CN115009366B - Auxiliary system based on four wheat wheel balance car chassis - Google Patents

Abstract

The invention discloses an auxiliary system based on the chassis of a four-wheel balance vehicle, which relates to the technical field of balance vehicles, and includes a vehicle frame and a plurality of wheel sets installed at the bottom of the vehicle frame; The pulley structure includes a pulley box connected to the wheel set and a sliding rod connected to the frame. The sliding rod can slide up and down relative to the pulley box so that the wheel set can move up and down relative to the frame along the direction of the slide bar; A plurality of auxiliary support components, the auxiliary support components include a first driving source installed on the vehicle frame and a rotating arm driven by the first driving source, guide wheels are installed on the end of the rotating arm, so that after the rotating arm rotates By contacting the ground with the guide wheels, the righting balance car is realized; and at least one sliding block leveling assembly is realized. The invention can adapt to the small ups and downs brought by the mecanum wheel itself to the balance car and the large ups and downs and back and forth swings brought by the external movement terrain.

Description

An auxiliary system based on the chassis of a four-wheat wheel balancing vehicle

technical field

The invention relates to the technical field of balance vehicles, in particular to an auxiliary system based on the chassis of a four-wheel balance vehicle.

Background technique

At present, most of the self-balancing vehicles on the market only have the movement forms of turning, going straight and backward. The movement form is single and the control performance is not good. The disadvantages are particularly obvious when facing undulating terrain and narrow spaces, so there is a four-wheat wheel balance. The research and development of the car, the four independently driven mecanum wheels used in it make the sports performance and handling performance better, and can realize omnidirectional flexible control.

However, due to the structural complexity of the mecanum wheel and the ups and downs of the wheel axis brought about by the rollers, the omnidirectional mobile self-balancing vehicle with four wheat wheels needs to be equipped with a good suspension system to show the excellent performance of the self-balancing vehicle; The structural characteristics of the Mulun balance car determine that its motion stability is lower than that of ordinary balance cars, so it is urgent to seek new auxiliary design solutions to solve the above problems.

Contents of the invention

The present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent. To this end, the embodiment of the present invention provides an auxiliary system based on the chassis of the four-mecanum wheel balance car, which can adapt to the small up and down fluctuations brought by the mecanum wheel itself to the balance car and the large up and down fluctuations and front and rear movements caused by the external movement terrain. swing.

The auxiliary system based on the chassis of the four-wheat wheel balancing vehicle according to the embodiment of the present invention includes a vehicle frame and a plurality of wheel sets installed at the bottom of the vehicle frame; a plurality of trolley suspension assemblies, and the trolley suspension assemblies are installed on the wheels Between the group and the vehicle frame, the trolley suspension assembly includes a shock absorber and a trolley structure, the upper end of the shock absorber is connected to the vehicle frame, and the lower end is connected to the wheel set, and the trolley structure includes a The tackle box connected to the wheel set and the slide bar connected to the frame, the slide bar can slide up and down relative to the tackle box, so that the wheel set can move along the The direction of the sliding rod moves up and down; a plurality of auxiliary support assemblies, the auxiliary support assemblies are installed on the side of the vehicle frame, and the auxiliary support assemblies include a first drive source installed on the vehicle frame and driven by the The rotating arm driven by the first driving source, the end of the rotating arm is equipped with a guide wheel, so that the rotating arm contacts the ground through the guiding wheel after rotating, so as to realize the righting of the balance car; and at least one slider for leveling Assemblies, the slider leveling assembly is installed on the vehicle frame, the slider leveling assembly includes a slide rail horizontally arranged on the vehicle frame, a slider matched with the slide rail and driving the A second drive source for the slider to move along the slide rail.

In an optional or preferred embodiment, each of the wheel sets is correspondingly provided with two trolley suspension assemblies.

In an optional or preferred embodiment, the sliding rod is a square tube, and the trolley box is equipped with a plurality of space-limiting structures that are staggered up and down, and the space-limiting structures include Two mounting rods, the mounting rod sleeves are provided with several bearings, and the bearings abut against the outer peripheral surface of the sliding rod to limit the sliding rod, and the two limiting structures adjacent to each other up and down The mounting rods in the vertical distribution.

In an optional or preferred embodiment, the tackle box includes four tackle side plates connected end-to-end in sequence, and the two ends of the installation rod are respectively installed on the two opposite tackle side plates.

In an optional or preferred embodiment, there are four auxiliary support assemblies arranged at four corners of the vehicle frame respectively.

In an optional or preferred embodiment, the auxiliary support assembly further includes a hinge support mounted on the vehicle frame, the rotating arm is mounted on the hinge support through a transmission shaft, and the transmission shaft Driven by the first drive source.

