A vehicle with self-adjusting posture and a method for adjusting posture thereof

Abstract

The present invention discloses a vehicle body posture self-adjusting vehicle, comprising a vehicle body, a vehicle frame, an active adjustment suspension system and a control system, wherein the vehicle frame comprises a base, two long-axis bevel gears, a torque sensor and a short-axis bevel gear, the long-axis bevel gear and the short-axis bevel gear are rotatably connected with the base, the two long-axis bevel gears are coaxially arranged, the short-axis bevel gear and the long-axis bevel gear are meshed, the torque sensor detects the torque of the rotating shaft of the short-axis bevel gear, the active adjustment suspension system is provided with two, including a frame, a lifting and telescopic mechanism and a power wheel set, the frame is fixedly connected with the rotating shaft of the long-axis bevel gear, the power wheel set is provided with two and is respectively connected to the front and rear ends of the frame through a connecting rod, the lifting and telescopic mechanism drives the power wheel set to lift or fall, the lifting and telescopic mechanism is provided with a first pressure sensor for detecting the load of the power wheel set, and the control system is electrically connected to the first pressure sensor and the torque sensor and controls the lifting and telescopic mechanism. The present invention can detect the inclination of the vehicle and keep it running horizontally.

Description

Technical Field

[0001] The invention relates to a mobile trolley and a posture adjustment method thereof, in particular to a vehicle body posture self-adjusting trolley and a posture adjustment method thereof. Background Art

[0002] Generally, the four wheels of a trolley used for parallel movement are relatively fixed, and it can usually remain stable when running on flat ground. In order to improve its stability, shock absorbers are added to filter vibrations. However, when the vehicle encounters a larger obstacle on the road, such as a small slope or pothole on one side, the vehicle will tilt. At this time, it is difficult for the vehicle body to remain horizontal and stable. In some situations requiring horizontal operation, sequential work may not be possible. Summary of the invention

[0003] In view of the above defects of the prior art, the present invention provides a vehicle with a self-adjusting posture, the purpose of which is to detect the tilt of the vehicle and adjust the posture of the vehicle to keep it level. Another purpose of the present invention is to provide a posture adjustment method for the vehicle with a self-adjusting posture.

[0004] The technical solution of the present invention is as follows: a vehicle with a self-adjusting body posture, comprising a body, a frame, an active adjustment suspension system and a control system, wherein the body and the control system are fixed on the frame, and the frame is provided with a horizontal sensor for detecting left and right tilt, the frame comprises a base, two long-axis bevel gears, a torque sensor and a short-axis bevel gear, the long-axis bevel gear and the short-axis bevel gear are rotatably connected to the base, the two long-axis bevel gears are coaxially arranged and located on both sides of the base, the short-axis bevel gear is meshed with the two long-axis bevel gears, the torque sensor is arranged between the short-axis bevel gear and the base to detect the torque of the rotating shaft of the short-axis bevel gear, and the active adjustment suspension system is provided with two rotating shafts of the long-axis bevel gears, respectively. The active adjustment suspension system includes a frame, a lifting and telescopic mechanism and a power wheel group. The frame is fixedly connected to the rotating shaft of the long-axis bevel gear. The power wheel group is provided with two and is respectively connected to the front and rear ends of the frame through a connecting rod. The top of the connecting rod is hinged to the frame, one end of the lifting and telescopic mechanism is hinged to the frame, and the other end of the lifting and telescopic mechanism is hinged to the power wheel group. The lifting and telescopic mechanism drives the power wheel group to lift or lower. The lifting and telescopic mechanism is provided with a first pressure sensor, and the first pressure sensor is used to detect the load of the power wheel group. The control system is electrically connected to the first pressure sensor, the torque sensor, and the level sensor and is used to control the action of the lifting and telescopic mechanism.

[0005] Furthermore, the power wheel group includes a bracket, a swing arm, a power wheel and a swinging and telescopic mechanism. The power wheel includes a motor, a motor frame and a wheel. The motor is installed on the motor frame and drives the wheel. The two ends of the swinging and telescopic mechanism are respectively hinged to the bracket and the motor frame. The swing arm is respectively hinged to the bracket and the motor frame. A second pressure sensor is provided on the swinging and telescopic mechanism. The second pressure sensor is used to detect the load of the power wheel. The control system is electrically connected to the second pressure sensor and is used to control the action of the swinging and telescopic mechanism.

[0006] Furthermore, a circular arc groove is provided at the lower end of the swing arm, and a positioning pin cooperating with the circular arc groove is provided on the side wall of the motor frame.

[0007] Furthermore, the swing arms are arranged in pairs on the front and rear side walls of the motor frame.

[0008] Furthermore, the end of the rotating shaft of the long-axis bevel gear is a square shaft, the frame is provided with a square hole matching the square shaft, and the rotating shaft of the long-axis bevel gear is connected to the frame through the square shaft and the square hole.

