A smart anti-rollover vehicle for teaching and training

Abstract

This utility model discloses an anti-rollover intelligent vehicle for teaching and training, relating to the field of teaching experimental equipment technology. It includes: a vehicle chassis, Mecanum wheels located at the bottom of the chassis, a control motherboard and battery compartment located on the chassis, and a robotic arm and vision module located on the upper layer of the chassis. The key feature is that an adjustment and stabilization mechanism is provided above the chassis to prevent rollover by actively adjusting the vehicle's support state. This utility model, through the adjustment and stabilization mechanism located above the chassis, effectively improves the intelligent vehicle's anti-rollover capability under complex working conditions, achieving passive safety, high reliability, and strong anti-interference capability. By increasing effective support points, it greatly suppresses the vehicle's tilt angle, allowing the vehicle to operate safely even when carrying heavy loads or operating at high speeds.

Description

Technical Field

[0001] This utility model relates to the field of teaching experimental equipment technology, and in particular to an anti-rollover intelligent vehicle for teaching and training. Background Technology

[0002] Educational robots are comprehensive training platforms integrating mechanics, electronics, control, and artificial intelligence, and are crucial for cultivating students' engineering practice abilities and innovative thinking. Currently, these robots are developing towards greater functional integration and more flexible movement.

[0003] The utility model patent with authorization announcement number CN218082682U discloses a deep learning intelligent robot. By setting up a robot gripper, an image recognition camera, and an ultrasonic ranging sensor, it realizes learning functions such as obstacle recognition, clearing, and path planning. At the same time, the patent solves the problem of shock absorption and protection of the robot during collisions by setting up a protective baffle with an elastic structure. This solution represents a typical technology in the current teaching robot in terms of functional implementation and axial collision avoidance.

[0004] The applicant found that as educational demands increase, the number of modules required for intelligent vehicles is growing, such as robotic arms, high-capacity batteries, and LiDAR, leading to a continuously rising center of gravity. Meanwhile, Mecanum wheels are widely used due to their omnidirectional mobility to achieve precise positioning and flexible movement in complex environments. However, this "high center of gravity, small wheel diameter" configuration causes significant centrifugal force or center of gravity shift during high-speed driving, sharp turns, and especially when the robotic arm performs grasping actions, posing a serious risk of lateral tipping (rollover). The protective barriers in the aforementioned comparative documents primarily address horizontal collisions; they not only fail to solve the problem of lateral instability in the vertical plane, but their added weight may even further exacerbate the center of gravity issue.

[0005] In existing technologies, methods to prevent tipping often involve limiting the vehicle's speed or relying on complex active control algorithms to dynamically adjust its posture. However, this sacrifices the vehicle's motion performance, and the algorithms are complex and costly, making them unsuitable for the core requirements of structural intuitiveness, reliability, and safety in educational settings. Therefore, there is a lack of existing technologies that address the issue from the mechanical structure itself, providing an effective and cost-efficient solution to prevent tipping of intelligent vehicles.

[0006] Therefore, this utility model proposes an anti-tipping intelligent vehicle for teaching and training, aiming to solve the technical problem of insufficient lateral stability and easy tipping caused by the high center of gravity and large grasping action of existing teaching robots. Utility Model Content

[0007] To achieve the above objectives, this utility model provides an anti-rollover intelligent vehicle for teaching and training. The utility model provides the following technical solution, including a vehicle chassis, Mecanum wheels set at the bottom of the vehicle chassis, a control motherboard and battery compartment set on the vehicle chassis, and a robotic arm and vision module set on the upper layer of the vehicle chassis. An adjustment and stabilization mechanism is provided above the vehicle chassis to prevent rollover by actively adjusting the support state of the vehicle body. The adjustment and stabilization mechanism includes a rotating gear, a drive motor, fixed guide rails symmetrically arranged on both sides of the rotating gear, a driven rack, a sliding rod, and an auxiliary wheel assembly; together they constitute a stable support system with actively adjustable width. The rotating gear is rotatably mounted at the top center of the vehicle chassis, serving as the transmission core to ensure that the same motion is transmitted to both sides; The vehicle chassis has a mounting cavity in the middle, and the drive motor is located in the mounting cavity. The output end of the drive motor is connected to the rotary gear transmission. It provides power for the movement of the mechanism and is hidden in the chassis to protect the motor and optimize the center of gravity.

