Double-wheel balance car with variable lead screw type driving wheel poses

Abstract

The utility model relates to the technical field of double-wheel balance cars with variable driving wheel poses, and discloses a lead screw type double-wheel balance car with variable driving wheel poses, which comprises a chassis main body, a suspension assembly, a wheel assembly and a lead screw assembly, the wheel assembly is assembled with the suspension assembly, and the lead screw assembly is assembled with the chassis main body; the screw rod assembly comprises a screw rod shaft and a screw rod motor, the suspension assembly comprises a connecting seat and a suspension assembly, the suspension assembly is used for assembling the wheel assembly, the upper part of the connecting seat is assembled with the chassis main body, the lower part of the connecting seat is fixed with the suspension assembly, and the screw rod shaft is used for driving the suspension assembly to move relative to the chassis main body. When the vehicle body inclines forwards, the driving wheels move to enable the gravity center to move backwards relative to the supporting point, and the vehicle body is prevented from inclining forwards. When the vehicle body inclines backwards, the driving wheels move to enable the center of gravity to move forwards relative to the supporting point, and the vehicle body is prevented from inclining backwards. The gravity center is adjusted to maintain balance, the balance of the chassis device is improved, and the robot can keep a vertical posture conveniently.

Description

Technical Field

[0001] This utility model patent relates to the technical field of two-wheeled self-balancing vehicles, and more specifically, to a two-wheeled self-balancing vehicle with a variable position and posture of the lead screw-driven wheel. Background Technology

[0002] With the rapid development of robotics technology, people's demand for robots that can move flexibly in narrow spaces has increased, and two-wheeled robots have been widely studied and used due to their small size and smooth movement.

[0003] Currently, two-wheeled robots include a chassis structure, which enables the robot to move and maintain balance. For example, a prior patent with authorization publication number CN219055900U discloses a chassis for a two-wheeled balancing robot, including: a main frame made of aluminum square tubing, comprising connecting parts on both sides and a support part in the middle, wherein the connecting parts on both sides are symmetrically arranged with the support part as the center, and the support part is used to connect to the robot; two dual-wheel suspension mechanisms, respectively disposed on the connecting parts of the main frame, for walking and shock absorption; and two auxiliary wheel mechanisms, symmetrically disposed at the front and rear of the main frame, located below the support part.

[0004] In the prior art, the position of the wheel assembly in the chassis structure is not adjustable. During driving, it is impossible to maintain balance by adjusting the position of the wheel assembly, which can easily cause the vehicle body to tilt forward or backward, resulting in insufficient balance of the chassis structure. Utility Model Content

[0005] The purpose of this invention is to provide a two-wheeled self-balancing vehicle with variable position and posture of the lead screw drive wheel, aiming to solve the problem of insufficient balance of the chassis structure in the prior art.

[0006] This invention is implemented as follows: a two-wheeled self-balancing vehicle with variable position and posture driven by a lead screw includes a chassis body, two suspension assemblies, two wheel assemblies, and two lead screw assemblies. The two wheel assemblies are respectively assembled with the two suspension assemblies one-to-one, and the two lead screw assemblies are respectively assembled with the chassis body. Each lead screw assembly includes a lead screw shaft and a lead screw motor. The lead screw motor drives the lead screw shaft to rotate. Each suspension assembly includes a connecting seat and a suspension component. The suspension component is used to assemble the wheel assemblies. The upper part of the connecting seat is movably assembled with the chassis body, and the lower part of the connecting seat is vertically connected to and fixedly arranged with the suspension component. The lead screw shaft passes through the connecting seat and drives the suspension component to move relative to the chassis body.

[0007] Furthermore, the lead screw assembly includes a linkage block, the lead screw shaft passes through the linkage block, and the lead screw shaft is used to drive the linkage block to be moved. The linkage block and the connecting seat are stacked and fixedly arranged.

[0008] Furthermore, the lead screw assembly includes two linkage blocks, the connecting seat is located between the two linkage blocks, and the two linkage blocks are synchronously stacked and fixed with the connecting seat. The lead screw shaft is used to synchronously drive the two linkage blocks to move.

[0009] Furthermore, the lead screw assembly includes two sliders, which are synchronously assembled with the top of the connecting seat. The two sliders are arranged at opposite ends along the connecting seat. The bottom of the chassis body has a guide rail assembly, which includes two guide rail components. The guide rail components are arranged in a long strip shape and are arranged at intervals. The two sliders are movably assembled with the two guide rail components.

[0010] Furthermore, the connecting seat includes a main seat and two seat blocks. The two ends of the main seat are fixedly arranged with the seat blocks respectively, and the slider is arranged to overlap the main seat and the seat blocks in a vertical arrangement. The fixing member extends through the seat blocks and is threadedly connected to the slider.