[0009] A posture adjustment method for a vehicle body posture self-adjusting vehicle is based on the above-mentioned vehicle body posture self-adjusting vehicle. The control system determines whether a power wheel group is in an uphill or downhill state according to the positive and negative values ​​measured by the torque sensor, the tilt state measured by the horizontal sensor, and the value changes of each of the first pressure sensors. The control system controls the corresponding lifting and telescopic mechanism to lift and lower according to whether the power wheel group is in an uphill or downhill state to compensate for the drop of the power wheel group when going uphill or downhill.

[0010] Furthermore, after the lifting and telescopic mechanism is actuated, the control system controls the movement of the swinging and telescopic mechanism so that the angle of the wheel tread coincides with the slope according to the value change of the second pressure sensor corresponding to the power wheel group in the uphill or downhill state; when the value of the second pressure sensor increases, the swinging and telescopic mechanism is controlled to contract; and when the value of the second pressure sensor decreases, the swinging and telescopic mechanism is controlled to extend.

[0011] The advantages of the technical solution provided by the present invention are:

[0012] In the present invention, the state of the vehicle's wheels is determined by the detection of the level sensor, the torque sensor and the first pressure sensor, and the lifting and telescopic mechanism performs height compensation to automatically adjust the posture of the platform, thereby ensuring that the vehicle is always kept in a horizontal state during the travel process, providing a stable horizontal platform for functional equipment that needs to be positioned on the vehicle, facilitating the precise operation of the functional equipment on the vehicle, and further tilting the vehicle tread through the swing arm telescopic mechanism to adapt to different slopes of the road. The present invention does not require manual intervention, the vehicle is small in size, simple in structure, and highly automated, and is suitable for horizontal operations in limited spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of a vehicle body posture self-adjusting vehicle according to an embodiment.

[0014] Figure 2 It is a schematic diagram of the internal structure of the vehicle with self-adjusting body posture.

[0015] Figure 3 It is a schematic diagram of the frame structure.

[0016] Figure 4 It is a schematic diagram of the structure of the active adjustment suspension system.

[0017] Figure 5 It is a schematic diagram of the power wheel structure.

[0018] Figure 6 It is a structural diagram of the right front wheel of the vehicle with self-adjusting body posture encountering an uphill slope.

[0019] Figure 7 It is a schematic diagram of the forces acting on the wheel during the movement of the swing telescopic mechanism. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with examples. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading this description, various equivalent modifications to this description by those skilled in the art fall within the scope defined by the claims attached to this application.

[0021] Please combine Figures 1 to 5As shown, the vehicle body posture self-adjusting trolley of this embodiment includes a vehicle body 1, a battery 2, a hydraulic system 3, a control system 4, a frame 5 and an active adjustment suspension system 6. The vehicle body 1, the battery 2, the hydraulic system 3 and the control system 4 are all installed on the frame 5. A horizontal sensor (not shown in the figure) is installed on the frame 5, which is connected to the control system 4 for measuring the left and right tilt state of the vehicle. The frame 5 is composed of a base 501, a long-axis bevel gear 502, a bearing, a torque sensor 503, and a short-axis bevel gear 504. Two long-axis bevel gears 502 are provided, which are rotatably connected to the base 501 through bearings. The two long-axis bevel gears 502 are coaxially arranged, and the axes of the long-axis bevel gears 502 are arranged in the left and right transverse direction of the trolley. The short-axis bevel gear 504 is also rotatably connected to the base 501 through a bearing, and is located between the two long-axis bevel gears 502 and meshes with both 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 to the control system 4. One end of the torque sensor 503 is fixedly connected to the base 501, and the other end is fixedly connected to the shaft of the short-axis bevel gear 504. When any one of the long-axis bevel gears 502 on both sides rotates, the short-axis bevel gear 504 is driven to rotate, and the torque can be measured by the torque sensor 503, thereby detecting the rotation trend of the two long-axis bevel gears 502 in real time.

[0022] Two active adjustment suspension systems 6 are provided, symmetrically arranged on both sides of the base 501. The active adjustment suspension system 6 includes a frame 601, a lifting and telescopic mechanism 602 and a power wheel set 603. A power wheel set 603 is installed at the front and rear parts of the frame 601 respectively, and is connected to the shaft of a long-axis bevel gear 502 in the middle of the frame 601 and rotates with the shaft. In this embodiment, a square hole 601a is opened in the middle of the frame 601, and the end of the shaft of the long-axis bevel gear 502 is processed into a square shaft, which is inserted into the square hole 601a for matching. The middle part of the frame 601 is connected to the power wheel set 603 through two connecting rods 604, the upper end of the connecting rod 604 is hinged to the frame 601, and the lower end of the connecting rod 604 is fixed to the power wheel set 603. The lifting and telescopic mechanism 602 adopts a lifting cylinder, and the two ends of the lifting cylinder are respectively hinged to the end of the frame 601 and the power wheel group 603, wherein a first pressure sensor 605 is arranged on the lifting cylinder to detect the force on the power wheel group 603, and one end of the first pressure sensor 605 is hinged to the pin hole of the frame 601, so that when the lifting cylinder is actuated, under the restriction of the connecting rod 604, the power wheel group 603 can move up and down to adjust the height of the power wheel group 603 from the ground, and the first pressure sensor 605 is electrically connected to the control system 4.