[0008] The fixed guide rail is fixedly installed on the vehicle chassis, and a sliding groove is provided on one side along the length direction to provide precise linear guidance and support for the movement of the sliding rod.

[0009] One side of the sliding rod is slidably disposed in the sliding groove of the fixed guide rail, and the other side is fixedly connected to the driven rack. The driven rack meshes with the rotating gear, thereby converting the rotational motion of the gear into its own linear motion, thus transmitting power.

[0010] The auxiliary wheel assembly is located at the end of the sliding rod away from the rotating gear, and is used to provide an additional support point when the vehicle body is tilted; the other end of the sliding rod is also provided with a limiting assembly to prevent the sliding rod from dislodging from the guide rail.

[0011] Furthermore, the limiting component includes a limiting block one disposed at the end of the sliding rod and a limiting block two disposed in the middle of the fixed guide rail, the limiting block one and the limiting block two being used to limit the sliding stroke of the sliding rod.

[0012] Furthermore, the auxiliary wheel assembly includes a stabilizer arm, a support caster wheel, and a shock-absorbing spring; One end of the stabilizer arm is rotatably connected to the end of the sliding rod, and the other end is equipped with the support caster wheel; One end of the shock-absorbing spring is connected to the side wall of the stabilizer arm, and the other end is connected to the bottom end of the sliding rod near the support caster. The shock-absorbing spring is used to buffer the impact when the support caster contacts the ground, making the movement smoother and providing additional restoring torque.

[0013] Furthermore, the vehicle chassis is equipped with adjustable counterweight components on both sides; these components are used to change the center of gravity of the vehicle by adjusting the position of the counterweights, thereby further improving stability. The adjustable counterweight assembly includes an adjusting rod and a counterweight block; The adjusting rod is vertically positioned between the upper and lower hollow structures of the vehicle chassis to provide support and guidance for the movement of the counterweight. The counterweight is sleeved on the outside of the adjusting rod and can slide along the length of the adjusting rod, allowing the user to adjust the position of the counterweight according to the actual load distribution.

[0014] The counterweight is provided with an adjusting bolt on one side, and the adjusting rod is provided with a plurality of adjusting screw holes that are adapted to the adjusting bolt along its length direction; the adjusting screw holes are used to reliably lock the counterweight at any preset position of the adjusting rod.

[0015] Furthermore, the adjusting rod is also provided with scale lines that correspond one-to-one with the adjusting screw holes, which are used to indicate the position of the counterweight, so as to facilitate quantitative adjustment and repeated positioning.

[0016] Furthermore, the drive motor is a stepper motor or a servo motor.

[0017] Furthermore, the bottom height of the supporting caster wheel is configured to be higher than the bottom height of the Mecanum wheel; this allows it to be fully supported and driven by the Mecanum wheel during normal operation without affecting flexibility; the higher-positioned supporting caster wheel will only contact the ground when a side tilt occurs or the vehicle body tilts to a certain angle, preventing complete rollover.

[0018] In addition, by driving the rotary gear to rotate via the drive motor, the driven rack meshing with it can move the sliding rod and the auxiliary wheel assembly along the fixed guide rail, thereby adjusting the extended position of the support caster on the side of the vehicle body.

[0019] Furthermore, the vision module is a binocular camera.

