CN114801633B - A vehicle with self-adjusting posture and a method for adjusting posture thereof - Google Patents
A vehicle with self-adjusting posture and a method for adjusting posture thereof Download PDFInfo
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- CN114801633B CN114801633B CN202210382151.2A CN202210382151A CN114801633B CN 114801633 B CN114801633 B CN 114801633B CN 202210382151 A CN202210382151 A CN 202210382151A CN 114801633 B CN114801633 B CN 114801633B
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- telescopic mechanism
- axis bevel
- power wheel
- frame
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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
- B60G17/019—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 the type of sensor or the arrangement thereof
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a car body posture self-adjusting trolley which comprises a car body, a car frame, an active adjusting suspension system and a control system, wherein the car frame comprises a base, two long-axis bevel gears, a torque sensor and a short-axis bevel gear, the long-axis bevel gears and the short-axis bevel gears are rotatably connected with the base, the two long-axis bevel gears are coaxially arranged, the short-axis bevel gears are meshed with the long-axis bevel gears, the torque sensor detects the torque of a rotating shaft of the short-axis bevel gears, the active adjusting suspension system is provided with two, the active adjusting trolley comprises a framework, a lifting telescopic mechanism and a power wheel set, the framework is fixedly connected with the rotating shaft of the long-axis bevel gears, the power wheel set is provided with two and is respectively connected with the front end and the rear end of the framework through a connecting rod, the lifting telescopic mechanism drives the power wheel set to lift or descend, a first pressure sensor is arranged on the lifting telescopic mechanism and is used for detecting the load of the power wheel set, and the control system is electrically connected with the first pressure sensor and the torque sensor and controls the lifting telescopic mechanism. The invention can detect the inclination of the vehicle and keep running horizontally.
Description
Technical Field
The present invention relates to a mobile cart and a posture adjustment method thereof, and more particularly, to a vehicle body posture self-adjustment cart and a posture adjustment method thereof.
Background
The four-wheel position of the trolley for translational motion is relatively fixed, the trolley can be kept stable on flat ground, a shock absorbing device is added for filtering vibration to improve the stability of the trolley, but when the trolley encounters a large obstacle pavement, such as a small slope or a pothole on one side, the trolley can roll, the trolley body is difficult to keep stable horizontally, and the trolley cannot work sequentially in some occasions requiring horizontal operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a self-adjusting trolley for the posture of a trolley body, and aims to realize the detection of the inclination of the trolley and the adjustment of the posture of the trolley to keep the horizontal. Another object of the present invention is to provide a posture adjustment method of a vehicle body posture self-adjusting cart.
The technical scheme is that the vehicle body posture self-adjusting trolley comprises a vehicle body, a vehicle frame, an active adjusting suspension system and a control system, wherein the vehicle body and the control system are fixed on the vehicle frame, a horizontal sensor for detecting left and right inclination is arranged on the vehicle frame, the vehicle frame comprises a base, two long-axis bevel gears, a torque sensor and a short-axis bevel gear, the long-axis bevel gears and the short-axis bevel gears are rotatably connected with the base, the two long-axis bevel gears are coaxially arranged and are positioned on two sides of the base, the short-axis bevel gears are meshed with the two long-axis bevel gears, the torque sensor is arranged between the short-axis bevel gears and the base and used for detecting torque of a rotating shaft of the short-axis bevel gears, the active adjusting suspension system is provided with two rotating shafts which are respectively connected with the long-axis bevel gears, the active adjusting suspension system comprises a framework, a lifting telescopic mechanism and a power wheel set, the framework is fixedly connected with the rotating shaft of the long-axis bevel gears, the power wheel set is provided with two front ends and rear ends of the framework through connecting rods, the top ends of the framework are coaxially arranged and are respectively, the lifting mechanism is hinged with the lifting mechanism, the lifting telescopic mechanism is connected with the lifting mechanism, the lifting mechanism is connected with the lifting telescopic mechanism is used for driving the lifting mechanism, and the lifting mechanism is provided with the lifting and is used for controlling the lifting and lifting mechanism.
Further, the power wheelset includes support, swing arm, power wheel and swing telescopic machanism, the power wheel includes motor, motor frame and wheel, the motor install in the motor frame drives the wheel, swing telescopic machanism's both ends respectively with support and motor frame are articulated, the swing arm with support and motor frame are articulated respectively, be equipped with second pressure sensor on the swing telescopic machanism, second pressure sensor is used for detecting the load of power wheel, control system with second pressure sensor electricity is connected and is used for controlling swing telescopic machanism action.