[0011] Furthermore, the lead screw assembly includes two rod fixing blocks, which are arranged with their ends joined together. The connecting seat is located between the two rod fixing blocks. The two rod fixing blocks are synchronously fixed to the chassis body. The lead screw shaft extends through one of the rod fixing blocks and is fixed to the other rod fixing block.

[0012] Furthermore, the two lead screw assemblies are arranged symmetrically along the chassis body, and the two suspension assemblies are arranged on opposite sides of the chassis body.

[0013] Furthermore, the suspension assembly includes a suspension plate, which is arranged horizontally, and a connecting seat is vertically connected to and fixedly arranged with the suspension plate, with the connecting seat located in the middle of the suspension plate.

[0014] Furthermore, the suspension assembly includes a wheel anchor plate and two reinforcing plates. The upper part of the wheel anchor plate is arranged to mate with the suspension anchor plate, and the lower part of the wheel anchor plate extends vertically away from the suspension anchor plate. The wheel anchor plate is assembled with the wheel assembly. The reinforcing plates are arranged in a triangular shape, and the sides of the two reinforcing plates are assembled with the two sides of the wheel anchor plate. The top of the reinforcing plates is assembled with the suspension anchor plate.

[0015] Furthermore, the suspension assembly includes a suspension control box, which is assembled with the wheel fixation plate. The wheel assembly includes a wheel control plate and multiple detection sensors. The detection sensors are used to detect the driving state of the wheel assembly. The wheel control plate and each of the detection sensors are respectively installed inside the suspension control box, and the detection sensors are in signal communication with the wheel control plate.

[0016] Compared with existing technologies, the two-wheeled self-balancing robot with variable position of the lead screw drive wheel provided by this utility model has the following characteristics: When the two-wheeled robot is moving, when the body tilts forward, the lead screw assembly outputs driving force, causing the suspension assembly and wheel assembly to move backward relative to the chassis body, so that the center of gravity shifts behind the support point and the body tilts backward. When the body tilts backward, the lead screw assembly outputs driving force, causing the suspension assembly and wheel assembly to move forward relative to the chassis body, so that the center of gravity shifts in front of the support point and the body tilts backward. In this way, by adjusting the position of the wheel assembly to adjust the center of gravity, the chassis device can maintain balance, improve the balance of the chassis device, and also make it easier for the robot to always maintain a vertical posture. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the two-wheeled self-balancing vehicle with variable position and posture of the lead screw drive wheel provided by this utility model;

[0018] Figure 2 This is a schematic diagram of the two-wheeled self-balancing vehicle with variable position of the lead screw drive wheel provided by this utility model in a forward adjustment state;

[0019] Figure 3 This is a schematic diagram of the two-wheeled self-balancing scooter with variable position of the lead screw drive wheel provided by this utility model in a rearward adjustment state;

[0020] Figure 4 This is a three-dimensional schematic diagram of the lead screw assembly of the two-wheeled balance vehicle with variable position and posture of the lead screw drive wheel provided by this utility model;

[0021] Figure 5 This is a three-dimensional assembly diagram of the suspension assembly and wheel assembly of the two-wheeled self-balancing vehicle with variable position of the lead screw drive wheel provided by this utility model. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] The implementation of this utility model will be described in detail below with reference to specific embodiments.

[0024] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] Reference Figure 1-5 The image shown is a preferred embodiment of the present invention.

[0026] A two-wheeled self-balancing vehicle with variable position and posture driven by a lead screw includes a chassis body 1, two suspension assemblies 4, two wheel assemblies 2, and two lead screw assemblies 3. The two wheel assemblies 2 are respectively assembled with the two suspension assemblies 4, and the two lead screw assemblies 3 are respectively assembled with the chassis body 1. The lead screw assembly 3 includes a lead screw shaft 31 and a lead screw motor 32. The lead screw motor 32 is used to drive the lead screw shaft 31 to rotate. The suspension assembly 4 includes a connecting seat 34 and a suspension component. The suspension component is used to assemble the wheel assembly 2. The upper part of the connecting seat 34 is movably assembled with the chassis body 1, and the lower part of the connecting seat 34 is vertically connected to and fixedly arranged with the suspension component. The lead screw shaft 31 passes through the connecting seat 34 and is used to drive the suspension component to move relative to the chassis body 1.

[0027] The aforementioned two-wheeled self-balancing robot with variable position of the lead screw drive wheel, when the robot is moving, the lead screw assembly 3 outputs driving force to cause the suspension assembly 4 and wheel assembly 2 to move backward relative to the chassis body 1, shifting the center of gravity relative to the rear of the support point and suppressing the forward tilt of the vehicle; when the vehicle tilts backward, the lead screw assembly 3 outputs driving force to cause the suspension assembly 4 and wheel assembly 2 to move forward relative to the chassis body 1, shifting the center of gravity relative to the front of the support point and suppressing the backward tilt of the vehicle. In this way, by adjusting the position of the wheel assembly 2 to adjust the center of gravity, the chassis device can maintain balance, improve the balance of the chassis device, and also make it easier for the robot to always maintain a vertical posture.

