CN211083497U - Self-adaptive balance chassis and four-wheel mobile equipment - Google Patents
Self-adaptive balance chassis and four-wheel mobile equipment Download PDFInfo
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- CN211083497U CN211083497U CN201921729829.XU CN201921729829U CN211083497U CN 211083497 U CN211083497 U CN 211083497U CN 201921729829 U CN201921729829 U CN 201921729829U CN 211083497 U CN211083497 U CN 211083497U
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- 230000003044 adaptive effect Effects 0.000 claims description 23
- 230000000149 penetrating effect Effects 0.000 claims description 2
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- 230000002349 favourable effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
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Abstract
The utility model provides a self-adaptation balance chassis, including base, four truckles, three supporting mechanism and balance mechanism, four truckles are located respectively on the bottom surface of four bights of base, and the supporting mechanism includes mount pad, electric putter and first lower margin, and the mount pad is located on the top surface of base, and electric putter locates in the mount pad, and electric putter is connected with first lower margin fastening, and balance mechanism includes mount pad, electric putter, second lower margin and travel switch, and electric putter and second lower margin fastening are connected, and travel switch locates the bottom of second lower margin to be connected with electric putter electricity; a four-wheel mobile device is also provided. The utility model discloses a three supporting mechanism utilizes a planar principle of three point determination to promote a plane earlier on the base, then stabilizes the base on this plane through balance mechanism to the chassis of having solved mobile device effectively can't adapt to unevenness's ground, can't reach the technical problem that higher stability required.
Description
Technical Field
The utility model belongs to the technical field of the mobile device, more specifically say, relate to a balanced chassis of self-adaptation and four-wheel mobile device.
Background
The mobile equipment is the equipment that people produced, used commonly in life, is provided with the truckle respectively usually on four bights on the current mobile equipment chassis, for the removal of whole equipment of convenience, when needing fixed mobile equipment in the use, usually fixes whole equipment support together through the locking device who steps on the truckle or utilize other mechanical support device. Because can't guarantee that four touchdown points can both contact ground well, consequently mobile device is only applicable to the service environment that ground is relatively level or not high to stability requirement, but when the ground is unsmooth or to stability requirement when higher, especially under the medical scene, above-mentioned mobile device's fixed mode can't satisfy the operation requirement.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a balanced chassis of self-adaptation and four-wheel mobile device, including but not limited to the unable adaptation unevenness's in chassis of solving the mobile device ground, the unable technical problem who reaches higher stability requirement.
In order to achieve the above object, the present invention provides an adaptive balancing chassis for four-wheel mobile devices, including:
a base;
the four trundles are respectively arranged on the bottom surfaces of the four corners of the base;
the supporting mechanism comprises a mounting seat, an electric push rod and a first foot margin, the mounting seat is arranged on the top surface of the base, the electric push rod is arranged in the mounting seat, and the push rod of the electric push rod sequentially penetrates through the connecting part of the base and the caster and then is fixedly connected with the first foot margin; and
balance mechanism, balance mechanism includes the mount pad electric putter, second lower margin and travel switch, electric putter's push rod passes according to the preface the base with behind the connecting portion of truckle with second lower margin fastening connects, travel switch locates the bottom of second lower margin, and with electric putter's controller electricity is connected.
Furthermore, the truckle through connect vice with the base is connected, connect vice including hollow bolt and nut, the screw thread end of hollow bolt pass in proper order behind the connecting portion of truckle and the base with nut threaded connection, electric putter's push rod wears to locate in the hole of hollow bolt.
Optionally, an elastic washer is arranged between the nut and the base, and the elastic washer is sleeved on the hollow bolt.
Optionally, the second ground foot includes lower margin body, end cover, the probe that contacts to the earth and spring, the bottom of lower margin body is seted up flutedly, the end cover closing cap in the opening part of recess, travel switch locates on the tank bottom of recess, the one end of the probe that contacts to the earth runs through the end cover to protrusion in outside the end cover, the pot head of spring is located travel switch's periphery, the other end of spring with the probe that contacts to the earth supports and pushes away in order to order about the other end of the probe that contacts to the earth is kept away from travel switch.