Further, the lower end of the swing arm is provided with an arc groove, and the side wall of the motor frame is provided with a positioning pin matched with the arc groove.
Further, the swing arms are arranged in pairs on the front and rear side walls of the motor frame.
Further, the end part of the rotating shaft of the long-shaft bevel gear is a square shaft, a square hole matched with the square shaft is formed in the framework, and the rotating shaft of the long-shaft bevel gear is connected with the framework through the square shaft and the square hole.
The control system judges that a certain power wheel set is in an ascending or descending state according to the positive and negative values measured by the torque sensor, the inclination state measured by the horizontal sensor and the numerical change of each first pressure sensor, and controls the corresponding lifting telescopic mechanism to lift according to the ascending or descending state of the power wheel set so as to compensate the fall of the power wheel set when ascending or descending.
Further, after the lifting telescopic mechanism acts, the control system controls the swinging telescopic mechanism to act according to the numerical value change of a second pressure sensor corresponding to the power wheel set in an ascending or descending state so as to enable the angle and the gradient of the tread of the wheel to coincide, when the numerical value of the second pressure sensor increases, the swinging telescopic mechanism is controlled to contract, and when the numerical value of the second pressure sensor decreases, the swinging telescopic mechanism is controlled to extend.
The technical scheme provided by the invention has the advantages that:
According to the invention, the state of the wheels of the vehicle is judged through the detection of the horizontal sensor, the torque sensor and the first pressure sensor, and the lifting telescopic mechanism is used for carrying out height compensation and automatically adjusting the posture of the platform, so that the vehicle is always kept in the horizontal state in the travelling process, a stable horizontal platform is provided for functional equipment needing to perform posture fixing operation on the vehicle, the functional equipment on the vehicle can be conveniently and accurately operated, and the tread of the vehicle can be further inclined through the swing arm telescopic mechanism so as to adapt to the road surfaces with different gradients. The invention has the advantages of no need of manual intervention, small trolley body, simple structure and high degree of automation, and is suitable for horizontal operation in limited space.
Drawings
Fig. 1 is a schematic perspective view of a vehicle body posture self-adjusting cart of an embodiment.
Fig. 2 is a schematic view of the internal structure of the vehicle body posture self-adjusting cart.
Fig. 3 is a schematic view of a frame structure.
FIG. 4 is a schematic diagram of an actively-modulated suspension system architecture.
Fig. 5 is a schematic diagram of a power wheel set configuration.
Fig. 6 is a schematic view of the structure of the right front wheel of the vehicle body posture self-adjusting trolley when encountering an upward slope.
Fig. 7 is a schematic diagram of the swing telescopic mechanism controlling the action process of the wheels.
Detailed Description
The present application is further described below with reference to examples, which are to be construed as merely illustrative of the present application and not limiting of its scope, and various modifications to the equivalent arrangements of the present application will become apparent to those skilled in the art upon reading the present description, which are within the scope of the application as defined in the appended claims.
As shown in fig. 1 to 5, the vehicle body posture self-adjusting cart of the present embodiment includes a vehicle body 1, a battery 2, a hydraulic system 3, a control system 4, a vehicle frame 5, and an active adjustment suspension system 6. Wherein the vehicle body 1, the storage battery 2, the hydraulic system 3 and the control system 4 are all mounted on a vehicle frame 5, and a level sensor (not shown in the figure) is mounted on the vehicle frame 5, and is connected with the control system 4 for measuring the left-right tilting state of the vehicle. The frame 5 is composed of a base 501, long-axis bevel gears 502, bearings, torque sensors 503 and short-axis bevel gears 504, wherein the long-axis bevel gears 502 are arranged in two and are rotatably connected with the base 501 through the bearings, the two long-axis bevel gears 502 are coaxially arranged, and the shafts of the long-axis bevel gears 502 are transversely arranged on the left side and the right side of the trolley. The short-axis bevel gear 504 is also rotatably connected with the base 501 through a bearing, is positioned between the two long-axis bevel gears 502 and is meshed with the two long-axis bevel gears 502, the torque sensor 503 is arranged on the shaft of the short-axis bevel gear 504 and is electrically connected with the control system 4, one end of the torque sensor 503 is fixedly connected with the base 501, and the other end of the torque sensor 503 is fixedly connected with the shaft of the short-axis bevel gear 504. When any one of the long-axis bevel gears 502 on two sides rotates, the short-axis bevel gears 504 are driven to rotate, and torque can be measured through the torque sensor 503, so that the rotation trend of the two long-axis bevel gears 502 can be detected in real time.