In an optional or preferred embodiment, the auxiliary erecting assembly further includes a steering gear seat installed on the vehicle frame, the first driving source is a steering gear, and the first driving source is installed on the on the steering gear seat.

In an optional or preferred embodiment, there are two slide block leveling assemblies arranged left and right, and the slide rails are arranged along the front-rear direction of the vehicle frame.

In an optional or preferred embodiment, the slider leveling assembly further includes a rail frame mounted on the vehicle frame, the slide rail is mounted on the rail frame, and 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 installed on the rail frame.

In an optional or preferred embodiment, the transmission structure includes a driving wheel driven by the second driving source and a driven wheel that realizes transmission with the driving wheel through a synchronous belt, and the slider communicates with the driving wheel through the tray and the pressing plate. The timing belt is fixed, the tray and the pressing plate are connected up and down to clamp the timing belt, and the pressing plate is fixed with the slider.

Based on the above-mentioned technical solution, the embodiment of the present invention has at least the following beneficial effects: the above-mentioned technical solution, by setting the trolley suspension assembly, when the balance car travels through the undulating road section, under the action of the upper load and its own gravity, the wheel set can be realized. The center of gravity of the whole vehicle moves up and down vertically without height changes, which makes the wheel set have strong flexibility and ensures that the self-balancing vehicle will always have four wheels gripping the ground at the same time during the movement process without generating additional front and rear forces. Each mecanum wheel is evenly stressed, which enhances the adjustable performance; by setting the auxiliary support component, when the balance car is in an unstable state such as dumping, it can be corrected by rotating and extending the rotating arm, and the corresponding guide wheel touches the ground Realize the auxiliary righting function of the balance car; by setting the slider leveling component, if the balance car encounters obstacles or undulating road sections when it is working, the car body will continue to swing or even lose control. , When an unexpected situation occurs, quickly respond to the opposite direction of the swing, give the vehicle a reverse momentum, and realize real-time adjustment of the vehicle's balance state. Compared with the traditional balancing vehicle auxiliary system, the present invention has a simpler structure, makes its control system easier to realize, has a high degree of modular design, simple and efficient parts design, low redundancy, and high interchangeability.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is further described;

Figure 1 is a perspective view of an embodiment of the present invention;

Fig. 2 is the top view of the embodiment of the present invention;

Fig. 3 is the front view of the embodiment of the present invention;

Fig. 4 is a side view of an embodiment of the present invention;

Fig. 5 is a partially enlarged view of circle A in Fig. 1;

Figure 6 is a perspective view of the trolley suspension assembly in an embodiment of the present invention, without showing the slide bar;

Fig. 7 is the perspective view of block structure in the embodiment of the present invention, wherein does not show slide bar;

Fig. 8 is a partially enlarged view of circle B in Fig. 1;

Fig. 9 is a perspective view of the auxiliary support assembly in the embodiment of the present invention;

Fig. 10 is a partially enlarged view of circle C in Fig. 1;

Figure 11 is a perspective view of a slider leveling assembly in an embodiment of the present invention.

Detailed ways

This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention, but it should not be understood as a limitation on the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, several means one or more, and multiple means more than two. Greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number. If the description of the first and second is only for the purpose of distinguishing the technical features, it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

Referring to Fig. 1 to Fig. 11, an auxiliary system based on the chassis of a four-wheat wheel balancing vehicle includes a frame 110 and a plurality of wheel sets 120 installed at the bottom of the frame 110, wherein four sets of wheel sets 120 are installed on the frame 110 , two sides are arranged on the front and rear sides. The auxiliary system based on the chassis of the four-wheel balance vehicle also includes a plurality of trolley suspension assemblies 200 , a plurality of auxiliary support assemblies 300 and at least one slide block leveling assembly 400 .

Wherein, in this embodiment, each wheel set 120 is provided with two trolley suspension assemblies 200 correspondingly, that is, eight trolley suspension assemblies 200 are provided in total.

Specifically, referring to Fig. 5 to Fig. 7, the tackle suspension assembly 200 is installed between the wheel set 120 and the frame 110, the tackle suspension assembly 200 includes a shock absorber 210 and a tackle structure, and the upper end of the shock absorber 210 is connected to the frame 110 , the lower end is connected with the wheel set 120, and the block structure includes a block box 230 connected with the wheel set 120 and a sliding rod 220 connected with the vehicle frame 110, the sliding bar 220 can slide up and down relative to the block body 230, so that the wheel set 120 can Relative to the vehicle frame 110, it moves up and down along the direction of the sliding rod 220.