[0028] The lead screw assembly 3 includes a linkage block 35, a lead screw shaft 31 passes through the linkage block 35, and the lead screw shaft 31 is used to drive the linkage block 35 to be moved. The linkage block 35 and the connecting seat 34 are stacked and fixed. Under the action of the linkage block 35, it is convenient to drive the connecting seat 34 and improve the smoothness of the movement of the connecting seat 34.

[0029] The lead screw assembly 3 includes two linkage blocks 35, and the connecting seat 34 is located between the two linkage blocks 35. The two linkage blocks 35 are synchronously stacked and fixed with the connecting seat 34. The lead screw shaft 31 is used to synchronously drive the two linkage blocks 35 to move. Under the action of the two linkage blocks 35, the forces on both sides of the connecting seat 34 are evenly distributed, thereby improving the movement stability of the connecting seat 34.

[0030] The lead screw assembly 3 includes two sliders, which are synchronously assembled with the top of the connecting seat 34. The two sliders are arranged at opposite ends along the connecting seat 34. The bottom of the chassis body 1 has a guide rail assembly, which includes two guide rail components. The guide rail components are arranged in a long strip shape and are arranged at opposite ends. The two sliders and the two guide rail components are arranged in a one-to-one movable assembly.

[0031] In this way, the movement stability of the slider is improved by the cooperation of the two sliders and the two guide rails, thereby improving the movement stability of the connecting seat 34.

[0032] The connecting seat 34 includes a main seat and two seat blocks. The two ends of the main seat are fixedly arranged with the seat blocks respectively. The slider is arranged to overlap the main seat and the seat blocks. The fixing member extends through the seat blocks and is threadedly connected to the slider.

[0033] In this way, the use of a main seat and two seat blocks helps to reduce the weight of the connecting seat 34 and facilitates its movement; moreover, the main seat and seat blocks work together to provide comprehensive support for the slider, ensuring the smooth movement of the slider.

[0034] The lead screw assembly 3 includes two rod fixing blocks 33, which are arranged with their ends joined together. The connecting seat 34 is located between the two rod fixing blocks 33. The two rod fixing blocks 33 are synchronously fixed with the chassis body 1. The lead screw shaft 31 extends through one of the rod fixing blocks 33 and fixes the other rod fixing block 33.

[0035] The assembly of the lead screw shaft 31 and the lead screw motor 32 is achieved by the action of the two rod fixing blocks 33, which helps to improve the overall counterweight and facilitates the balance maintenance of the chassis device.

[0036] Furthermore, the four rod fixing blocks 33 simultaneously support the chassis body 1, thereby improving the load-bearing capacity and stability of the chassis body 1.

[0037] The two lead screw assemblies 3 are arranged symmetrically along the chassis body 1, which facilitates the balance maintenance of the chassis device.

[0038] The two suspension assemblies 4 are arranged on opposite sides of the chassis body 1 to facilitate the balance maintenance of the chassis device.

[0039] The two lead screw assemblies 3 can be driven synchronously or staggered, to meet the balance requirements of different driving scenarios.

[0040] For example, when moving forward or backward in a straight line, the two lead screw assemblies 3 use synchronous drive to adjust the center of gravity of the chassis device, avoiding tilting forward or backward and facilitating the chassis device to maintain balance; when turning, the two lead screw assemblies 3 use staggered drive to facilitate the balance maintenance of the chassis device, prevent the two-wheeled robot from tipping over while driving, and improve the driving stability of the two-wheeled robot.

[0041] The suspension assembly 4 includes a suspension plate, which is arranged horizontally. A connecting seat 34 is vertically connected to the suspension plate and fixedly arranged. The connecting seat 34 is located in the middle of the suspension plate. Under the action of the suspension plate, the connecting seat 34 is assembled and the balance between the connecting seat 34 and the suspension assembly 4 is facilitated.

[0042] The suspension assembly 4 includes a wheel anchor plate and two reinforcing plates. The upper part of the wheel anchor plate is arranged to be aligned with the suspension anchor plate, and the lower part of the wheel anchor plate extends vertically away from the suspension anchor plate. The wheel anchor plate is assembled with the wheel assembly 2. The reinforcing plates are arranged in a triangular shape. The sides of the two reinforcing plates are assembled with the two sides of the wheel anchor plate, and the top of the reinforcing plates is assembled with the suspension anchor plate. Under the action of the two reinforcing plates, the load-bearing capacity of the suspension assembly 4 is improved, and the installation of the connecting seat 34 is guaranteed.

