hinged support through a transmission shaft, and the transmission shaft is driven by the first driving source.
6. The four-wheeled balance car chassis-based auxiliary system of claim 5, wherein: the auxiliary supporting assembly further comprises a steering engine seat arranged on the frame, the first driving source is a steering engine, and the first driving source is arranged on the steering engine seat.
7. The four-wheeled balance car chassis-based auxiliary system of claim 1, wherein: the sliding block leveling assemblies are arranged in two and are arranged left and right, and the sliding rails are arranged along the front-back direction of the frame.
8. The four-wheeled balance car chassis-based auxiliary system of claim 1 or 7, wherein: the sliding block leveling assembly further comprises a guide rail frame arranged on the frame, the sliding rail is arranged on the guide rail frame, the second driving source is a motor and drives the sliding block to move through a transmission structure, and the second driving source and the transmission structure are arranged on the guide rail frame.
9. The four-wheeled balance car chassis-based auxiliary system of claim 8, wherein: the driving structure comprises a driving wheel driven by the second driving source and a driven wheel driven by the driving wheel through a synchronous belt, the sliding block is fixed with the synchronous belt through a tray and a pressing plate, the tray and the pressing plate are connected up and down to clamp the synchronous belt, and the pressing plate is fixed with the sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210653710.9A CN115009366B (en) | 2022-06-10 | 2022-06-10 | Auxiliary system based on four wheat wheel balance car chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210653710.9A CN115009366B (en) | 2022-06-10 | 2022-06-10 | Auxiliary system based on four wheat wheel balance car chassis |
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| Publication Number | Publication Date |
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| CN115009366A CN115009366A (en) | 2022-09-06 |
| CN115009366B true CN115009366B (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210653710.9A Active CN115009366B (en) | 2022-06-10 | 2022-06-10 | Auxiliary system based on four wheat wheel balance car chassis |
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| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
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| CN113212578A (en) * | 2021-05-08 | 2021-08-06 | 重庆工程职业技术学院 | Robot chassis suspension mechanism |
| CN114291193A (en) * | 2022-01-17 | 2022-04-08 | 东莞理工学院城市学院 | Double-slider control system based on two-wheeled balance car |
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2022
- 2022-06-10 CN CN202210653710.9A patent/CN115009366B/en active Active
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| WO2014202693A1 (en) * | 2013-06-19 | 2014-12-24 | Techni-Metal Systemes | Ground contacting module and vehicle using at least one ground contacting module |
| CN109572891A (en) * | 2017-09-29 | 2019-04-05 | 上海领景智能科技有限公司 | A kind of vehicle with automatic balancing arrangement |
| CN111746676A (en) * | 2020-07-09 | 2020-10-09 | 仲兆宏 | Wheel set for barrier-free moving balance car and balance car |
| CN213199391U (en) * | 2020-10-13 | 2021-05-14 | 天津市兴世达科技有限公司 | Vehicle balance suspension shock-absorbing system |
| CN113212578A (en) * | 2021-05-08 | 2021-08-06 | 重庆工程职业技术学院 | Robot chassis suspension mechanism |
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