Furthermore, a through hole is formed in the end cover, the ground contact probe comprises a probe body and a limiting flange, one end of the probe body penetrates through the through hole, the limiting flange is annularly arranged in the middle of the probe body, the outer diameter of the limiting flange is larger than the inner diameter of the through hole, and one end of the spring is sleeved on the other end of the probe body and abuts against the limiting flange.
Furthermore, a limiting boss is arranged on the groove wall of the groove and can abut against the limiting flange.
Optionally, the first ground foot and the second ground foot are respectively in threaded connection with a push rod of the electric push rod.
Optionally, the first foot and the second foot are in a circular truncated cone shape.
Optionally, the adaptive balancing chassis comprises at least two movable casters.
The utility model also provides a four-wheel mobile device, including controlling means, power and the balanced chassis of above-mentioned self-adaptation, electric putter passes through controlling means with the power electricity is connected.
The utility model provides a self-adaptation balance chassis and four-wheel mobile device's beneficial effect lies in: the balance mechanism is matched with the three support mechanisms, the base is firstly lifted to a plane by the principle that the three support mechanisms determine the plane by three points, and then the base is stabilized on the plane by the balance mechanism, so that the technical problems that the chassis of the mobile equipment cannot adapt to the uneven ground and cannot meet the requirement of high stability are effectively solved, and the stability of the four-wheel mobile equipment during fixing is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic perspective view of an adaptive balancing chassis according to an embodiment of the present invention;
fig. 2 is a schematic partial cross-sectional view of a supporting mechanism in an adaptive balancing chassis according to an embodiment of the present invention;
fig. 3 is a schematic partial cross-sectional view of a balancing mechanism in an adaptive balancing chassis according to an embodiment of the present invention;
fig. 4 is an enlarged schematic view of a portion a in fig. 3.
Wherein, in the figures, the respective reference numerals:
1-self-adaptive balance chassis, 10-base, 20-truckle, 11-mount pad, 12-electric push rod, 21-wheel body, 22-connecting part, 31-first foot, 41-second foot, 42-travel switch, 121-push rod, 122-motor, 123-controller, 231-hollow bolt, 232-nut, 233-elastic washer, 410-recess, 411-foot body, 412-end cover, 413-touchdown probe, 414-spring, 4100-limit boss, 4131-probe body, 4132-limit flange.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that: when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. When a component is referred to as being "electrically connected" to another component, it can be electrically connected by conductors, or can be electrically connected by radios, or can be connected by various other means capable of carrying electrical signals. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the patent, and the specific meanings of the above terms will be understood by those skilled in the art according to specific situations. The terms "first", "second", etc. 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. The term "plurality" means two or more unless specifically limited otherwise.
It is right now that the utility model provides a self-adaptation balance chassis explains.
Referring to fig. 1 to 3, the adaptive balancing chassis 1 for a four-wheel mobile device includes a base 10, four casters 20, three supporting mechanisms, and a balancing mechanism, wherein the base 10 may be plate-shaped or frame-shaped, and the four casters 20 are respectively disposed on the bottom surfaces of four corners of the base 10; each supporting mechanism comprises a mounting seat 11, an electric push rod 12 and a first anchor 31, wherein the mounting seat 11 is arranged on the top surface of the base 10, the electric push rod 12 is arranged inside the mounting seat 11, and a push rod 121 of the electric push rod 12 sequentially penetrates through the base 10 and a connecting part 22 of the caster 20 and then is fixedly connected with the first anchor 31; the balance mechanism comprises a mounting seat 11, an electric push rod 12, a second ground foot 41 and a travel switch 42, wherein a push rod 121 of the electric push rod 12 passes through the base 10 and the connecting part 22 of the caster 20 in sequence and then is tightly connected with the second ground foot 41, the travel switch 42 is arranged at the bottom of the second ground foot 41, and the travel switch 42 is electrically connected with a controller 123 of the electric push rod 12.
It can be understood that the caster 20 comprises a wheel body 21 and a connecting portion 22, the wheel body 21 is rotatably connected to the connecting portion 22 and is connected to the base 10 through the connecting portion 22, wherein three casters 20 respectively correspond to three supporting mechanisms one by one, and the other caster 20 corresponds to a balancing mechanism one by one; the travel switch 42 may be in direct or indirect contact with the ground; the adaptive balance chassis 1 is controlled by a control device on the four-wheel mobile equipment.