The active adjustment suspension system 6 is provided in two, symmetrically disposed on either side of the base 501. The active adjustment suspension system 6 includes a frame 601, a lift telescoping mechanism 602, and a power wheel set 603. The front and rear parts of the frame 601 are respectively provided with a power wheel set 603, the middle part of the frame 601 is connected with the shaft of a long shaft bevel gear 502 and rotates along with the shaft, in the embodiment, a square hole 601a is formed in the middle part of the frame 601, and the end part of the shaft of the long shaft bevel gear 502 is processed into a square shaft which is inserted into the square hole 601a to be matched. The middle part of the framework 601 is connected with the power wheel set 603 through two connecting rods 604, the upper ends of the connecting rods 604 are hinged with the framework 601, and the lower ends of the connecting rods 604 are fixedly connected with the power wheel set 603. The lifting telescopic mechanism 602 adopts a lifting oil cylinder, two ends of the lifting oil cylinder are respectively hinged with the end part of the framework 601 and the power wheel set 603, a first pressure sensor 605 is arranged on the lifting oil cylinder to detect the stress of the power wheel set 603, one end of the first pressure sensor 605 is hinged with a pin hole of the framework 601, therefore, when the lifting oil cylinder acts, under the limitation of the connecting rod 604, the power wheel set 603 can move up and down to adjust the ground clearance of the power wheel set 603, and the first pressure sensor 605 is electrically connected with the control system 4.
The power wheel set 603 includes a bracket 6031, a swing arm 6032, a power wheel 6033, and a swing telescopic mechanism 6034. The bracket 6031 is used for bearing the power wheel 6033 and is connected with the connecting rod 604 and the lifting oil cylinder, that is, the connecting rod 604 and the lifting oil cylinder are hinged with the bracket 6031. The power wheel 6033 includes a motor 6033a, a motor frame 6033b, and wheels 6033c, and the motor 6033a is fixed to the motor frame 6033b to drive the wheels 6033c to rotate. The upper end of the swing arm 6032 is hinged with the bracket 6031, the middle part of the swing arm 6032 is hinged with the motor bracket 6033b, in order to control the swing and floating of the power wheel 6033, the lower end of the swing arm 6032 is provided with a sector plate, the sector plate is provided with an arc groove 6032a, the side wall of the motor bracket 6033b is provided with a positioning pin 6033d matched with the arc groove 6032a, and the positioning pin 6033d moves in the arc groove 6032a to achieve the maximum swing angle of the power wheel 6033 when the power wheel 6033 is positioned at the two ends of the arc groove 6032 a. The swing telescopic mechanism 6034 employs a swing cylinder, and a connection position thereof is provided between the swing arm 6032 and the wheel 6033 c. The two ends of the swinging oil cylinder are respectively hinged with the bracket 6031 and the motor bracket 6033b, a second pressure sensor 6035 is arranged on the swinging oil cylinder to detect the stress of the power wheel set 603, and one end of the swinging oil cylinder, which is provided with the second pressure sensor 6035, is hinged with the motor bracket 6033 b. The inclination angle of the power wheel 6033 and the horizontal plane can be adjusted through the action of the swing oil cylinder, the tread of the wheel is attached to the ground, and the second pressure sensor 6035 is electrically connected with the control system 4.
Referring to fig. 6, in the self-adjusting vehicle body posture self-adjusting vehicle, when one side of the front part of the self-adjusting vehicle encounters a slope surface to tilt up, the whole vehicle body is driven to have a tilting tendency, at this time, the measured values of the horizontal sensor and the torque sensor 503 change, the four-wheel counterweight of the vehicle changes due to the deviation of the center of gravity, the measured values of the corresponding first pressure sensor 605 and the corresponding second pressure sensor 6035 also change, relevant data are fed back to a processor of the control system 4, and the processing result is sent to the lifting oil cylinder and the swinging oil cylinder through calculation, so that the telescopic action is performed, and the vehicle is restored to the horizontal posture. The following description takes a slope as an example of a left front wheel of a vehicle, and the control process comprises the following steps:
(1) The active adjustment suspension system 6 generates torque about the square bore 601a, which is transmitted to the torque sensor 503 through the drive of the long axis bevel gear 502 and the short axis bevel gear 504. Since the rotation directions of the bevel gears 504 of the short shaft caused when the front left wheel or the front right wheel encounters an upward slope are opposite, the distinction determination can be performed by the positive and negative values of the torque sensor 503, and if the value of the torque sensor 503 is positive when the front left wheel encounters an upward slope, the front left wheel or the rear right wheel can be determined to be relatively high when the value of the torque sensor 503 is positive, namely, the front left wheel becomes high when the front left wheel encounters an upward slope, the rear left wheel becomes low when the rear right wheel becomes high when the front right wheel encounters an upward slope, and the front right wheel becomes low when the front right wheel encounters a downward slope, and the situation of the vehicle can be determined by combining the value changes of the values of the level sensor and the first pressure sensor
(2) The left front wheel can be judged to meet the slope through the right inclination of the side of the horizontal sensor, and meanwhile, the value of the first pressure sensor of the left rear wheel is reduced while the value of the first pressure sensors of other wheels is increased.