In this embodiment, the sliding rod 220 is a square tube, and the tackle box 230 includes four tackle side plates 231 connected end to end in sequence. The tackle box 230 is equipped with a plurality of space-limiting structures that are distributed staggered up and down. The space-limiting structures include two mounting rods 232 arranged in parallel on both sides of the sliding rod 220. The two ends of the mounting rods 232 are installed on the opposite two tackle sides respectively board 231. Specifically, the mounting rod 232 is a screw, and is fixed by a nut.

Further, the mounting rod 232 is provided with a plurality of bearings 233, and the bearings 233 abut against the outer peripheral surface of the sliding rod 220 to limit the sliding rod 220, and the mounting rods 232 in the upper and lower adjacent two limiting structures are vertically distributed. Correspondingly, the pulley side plate 231 is reserved with a reserved hole for the bearing 233 to roll.

It can be understood that for the vertically moving trolley suspension assemblies 200, every four sets of trolley suspension assemblies 200 cooperate with two wheel sets 120 on one side, so that the wheels on both sides can move up and down freely. When the balance car travels through the undulating road section, under the action of the upper load and its own gravity, since the sliding rod 220 can slide up and down relative to the tackle box 230, that is, the wheel set 120 can move up and down relative to the frame 110 along the direction of the sliding rod 220, and the wheels The group 120 can realize the vertical movement without height change of the center of gravity of the whole vehicle, so that the wheel set has strong flexibility, and ensures that the self-balancing vehicle always has four wheels at the same time during the movement process without generating additional front and rear forces. Grip the ground, so that each mecanum wheel is evenly stressed, and the adjustable performance is enhanced. Within the threshold of vertical movement, the vertical movement of the trolley suspension assembly greatly enhances the flexibility and obstacle passing ability of the wheel set.

Wherein, in this embodiment, there are four auxiliary support assemblies 300 , which are respectively arranged at four corners of the vehicle frame 110 .

Referring to FIG. 8 and FIG. 9 , the auxiliary support assembly 300 is installed on the side of the vehicle frame 110 , and the auxiliary support assembly 300 includes a first driving source 312 installed on the vehicle frame 110 and a rotating arm driven by the first driving source 312 322, a guide wheel 323 is installed on the end of the rotating arm 322, so that the rotating arm 322 contacts the ground through the guiding wheel 323 after the rotating arm 322 rotates, thereby realizing the righting of the balance vehicle. Wherein, during design, the rotating arm 322 may adopt a structure in which two long plates hold a spacer, and the two ends of the guide wheel 323 are hinged to the two long plates.

In addition, the auxiliary support assembly 300 also includes a hinge support 321 mounted on the vehicle frame 110 , the rotating arm 322 is mounted on the hinge support 321 through a transmission shaft 324 driven by the first driving source 312 . The auxiliary support assembly 300 also includes a steering gear base 311 installed on the vehicle frame 110, the first driving source 312 is a steering gear, the first driving source 312 is installed on the steering gear base 311, and one end of the transmission shaft 324 is connected to the first driving source 312 connection, the other end is installed on the hinge support 321 by bearing and jumper.

It can be understood that when the balancing vehicle is in an unstable state such as tipping, it can be corrected by extending the auxiliary support device 300, and the corresponding first driving source 312 drives the rotating arm 322 to rotate and extend, so that the guide wheel 323 touches the ground to achieve balance Car auxiliary righting function. In addition, when the stability requirement is high or the load capacity is large, the stability and load-bearing capacity of the self-balancing vehicle can be enhanced by extending the guide wheel auxiliary support device.

Wherein, in this embodiment, there are two slider leveling assemblies arranged left and right.

10 and 11, the slider leveling assembly 400 is installed on the frame 110, the slider leveling assembly 400 includes a slide rail 431 horizontally arranged on the frame 110, a slider 432 matched with the slide rail 431 and a drive The second driving source 412 for the slider 432 to move along the slide rail 431 , wherein the slide rail 431 is arranged along the front-rear direction of the vehicle frame 110 .

The slider leveling assembly 400 also includes a guide rail frame 411 installed on the vehicle frame 110, the slide rail 431 is installed on the guide rail frame 411, the second driving source 412 is a motor, and the second driving source 412 drives the slider 432 to move through the transmission structure , the second driving source 412 and the transmission structure are installed 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 through the synchronous belt 422 and the driving wheel 421 . Among them, the middle part of the guide rail frame 411 is an aluminum tube for installing the slide rail 431; the two ends of the aluminum tube are equipped with auxiliary plates for installing the driving wheel 421 and the driven wheel 423 respectively, and the driving wheel 421 and the driven wheel 423 can pass through the polished rod The screws are mounted on the auxiliary plate.