When the four-wheel moving equipment needs to be fixed, the three supporting mechanisms are firstly started, the three first feet 31 are driven by the three electric push rods 12 to extend downwards at the same time, and the whole chassis is jacked up to a certain height, so that the wheel bodies 21 of the caster wheels 20 corresponding to the first feet 31 leave the ground, then the balancing mechanism is started, the second feet 41 extend downwards under the driving of the electric push rods 12 until the bottom surfaces of the second feet 41 are contacted with the bottom surfaces, at the moment, the travel switch 42 is triggered, the motor 122 is turned off after the controller 123 of the electric push rods 12 receives a trigger signal of the travel switch 42, the push rods 121 stop pushing the second feet 41, the whole adjusting process of the self-adaptive ground environment is completed, and the four-wheel moving equipment is fixed.
The utility model provides a self-adaptation balance chassis 1, adopted balance mechanism and three supporting mechanism to cooperate, utilize the principle that three points confirm a plane through three supporting mechanism to promote base 10 to a plane first, then stabilize base 10 on this plane through balance mechanism, thus solved effectively that the chassis of the mobile device can't adapt to the technical problem of rugged ground, can't reach the higher stability requirement, promoted the stability when the four-wheeled mobile device is fixed; and because the supporting mechanism and the balancing mechanism are combined with the casters, the structure of the adaptive balancing chassis 1 is more compact, and the space between the casters 20 is maximally utilized without increasing the area of the chassis.
Further, please refer to fig. 2 and fig. 3, as a specific embodiment of the self-adaptive balance chassis provided by the present invention, the caster 20 is connected to the base 10 through a connection pair, the connection pair includes a hollow bolt 231 and a nut 232, wherein the threaded end of the hollow bolt 231 is connected to the nut 232 in a threaded manner after passing through the connection portion 22 of the caster 20 and the base 10 in sequence, and here, the push rod 121 of the electric push rod 12 is inserted into the inner hole of the hollow bolt 231. Specifically, a first mounting hole is formed at a corner of the base 10, a second mounting hole is formed on the connecting portion 22 of the caster 20, and a blind hole is formed at the bottom end of the connecting portion 22 of the caster 20, and the second mounting hole penetrates through the connecting portion 22 of the caster 20 in the vertical direction and is communicated with the blind hole; when the caster 20 is assembled, the threaded end of the hollow bolt 231 penetrates through the blind hole, the second mounting hole and the first mounting hole upwards along the vertical direction and then is in threaded connection with the nut 232, and the head of the hollow bolt 231 is accommodated in the blind hole; because the hollow bolt 231 provides an installation space for the push rod 121 of the electric push rod 12, installation holes do not need to be formed in other positions of the base 10, and the structure of the self-adaptive balance chassis 1 is more compact.
In addition, an elastic washer 232 is clamped between the nut 232 and the base 10, namely the elastic washer 233 is sleeved on the hollow bolt 231, so that the connection firmness of the connection pair is improved, and the nut 232 is effectively prevented from being loosened due to vibration in the process of moving the self-adaptive balance chassis 1.
Optionally, please refer to fig. 3 and 4, as a specific embodiment of the adaptive balance chassis provided by the present invention, the second anchor 41 includes an anchor body 411, an end cover 412, a ground contact probe 413 and a spring 414, wherein the bottom of the anchor body 411 is provided with a groove 410, the end cover 412 covers an opening of the groove 410, the travel switch 42 is disposed on a bottom of the groove 410, one end of the ground contact probe 413 penetrates through the end cover 412 and protrudes outside the end cover 412, one end of the spring 414 is sleeved on an outer periphery of the travel switch 42, and the other end of the spring 414 abuts against the ground contact probe 413 to drive the other end of the ground contact probe 413 to be away from the travel switch 42. Here, the spring 414 is a cylindrical coil spring. When the electric push rod 12 is started, the second anchor 41 integrally extends downwards, the bottom end face of the ground contact probe 413 contacts the ground firstly, then the push rod 121 of the electric push rod 12 continues to extend, the ground contact probe 413 moves upwards under the pushing of the ground and compresses the spring 414 until the top end of the ground contact probe 413 touches and presses the travel switch 42, at this time, the bottom end face of the ground contact probe 413 is flush with the bottom face of the end cover 412, the bottom face of the end cover 412 contacts the ground, the push rod 121 stops extending, the whole adjustment process of the self-adaptive ground environment is completed, and the four-wheel moving device is enabled to be more stable when being fixed.