[0020] Compared with the prior art, the beneficial effects achieved by this utility model are: This invention effectively enhances the anti-rollover capability of the intelligent vehicle under complex working conditions by using an adjustment and stabilization mechanism set above the vehicle chassis. The drive motor drives the rotating gear to rotate, which in turn drives the driven racks on both sides to move synchronously in opposite directions. This pushes the sliding rod and the auxiliary wheel assembly installed at its end to extend or retract along the fixed guide rail. This purely mechanical transmission method adjusts the support wheel track when the vehicle body tilts or when the robotic arm performs a grasping action in advance. It does not rely on complex sensors and control algorithms, thus achieving passive safety, high reliability, and strong anti-interference capability. By adding effective support points, the tilt angle of the vehicle body is greatly suppressed, allowing the vehicle to operate safely when carrying heavy objects or maneuvering at high speed. The shock-absorbing springs included in the auxiliary wheel assembly of this utility model can effectively buffer the impact when the universal wheels contact the ground, making the stable operation smoother. At the same time, the adjustable counterweight components added to both sides of the chassis allow users to precisely adjust the center of gravity distribution of the entire vehicle by sliding the counterweight blocks and fixing them to different positions on the adjusting rod using adjusting bolts. This design enables the vehicle to flexibly adapt to different load states, such as whether the robotic arm is grasping an object, enhancing the adaptability of the equipment to different teaching and experimental tasks. It is also a vivid teaching case about torque balance.

[0021] This utility model has a symmetrical overall structure, balanced force distribution, and stable operation. All components are easy to process and install, and the cost is low, making it very suitable for widespread use in teaching equipment. Attached Figure Description

[0022] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0023] Figure 1 This is a three-dimensional view of the overall structure of this utility model; Figure 2 yes Figure 1 Enlarged detail of point A in the middle; Figure 3 yes Figure 1 Enlarged detail image of section B in the middle; Figure 4 This is a schematic diagram of the retracted state structure of the adjusting and stabilizing mechanism in this utility model; Figure 5 This is a front view of the unfolded state of the adjusting and stabilizing mechanism in this utility model; Figure 6 This is a top view of the unfolded state of the adjusting and stabilizing mechanism in this utility model; Figure 7 This is a top view of the retracted state of the adjusting and stabilizing mechanism in this utility model; Figure 8A schematic diagram of the installation structure of the adjustable counterweight component in this utility model.

[0024] In the diagram: 1. Vehicle chassis; 2. Mecanum wheel; 3. Control mainboard; 4. Battery compartment; 5. Robotic arm; 6. Vision module; 7. Rotary gear; 8. Drive motor; 9. Fixed guide rail; 10. Driven rack; 11. Sliding rod; 12. Auxiliary wheel assembly; 13. Limiting block one; 14. Limiting block two; 15. Stabilizing arm; 16. Support caster wheel; 17. Shock-absorbing spring; 18. Adjustable counterweight assembly; 19. Adjusting rod; 20. Counterweight block; 21. Adjusting bolt; 22. Adjusting screw hole. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figures 1 to 8 This utility model provides an anti-rollover intelligent vehicle for teaching and training, including a chassis 1, Mecanum wheels 2, a control motherboard 3, a battery compartment 4, a robotic arm 5, and a vision module 6; the Mecanum wheels 2 are symmetrically arranged at the four corners of the bottom of the chassis 1, providing the vehicle with omnidirectional mobility; the control motherboard 3 is installed on the top of the chassis 1, and the battery compartment 4 is fixedly installed in the internal cavity of the chassis 1; the robotic arm 5 and the binocular camera, which serves as the vision module 6, are installed on the upper platform of the chassis 1 via a support frame.

[0027] The core improvement of this utility model is that an adjustment and stabilization mechanism is provided above the vehicle chassis 1. This mechanism mainly includes a drive motor 8, a rotating gear 7, a pair of fixed guide rails 9, a pair of driven racks 10, a pair of sliding rods 11, and a pair of auxiliary wheel assemblies 12.