(3) The processor of the control system can output the processing result by calculation, namely, the control system controls the left front wheel lifting cylinder of the vehicle to shrink so as to enable the power wheel set 603 to rise.
(4) After the power wheel set 603 is lifted, the contact position of the ground and the tread of the wheel changes, so that the value of the second pressure sensor 6035 changes, and the expansion and contraction of the swing cylinder are adjusted according to the increase or decrease, so that the tread is attached to the slope. As shown in fig. 7, when the wheel encounters a slope with a high outer side and a low inner side, the value of the second pressure sensor 6035 at time T2 is larger than the value of the second pressure sensor 6035 of the other wheels at time T1 due to the increase of the moment arm. The control system controls the contraction of the swing cylinder to coincide the angle and the gradient of the tread of the wheel, move the stress point inwards, reduce the force arm, namely at the time T3, the value 6035 of the second pressure sensor is reduced to be equivalent to the value 6035 of the second pressure sensor of other wheels, and the swing cylinder stops acting. If the wheel meets the slope with high inner side and low outer side, the value of the second pressure sensor 6035 is reduced, and the control system controls the extension of the swing oil cylinder until the value of the second pressure sensor 6035 is increased to be equivalent to the value of the second pressure sensor 6035 of other wheels, and the swing oil cylinder stops to enable the tread of the wheel to coincide with the slope.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210382151.2A CN114801633B (en) | 2022-04-13 | 2022-04-13 | A vehicle with self-adjusting posture and a method for adjusting posture thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210382151.2A CN114801633B (en) | 2022-04-13 | 2022-04-13 | A vehicle with self-adjusting posture and a method for adjusting posture thereof |
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| Publication Number | Publication Date |
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| CN114801633A CN114801633A (en) | 2022-07-29 |
| CN114801633B true CN114801633B (en) | 2025-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210382151.2A Active CN114801633B (en) | 2022-04-13 | 2022-04-13 | A vehicle with self-adjusting posture and a method for adjusting posture thereof |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039791A (en) * | 2010-06-13 | 2011-05-04 | 长沙中联重工科技发展股份有限公司 | Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane |
| CN106938597A (en) * | 2017-02-24 | 2017-07-11 | 吉林大学 | A kind of hilly and mountainous land tractor body device for adjusting posture and method of adjustment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60139515A (en) * | 1983-12-28 | 1985-07-24 | Sanyo Brake Kogyo Kk | Stabilizer for turning run |
| US20060254841A1 (en) * | 2005-05-16 | 2006-11-16 | Strong Russell W | Vehicle with adjustable axle system for actively maintaining stability |
| CN108058755B (en) * | 2017-12-04 | 2020-09-25 | 吉林大学 | Double-triangular suspension wheel leg type all-terrain mobile robot |
| CN109050194A (en) * | 2018-08-28 | 2018-12-21 | 石海军 | Mechanical active suspension system |
| CN110722946A (en) * | 2019-10-17 | 2020-01-24 | 清华大学 | Vehicle attitude active adjustment system and vehicle |
| CN111559216A (en) * | 2020-04-26 | 2020-08-21 | 东风汽车集团有限公司 | Double-fork arm suspension structure with adjustable vehicle body posture |
-
2022
- 2022-04-13 CN CN202210382151.2A patent/CN114801633B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039791A (en) * | 2010-06-13 | 2011-05-04 | 长沙中联重工科技发展股份有限公司 | Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane |
| CN106938597A (en) * | 2017-02-24 | 2017-07-11 | 吉林大学 | A kind of hilly and mountainous land tractor body device for adjusting posture and method of adjustment |
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| Publication number | Publication date |
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| CN114801633A (en) | 2022-07-29 |
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