Optionally, please refer to fig. 4, as a specific embodiment of the adaptive balance chassis provided in the present invention, a through hole is opened on the end cap 412, and the ground contact probe 413 includes a probe body 4131 and a limit flange 4132, wherein one end of the probe body 4131 is inserted into the through hole of the end cap 412, the limit flange 4132 is annularly disposed in the middle of the probe body 4131, and the outer diameter of the limit flange 4132 is larger than the inner diameter of the through hole of the end cap 412, and meanwhile, one end of the spring 414 is sleeved on the other end of the probe body 4131 and abuts against the limit flange 4132. Specifically, the travel switch 42, a part of the ground contact probe 413 and the spring 414 are accommodated in the groove 410, when the second anchor 41 is in a suspended state, the bottom surface of the limit flange 4132 abuts against the top surface of the end cover 412, the top surface of the limit flange 4132 abuts against one end of the spring 414, one end of the probe body 4131 is arranged in the spring 414 in a penetrating manner, and the other end of the probe body 4131 penetrates through the through hole and extends out of the end cover 412, so that the travel switch 42 is triggered by the ground contact probe 413, abrasion caused by direct contact of the travel switch 42 and the ground is avoided, and the service life of the travel switch 42 is effectively prolonged.
In addition, a limit boss 4100 is provided on a groove wall of the groove 410, and the limit boss 4100 may abut against the limit flange 4132. Specifically, the limit boss 4100 may abut against the top surface of the limit flange 4132 to limit the probe body 4131 from moving upward.
Optionally, referring to fig. 2 and 4, as a specific embodiment of the adaptive balancing chassis provided by the present invention, the first anchor 31 and the second anchor 41 are respectively connected to the push rod 121 of the electric push rod 12 by threads. Specifically, the extending end of the push rod 121 is provided with a thread, the top of the first anchor 31 and the top of the second anchor 41 are respectively provided with a threaded hole, the extending end of the push rod 121 is screwed into the threaded hole of the first anchor 31 to be fastened with the first anchor 31, and the extending end of the push rod 121 is screwed into the threaded hole of the second anchor 41 to be fastened with the second anchor 41. Be favorable to first lower margin 31 of quick assembly disassembly and second ground foot 41 like this, be convenient for change first lower margin 31 and second ground foot 41 to be favorable to improving the maintenance efficiency of the balanced chassis 1 of self-adaptation.
Optionally, referring to fig. 1 to 3, as a specific embodiment of the adaptive balancing chassis of the present invention, the first anchor 31 and the second anchor 41 are in a circular truncated cone shape, that is, the top surface area of the first anchor 31 is smaller than the bottom surface area thereof, and the top surface area of the second anchor 41 is smaller than the bottom surface area thereof. Thus, the contact area between the first ground foot 31 and the ground and the contact area between the second ground foot 41 and the ground are increased relative to other ground feet in a cylindrical shape and the like, and the stability of the four-wheel moving device during fixing is improved.
Optionally, referring to fig. 1, as a specific embodiment of the adaptive balancing chassis provided by the present invention, the adaptive balancing chassis 1 includes at least two movable casters, that is, at least two of the four casters 20 are movable casters, and the others are fixed casters. This facilitates the four-wheel mobile device to adjust direction during movement.
The utility model also provides a four-wheel mobile device (not shown), including controlling means, power and the balanced chassis of self-adaptation 1, wherein, electric putter 12 is connected with this power electricity through this controlling means. Specifically, the motor 122 of the electric putter 12 is electrically connected to the controller 123 of the electric putter 12 and the power source, the controller 123 of the electric putter 12 is electrically connected to the control device, the power source provides power for the electric putter 12, and the control device controls the electric putter 12 to operate according to a preset program.