[0023] The power wheel assembly 603 includes a bracket 6031, a swing arm 6032, a power wheel 6033, and a swing telescopic mechanism 6034. The bracket 6031 is used to carry the power wheel 6033 and realize the connection with the connecting rod 604 and the lifting cylinder, that is, the connecting rod 604 and the lifting cylinder are hinged with the bracket 6031. The power wheel 6033 includes a motor 6033a, a motor frame 6033b, and a wheel 6033c. The motor 6033a is fixed on the motor frame 6033b to drive the wheel 6033c to rotate. The upper end of the swing arm 6032 is hinged to the bracket 6031, and the middle part of the swing arm 6032 is hinged to the motor frame 6033b. In order to control the swing and floating of the power wheel 6033, a fan-shaped plate is set at the lower end of the swing arm 6032, and an arc groove 6032a is opened on the fan-shaped plate. A positioning pin 6033d matching the arc groove 6032a is set on the side wall of the motor frame 6033b. When the positioning pin 6033d moves in the arc groove 6032a and is located at both ends of the arc groove 6032a, the power wheel 6033 reaches the maximum swing angle. The swing telescopic mechanism 6034 adopts a swing oil cylinder, and its connection position is set between the swing arm 6032 and the wheel 6033c. The two ends of the swing cylinder are respectively hinged with the bracket 6031 and the motor frame 6033b. The second pressure sensor 6035 is provided on the swing cylinder to detect the force of the power wheel group 603. One end of the second pressure sensor 6035 is hinged with the motor frame 6033b. Through the action of the swing cylinder, the inclination angle of the power wheel 6033 and the horizontal plane can be adjusted so that the wheel tread is in contact with the ground. The second pressure sensor 6035 is electrically connected to the control system 4.

[0024] Please combine Figure 6 As shown, the vehicle body posture self-adjusting vehicle of the present invention, when the front side encounters a slope and tilts up, the entire vehicle body has a tendency to tilt up, at this time the measurement values ​​of the horizontal sensor and the torque sensor 503 change, the vehicle's four-wheel weight balance changes due to the offset of the center of gravity, and the corresponding measurement values ​​of the first pressure sensor 605 and the second pressure sensor 6035 also change, and the relevant data are fed back to the processor of the control system 4, and the processing results are sent to the lifting cylinder and the swing cylinder through calculation, so as to perform telescopic actions and restore the vehicle to a horizontal posture. The following is an example of the left front wheel of the vehicle encountering a slope, and the control process steps are as follows:

[0025] (1) Actively adjust the suspension system 6 to generate torque around the square hole 601a, and transmit the torque to the torque sensor 503 through the transmission of the long-axis bevel gear 502 and the short-axis bevel gear 504. Since the rotation direction of the short-axis bevel gear 504 caused by the left front wheel or the right front wheel encountering an uphill slope is opposite, the positive and negative values ​​of the torque sensor 503 can be used to distinguish and judge. Assuming that the value of the torque sensor 503 is positive when the left front wheel encounters an uphill slope, when the value of the torque sensor 503 is positive, it can be judged that the left front wheel or the right rear wheel becomes relatively higher, that is, the left front wheel becomes higher when encountering an uphill slope, the left rear wheel becomes lower when encountering a downhill slope, the right rear wheel becomes higher when encountering an uphill slope, and the right front wheel becomes lower when encountering a downhill slope. Combined with the changes in the values ​​of the level sensor and the first pressure sensor, it can be judged that the vehicle is in which of the following situations as shown in the following table

[0026]

[0027] (2) If the horizontal sensor indicates that the vehicle is leaning to the right and the value of the first pressure sensor of the left rear wheel decreases while the values ​​of the first pressure sensors of other wheels increase, it can be determined that the left front wheel is encountering a slope.

[0028] (3) The processor of the control system can perform calculations and output processing results: controlling the left front wheel lifting cylinder of the vehicle to contract, so that the power wheel group 603 is lifted.