[0028] The adjustment and stabilization mechanism adopts a centrally symmetrical layout design. First, the rotating gear 7 is set in the center of the chassis, and the drive motor 8 is hidden in the central mounting cavity of the chassis. The driven rack 10, sliding rod 11 and other components are symmetrically distributed around this center, which can ensure the balanced force during the movement of the mechanism and avoid additional torque caused by the offset layout, thus ensuring the smoothness and stability of the operation from the structural source. Second, the sliding rod 11 can extend and retract along the fixed guide rail 9, which allows the auxiliary wheel assembly 12 to retract into the outline of the vehicle body when not in operation. This retractable design ensures that the vehicle will not affect its movement flexibility and passability due to the outward protrusion of the mechanism when driving normally or passing through narrow passages. The support structure is only extended when it is necessary to enhance stability. Specifically, a mounting cavity is machined in the middle of the vehicle chassis 1. The drive motor 8 is preferably a stepper motor or a servo motor, which is fixedly installed in the mounting cavity by bolts. The rotating gear 7 is rotatably set at the center of the top of the vehicle chassis 1 by bearings and bearing seats, and is connected to the output shaft of the drive motor 8. The pair of fixed guide rails 9 are symmetrically fixed on both sides of the rotating gear 7 by bolts. Each fixed guide rail 9 has a sliding groove on the side facing the rotating gear 7. The pair of driven racks 10 mesh with the two sides of the rotating gear 7 respectively; the pair of sliding rods 11 are made of high-strength aluminum alloy profiles, and each sliding rod 11 has a T-shaped protrusion machined on one side, which is embedded in the sliding groove of the corresponding fixed guide rail 9 to form a sliding fit; the other end of each sliding rod 11 is fixedly connected to the back of a driven rack 10; in order to prevent the sliding rod 11 from moving excessively and dislodging, a limiting block 13 is provided at the end of the sliding rod 11 near the rotating gear 7 in the unfolded state, and a limiting block 24 is provided in the middle of the fixed guide rail 9, which together constitute a limiting component to precisely limit the sliding stroke of the sliding rod 11.

[0029] The auxiliary wheel assembly 12 is located at the end of the sliding rod 11 away from the rotating gear 7 when the sliding rod 11 is extended. Each auxiliary wheel assembly 12 includes a stabilizer arm 15, a support caster 16, and a shock-absorbing spring 17. The upper end of the stabilizer arm 15 is rotatably connected to the end of the sliding rod 11 via a pivot, allowing it to swing within a certain angle. The support caster 16 is installed at the lower end of the stabilizer arm 15. The bottom height of the support caster 16 is set to be slightly higher than the bottom of the Mecanum wheel 2, ensuring that the trolley is completely supported by the Mecanum wheel 2 during normal driving. One end of the shock-absorbing spring 17 is fixedly connected to the lower middle side wall of the stabilizer arm 15, and the other end is fixedly connected to the bottom of the sliding rod 11 near the support caster 16, used to buffer the impact when the support caster 16 contacts the ground.

[0030] In a preferred embodiment, an adjustable counterweight assembly 18 is also provided on both sides of the vehicle chassis 1. The adjustable counterweight assembly 18 includes an adjusting rod 19 that runs vertically through the cavities on the upper and lower sides of the vehicle chassis 1 and a counterweight block 20 mounted on it. The two ends of the adjusting rod 19 are fixedly connected to the side walls on the upper and lower sides of the chassis. The counterweight block 20 has a through hole in the center and can slide along the adjusting rod 19. An adjusting bolt 21 is threaded to one side of the counterweight block 20. Several adjusting screw holes 22 are evenly drilled on the adjusting rod 19 along its length. The adjusting bolt 21 can be screwed into any adjusting screw hole 22 to lock the counterweight block 20. To facilitate precise adjustment, the surface of the adjusting rod 19 is also engraved with scale lines corresponding to the adjusting screw holes 22.

[0031] When the intelligent vehicle needs to perform tasks that are prone to tipping, such as large-scale grasping movements by the robotic arm 5, the control motherboard 3 issues a command to start the drive motor 8. The drive motor 8 drives the rotating gear 7 to rotate through the gearbox, which in turn drives the two driven racks 10 meshing with it to move synchronously in opposite directions or towards each other. The driven racks 10 drive the sliding rod 11 to slide outward or inward along the sliding groove of the fixed guide rail 9, thereby pushing out or retracting the auxiliary wheel assembly 12 installed at the end of the sliding rod 11. When the vehicle tilts, the extended support caster 16 will contact the ground in advance to form an additional support point. At the same time, the shock-absorbing spring 17 absorbs the impact energy, effectively preventing the vehicle from tipping over further. The user can also loosen the adjusting bolt 21 and slide the counterweight 20 to a suitable position on the adjusting rod 19 according to the load of the robotic arm 5. After referring to the scale line, the bolt can be tightened again to optimize the center of gravity distribution of the vehicle and further improve stability.