The utility model provides a balanced chassis 1 of self-adaptation has adopted balanced chassis 1 of self-adaptation, utilizes a planar principle of three point determination to promote base 10 to a plane earlier through three supporting mechanism, then stabilizes base 10 on this plane through balance mechanism to the chassis of having solved mobile device effectively can't adapt to unevenness's ground, can't reach the technical problem that higher stability required, has promoted the stability when four-wheel mobile device is fixed.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An adaptive balancing chassis for a four-wheel mobile device, comprising:
a base;
the four trundles are respectively arranged on the bottom surfaces of the four corners of the base;
the supporting mechanism comprises a mounting seat, an electric push rod and a first foot margin, the mounting seat is arranged on the top surface of the base, the electric push rod is arranged in the mounting seat, and the push rod of the electric push rod sequentially penetrates through the connecting part of the base and the caster and then is fixedly connected with the first foot margin; and
balance mechanism, balance mechanism includes the mount pad electric putter, second lower margin and travel switch, electric putter's push rod passes according to the preface the base with behind the connecting portion of truckle with second lower margin fastening connects, travel switch locates the bottom of second lower margin, and with electric putter's controller electricity is connected.
2. The adaptive balance chassis of claim 1, wherein the caster is connected to the base through a connection pair, the connection pair comprises a hollow bolt and a nut, a threaded end of the hollow bolt sequentially passes through the connection portion of the caster and the base and then is in threaded connection with the nut, and a push rod of the electric push rod is inserted into an inner hole of the hollow bolt.
3. The adaptive balance chassis of claim 2, wherein an elastic washer is disposed between the nut and the base, and the elastic washer is sleeved on the hollow bolt.
4. The self-adaptive balance chassis according to claim 2, wherein the second ground comprises a ground body, an end cover, a ground contact probe and a spring, a groove is formed in the bottom of the ground body, the end cover covers an opening of the groove, the travel switch is arranged on the bottom of the groove, one end of the ground contact probe penetrates through the end cover and protrudes out of the end cover, one end of the spring is sleeved on the periphery of the travel switch, and the other end of the spring abuts against the ground contact probe to drive the other end of the ground contact probe to be away from the travel switch.
5. The adaptive balance chassis of claim 4, wherein the end cap is provided with a through hole, the ground contact probe comprises a probe body and a limiting flange, one end of the probe body is arranged in the through hole in a penetrating manner, the limiting flange is annularly arranged in the middle of the probe body, the outer diameter of the limiting flange is larger than the inner diameter of the through hole, and one end of the spring is sleeved on the other end of the probe body and abuts against the limiting flange.
6. The adaptive balance chassis of claim 5, wherein a limiting boss is arranged on a groove wall of the groove, and the limiting boss can be abutted against the limiting flange.
7. The adaptive balance chassis of any one of claims 1 to 6, wherein the first ground foot and the second ground foot are respectively in threaded connection with a push rod of the electric push rod.
8. The adaptive balancing chassis of claim 7, wherein the first leg and the second leg are frustoconical.
9. The adaptive balancing chassis of claim 7, comprising at least two movable casters.
10. Four-wheel mobile equipment, characterized in that it comprises a control device, a power supply and an adaptive balancing chassis according to any one of claims 1 to 9, said electric push rod being electrically connected to said power supply through said control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921729829.XU CN211083497U (en) | 2019-10-15 | 2019-10-15 | Self-adaptive balance chassis and four-wheel mobile equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921729829.XU CN211083497U (en) | 2019-10-15 | 2019-10-15 | Self-adaptive balance chassis and four-wheel mobile equipment |
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| Publication Number | Publication Date |
|---|---|
| CN211083497U true CN211083497U (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921729829.XU Active CN211083497U (en) | 2019-10-15 | 2019-10-15 | Self-adaptive balance chassis and four-wheel mobile equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113217785A (en) * | 2021-03-25 | 2021-08-06 | 上海嘉奥信息科技发展有限公司 | Self-adaptive balance base and adjusting method |
-
2019
- 2019-10-15 CN CN201921729829.XU patent/CN211083497U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113217785A (en) * | 2021-03-25 | 2021-08-06 | 上海嘉奥信息科技发展有限公司 | Self-adaptive balance base and adjusting method |
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Effective date of registration: 20210317 Address after: No 802 Shenzhen Research Institute Chinese University of Hong Kong No 10 Yuexing 2nd Road Gaoxin community Yuehai street Nanshan District Shenzhen City Guangdong Province Patentee after: Yuanhua Intelligent Technology (Shenzhen) Co.,Ltd. Address before: Room 402, Jardine Plaza, 1 Connaught Plaza, central, Hong Kong, China Patentee before: LianBo Intelligent Technology Co.,Ltd. |
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