[0029] (4) After the power wheel group 603 is lifted, the contact position between the ground and the wheel tread changes, causing the value of the second pressure sensor 6035 to change. According to the increase or decrease, the extension and contraction of the swing cylinder is adjusted to make the tread fit the slope. Figure 7 As shown, when the wheel encounters a slope with a high outside and a low inside, due to the increase in the lever arm, the value of the second pressure sensor 6035 at time T2 will be greater than that at time T1, and also greater than the values ​​of the second pressure sensors 6035 of other wheels. The control system controls the contraction of the swing cylinder to coincide the angle of the wheel tread with the slope, move the force point inward, and reduce the lever arm, that is, at time T3, the value of the second pressure sensor 6035 will decrease to the same value as the second pressure sensors 6035 of other wheels, and the swing cylinder will stop moving. If the wheel encounters a slope with a high inside and a low outside, the value of the second pressure sensor 6035 will decrease. At this time, the control system controls the extension of the swing cylinder until the value of the second pressure sensor 6035 increases to the same value as the second pressure sensors 6035 of other wheels, and the swing cylinder stops moving to coincide the wheel tread with the slope.

Claims

1. A vehicle with self-adjusting body posture, characterized in that: It includes a body, a frame, an active adjustment suspension system and a control system, wherein the body and the control system are fixed on the frame, and the frame is provided with a horizontal sensor for detecting left and right tilt, the frame includes a base, two long-axis bevel gears, a torque sensor and a short-axis bevel gear, the long-axis bevel gear and the short-axis bevel gear are rotatably connected to the base, the two long-axis bevel gears are coaxially arranged and located on both sides of the base, the short-axis bevel gear is meshed with the two long-axis bevel gears, the torque sensor is arranged between the short-axis bevel gear and the base for detecting the torque of the rotating shaft of the short-axis bevel gear, the active adjustment suspension system is provided with two rotating shafts respectively connected to the long-axis bevel gears, the active adjustment suspension system includes a frame, a lifting and telescopic mechanism and a power wheel set, the frame is fixedly connected to the rotating shaft of the long-axis bevel gear, the power wheel set is provided with two and is respectively connected to the front and rear ends of the frame through a connecting rod, the top of the connecting rod is hinged to the frame, the lifting and telescopic mechanism One end of the lifting and telescopic mechanism is hinged to the frame, and the other end of the lifting and telescopic mechanism is hinged to the power wheel group. The lifting and telescopic mechanism drives the power wheel group to lift or lower. The lifting and telescopic mechanism is provided with a first pressure sensor, and the first pressure sensor is used to detect the load of the power wheel group. The control system is electrically connected to the first pressure sensor, the torque sensor, and the level sensor and is used to control the action of the lifting and telescopic mechanism; the power wheel group includes a bracket, a swing arm, a power wheel and a swing telescopic mechanism, and the power wheel includes a motor, a motor frame and a wheel. The motor is installed on the motor frame and drives the wheel. The two ends of the swing telescopic mechanism are respectively hinged to the bracket and the motor frame, and the swing arm is respectively hinged to the bracket and the motor frame. A second pressure sensor is provided on the swing telescopic mechanism, and the second pressure sensor is used to detect the load of the power wheel. The control system is electrically connected to the second pressure sensor and is used to control the action of the swing telescopic mechanism.

2. The vehicle body posture self-adjusting vehicle according to claim 1, characterized in that: 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.

3. The vehicle body posture self-adjusting vehicle according to claim 1, characterized in that: The swing arms are arranged in pairs on the front and rear side walls of the motor frame.

4. The vehicle body posture self-adjusting vehicle according to claim 1, characterized in that: The end of the rotating shaft of the long-axis bevel gear is a square shaft, and the frame is provided with a square hole matched with the square shaft. The rotating shaft of the long-axis bevel gear is connected to the frame through the square shaft and the square hole.

5. A posture adjustment method for a vehicle with self-adjusting body posture, characterized in that: Based on the vehicle body posture self-adjusting vehicle as described in any one of claims 1 to 4, the control system determines whether a power wheel group is in an uphill or downhill state according to the positive and negative values ​​measured by the torque sensor, the inclination state measured by the horizontal sensor and the value changes of each of the first pressure sensors. The control system controls the corresponding lifting and telescopic mechanism to lift and lower according to whether the power wheel group is in an uphill or downhill state to compensate for the drop of the power wheel group when going uphill or downhill.

6. The posture adjustment method of the vehicle body posture self-adjusting vehicle according to claim 5, characterized in that: After the lifting and telescopic mechanism is actuated, the control system controls the swinging and telescopic mechanism to actuate according to the value change of the second pressure sensor corresponding to the power wheel group in the uphill or downhill state so that the angle of the wheel tread coincides with the slope; when the value of the second pressure sensor increases, the swinging and telescopic mechanism is controlled to contract; and when the value of the second pressure sensor decreases, the swinging and telescopic mechanism is controlled to extend.

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