In addition, the slider 432 is fixed to the timing belt 422 through the tray 434 and the pressure plate 433 , the tray 434 and the pressure plate 433 are connected up and down to clamp the timing belt 422 , and the pressure plate 433 is fixed to the slider 432 .

When the balance car is working, if it encounters obstacles or undulating road sections, the frame will continue to swing or even lose control. In the two slider leveling assemblies 400, two motors with faster response speed are respectively used. When an unexpected situation occurs, respond quickly to the opposite direction of swing, that is, drive the slider 432 to move along the slide rail 431, give the whole vehicle a reverse momentum, and realize the real-time adjustment of the balance state of the whole vehicle. In addition, the slider leveling assembly can also enable the self-balancing car to have a fast start-stop response speed, and this auxiliary mechanism greatly enhances the flexibility of the self-balancing car.

In some other embodiments, the weight of the tray 434 on the slider 432 can be adjusted according to different actual situations, so as to better improve the response speed.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the gist of the present invention. kind of change.

Claims (9)

1. An auxiliary system based on the four wheat wheel balance car chassis, characterized in that: comprising a frame and a plurality of wheel sets mounted on the bottom of the frame; A plurality of pulley suspension assemblies, the pulley suspension assembly is installed between the wheel set and the vehicle frame, the pulley suspension assembly includes a shock absorber and a pulley structure, and the upper end of the shock absorber is connected to the vehicle frame , the lower end is connected with the wheel set, the tackle structure includes a tackle box connected with the wheel set and a sliding rod connected with the frame, the slide bar can slide up and down relative to the tackle box, to The wheel set can move up and down relative to the vehicle frame along the direction of the sliding rod. The sliding rod is a square tube. It includes two mounting rods arranged in parallel on both sides of the sliding rod, and the mounting rod is provided with several bearings, and the bearings abut against the outer peripheral surface of the sliding rod to limit the sliding rod, The installation rods in the upper and lower adjacent two limit structures are vertically distributed; A plurality of auxiliary support assemblies, the auxiliary support assemblies are installed on the side of the vehicle frame, the auxiliary support assemblies include a first driving source installed on the vehicle frame and a motor driven by the first driving source A rotating arm, a guide wheel is installed on the end of the rotating arm, so that the rotating arm contacts the ground through the guiding wheel after rotating, so as to realize the righting of the balance vehicle; and At least one slider leveling assembly, the slider leveling assembly is installed on the vehicle frame, the slider leveling assembly includes a slide rail horizontally arranged on the vehicle frame, a A slider and a second driving source for driving the slider to move along the slide rail. 2. The auxiliary system based on the chassis of the four-wheat wheel balancing vehicle according to claim 1, characterized in that: each of the wheel sets is correspondingly provided with two of the trolley suspension assemblies. 3. The auxiliary system based on the chassis of the four-wheat wheel balancing vehicle according to claim 1, wherein the trolley box includes four side panels of the trolley connected end-to-end in sequence, and the two ends of the installation rod are respectively installed on On the opposite two said tackle side plates. 4. The auxiliary system based on the chassis of the four wheat wheel balancing vehicle according to claim 1, characterized in that there are four auxiliary support components arranged at four corners of the vehicle frame respectively. 5. The auxiliary system based on the four wheat wheel balance vehicle chassis according to claim 1 or 4, characterized in that: the auxiliary support assembly also includes a hinged support installed on the vehicle frame, and the rotating arm The transmission shaft is installed on the hinge support, and the transmission shaft is driven by the first driving source. 6. The auxiliary system based on the chassis of the four-wheat wheel balancing vehicle according to claim 5, wherein the auxiliary support assembly further includes a steering gear seat installed on the vehicle frame, and the first driving source It is a steering gear, and the first driving source is installed on the steering gear base. 7. The auxiliary system based on the chassis of the four wheat wheel balancing vehicle according to claim 1, characterized in that: there are two slider leveling assemblies arranged left and right, and the slide rails are arranged along the front and rear sides of the vehicle frame Orientation arrangement. 8. The auxiliary system based on the four wheat wheel balancing car chassis according to claim 1 or 7, wherein the slider leveling assembly also includes a guide rail frame installed on the vehicle frame, and the slide rail Installed on the guide rail frame, the second drive source is a motor, the second drive source drives the slider to move through the transmission structure, and the second drive source and the transmission structure are installed on the guide rail frame superior. 9. The auxiliary system based on the chassis of the four-wheat wheel balancing vehicle according to claim 8, characterized in that: the transmission structure includes a driving wheel driven by the second driving source and realizes Driven driven wheels, the slider is fixed to the timing belt through a tray and a pressure plate, the tray and the pressure plate are connected up and down to clamp the timing belt, and the pressure plate is fixed to the slider.

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