[0043] The suspension assembly 4 includes a suspension control box 41, which is assembled with the wheel mounting plate. The wheel assembly 2 includes a wheel control plate 21 and multiple detection sensors. The detection sensors are used to detect the driving status of the wheel assembly 2. The wheel control plate 21 and each detection sensor are respectively installed inside the suspension control box 41, and the detection sensors are connected to the wheel control plate 21 by signal. In this way, the suspension control box 41 protects the wheel control plate 21 and each detection sensor, and at the same time, the driving status of the wheel assembly 2 is monitored by the detection sensors.

[0044] The detection sensor can be a speed sensor, an acceleration sensor, a gyroscope, etc.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dual-wheeled balance vehicle with variable wheel pose of screw drive, characterized in that, The application relates to a chassis, which comprises a chassis body, two suspension assemblies, two wheel assemblies and two screw rod assemblies, the two wheel assemblies are in one-to-one assembly arrangement with the two suspension assemblies respectively, and the two screw rod assemblies are in assembly arrangement with the chassis body respectively; the screw rod assembly comprises a screw rod shaft and a screw rod motor, the screw rod motor is used for driving the screw rod shaft to rotate, the suspension assembly comprises a connecting seat and a suspension component, the suspension component is used for assembling the wheel assembly, the upper portion of the connecting seat is movably assembled with the chassis body, the lower portion of the connecting seat is in up-down butt joint and fixed arrangement with the suspension component, the screw rod shaft penetrates through the connecting seat, and the screw rod shaft is used for driving the suspension component to move relative to the chassis body.

2. The balance vehicle of claim 1, wherein, The screw rod assembly comprises a linkage block, the screw rod shaft penetrates through the linkage block, and the screw rod shaft is used for driving the linkage block to move. 3.The dual-wheeled balance vehicle of claim 2, wherein, The screw rod assembly comprises two linkage blocks, the connecting seat is between the two linkage blocks, and the two linkage blocks are synchronously in superimposed fixed arrangement with the connecting seat, and the screw rod shaft is used for synchronously driving the two linkage blocks to move.

4. The balance vehicle of claim 2, wherein, The screw rod assembly comprises two sliders, the two sliders are synchronously assembled with the top of the connecting seat, and the two sliders are in two-end interval corresponding arrangement along the connecting seat; the bottom of the chassis body is provided with a guide rail group, the guide rail group comprises two guide rail pieces, the guide rail pieces are in long strip extending arrangement, the two guide rail pieces are in interval corresponding arrangement, and the two sliders are in one-to-one movable assembly arrangement with the two guide rail pieces. 5.The dual-wheeled balance vehicle of claim 4, wherein, The connecting seat comprises a main seat and two seat blocks, the two ends of the main seat are fixedly arranged with the seat blocks respectively, and the sliders are synchronously in up-down superimposed arrangement with the main seat and the seat blocks; a fixing piece penetrates through the seat blocks and is in screw thread connection arrangement with the sliders.

6. The balance vehicle of claim 1-5, wherein, The screw rod assembly comprises two rod fixing blocks, the two rod fixing blocks are in two-end butt joint arrangement, the connecting seat is between the two rod fixing blocks, the two rod fixing blocks are synchronously fixedly arranged with the chassis body, and the screw rod shaft penetrates through one of the rod fixing blocks and extends to fix the other rod fixing block.

7. The balance vehicle of claim 1-5, wherein, The two screw rod assemblies are symmetrically arranged along the chassis body, and the two suspension assemblies are correspondingly arranged on the two sides of the chassis body.

8. The balance vehicle of claim 1-5, wherein, The suspension assembly comprises a suspension fixing plate, the suspension fixing plate is horizontally arranged, the connecting seat is in up-down butt joint and fixed arrangement with the suspension fixing plate, and the connecting seat is arranged in the middle of the suspension fixing plate. 9.The dual-wheeled balance vehicle of claim 8, wherein, The suspension assembly comprises a wheel fixing plate and two reinforcing plates, the upper portion of the wheel fixing plate is in butt joint arrangement with the suspension fixing plate, the lower portion of the wheel fixing plate is perpendicularly extended in the direction away from the suspension fixing plate, and the wheel fixing plate is in assembly arrangement with the wheel assembly; the reinforcing plates are in triangular arrangement, the side portions of the two reinforcing plates are in assembly arrangement with the two sides of the wheel fixing plate, and the top portions of the reinforcing plates are in assembly arrangement with the suspension fixing plate. 10.The dual-wheeled balance vehicle of claim 9, wherein, The suspension assembly comprises a suspension control box, the suspension control box is in assembly arrangement with the wheel fixing plate, the wheel assembly comprises a wheel control plate and a plurality of detection sensors, the detection sensors are used for detecting the running state of the wheel assembly, the wheel control plate and each detection sensor are respectively arranged in the interior of the suspension control box, and the detection sensors are in signal communication with the wheel control plate.

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