[0032] The parts not covered in this utility model are the same as or can be implemented using existing technologies.

[0033] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A rollover-resistant intelligent vehicle for teaching and training, comprising a chassis (1), Mecanum wheels (2) disposed at the bottom of the chassis (1), a control motherboard (3) and a battery compartment (4) disposed on the chassis (1), and a robotic arm (5) and a vision module (6) disposed on the upper layer of the chassis (1), characterized in that, An adjustment and stabilization mechanism is provided above the vehicle chassis (1); The adjustment and stabilization mechanism includes a rotary gear (7), a drive motor (8), fixed guide rails (9) symmetrically arranged on both sides of the rotary gear (7), a driven rack (10), a sliding rod (11), and an auxiliary wheel assembly (12). The rotating gear (7) is rotatably positioned at the top center of the vehicle chassis (1); The vehicle chassis (1) has a mounting cavity in the middle, the drive motor (8) is installed in the mounting cavity, and the output end of the drive motor (8) is connected to the rotating gear (7) for transmission. The fixed guide rail (9) is fixedly mounted on the chassis (1) of the vehicle body, and a sliding groove is provided on one side along the length direction; One side of the sliding rod (11) is slidably disposed in the sliding groove of the fixed guide rail (9), and the other side is fixedly connected to the driven rack (10), and the driven rack (10) meshes with the rotating gear (7); The auxiliary wheel assembly (12) is located at one end of the sliding rod (11) away from the rotating gear (7), and the other end of the sliding rod (11) is also provided with a limiting assembly.

2. The anti-tipping intelligent vehicle for teaching and training according to claim 1, characterized in that: The limiting component includes a limiting block one (13) disposed at the end of the sliding rod (11) and a limiting block two (14) disposed in the middle of the fixed guide rail (9). The limiting block one (13) and the limiting block two (14) are used to limit the sliding stroke of the sliding rod (11).

3. The anti-tipping intelligent vehicle for teaching and training according to claim 1, characterized in that: The auxiliary wheel assembly (12) includes a stabilizer arm (15), a support caster wheel (16), and a shock-absorbing spring (17). One end of the stabilizer arm (15) is rotatably connected to the end of the sliding rod (11), and the other end is equipped with the support caster wheel (16). One end of the shock-absorbing spring (17) is connected to the side wall of the stabilizer arm (15), and the other end is connected to the bottom of the sliding rod (11) near the support caster (16).

4. The anti-tipping intelligent vehicle for teaching and training according to claim 1, characterized in that: The vehicle chassis (1) is also provided with adjustable counterweight components (18) on both sides. The adjustable counterweight assembly (18) includes an adjusting rod (19) and a counterweight block (20). The adjusting rod (19) is vertically positioned between the upper and lower cavity structures of the vehicle chassis (1); The counterweight (20) is sleeved on the outside of the adjusting rod (19) and can slide along the length of the adjusting rod (19); The counterweight (20) has an adjusting bolt (21) on one side, and the adjusting rod (19) has a plurality of adjusting screw holes (22) that are adapted to the adjusting bolt (21) evenly distributed along its length.

5. The anti-tipping intelligent vehicle for teaching and training according to claim 4, characterized in that: The adjusting rod (19) is also provided with scale lines that correspond one-to-one with the adjusting screw hole (22).

6. The anti-tipping intelligent vehicle for teaching and training according to claim 1, characterized in that: The drive motor (8) is a stepper motor or a servo motor.

7. The anti-tipping intelligent vehicle for teaching and training according to claim 1, characterized in that: The bottom height of the supporting caster (16) is configured to be higher than the bottom height of the Mecanum wheel (2).

8. The anti-tipping intelligent vehicle for teaching and training according to claim 1, characterized in that: The vision module (6) is a binocular camera.

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