CN109109737B - Intelligent vehicle carrier balancing and self-stabilizing device with orthogonal four-bar mechanism - Google Patents
- ️Tue Mar 09 2021
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- CN109109737B CN109109737B CN201811132494.3A CN201811132494A CN109109737B CN 109109737 B CN109109737 B CN 109109737B CN 201811132494 A CN201811132494 A CN 201811132494A CN 109109737 B CN109109737 B CN 109109737B Authority
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/135—Securing or supporting by load bracing means
- B60P7/15—Securing or supporting by load bracing means the load bracing means comprising a movable bar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
本分案申请是关于一种具有正交式四杆机构的智能车载体平衡自稳装置,属于车载运输领域。技术方案如下:直线电动机、电动伸缩缸、电动缸连接杆、连杆、平台旋转轴、轴承和轴承机架,所述直线电动机通过所述电动伸缩缸与所述电动缸连接杆连接,所述电动缸连接杆一端与所述连杆的一端活动连接,所述连杆的另一端与所述平台旋转轴一端活动连接,所述平台旋转轴另一端穿过所述轴承,所述轴承机架与所述轴承连接。有益效果是:本发明能根据实际路面的情况作出相应的角度调整,保证平台始终处于平衡状态,作为一种安放在移动物体上的设备,具有隔离运动物体扰动的功能。
This divisional application relates to an intelligent vehicle carrier balancing self-stabilizing device with an orthogonal four-bar mechanism, which belongs to the field of vehicle transportation. The technical scheme is as follows: a linear motor, an electric telescopic cylinder, an electric cylinder connecting rod, a connecting rod, a platform rotating shaft, a bearing and a bearing frame, the linear motor is connected to the electric cylinder connecting rod through the electric telescopic cylinder, and the One end of the electric cylinder connecting rod is movably connected with one end of the connecting rod, the other end of the connecting rod is movably connected with one end of the platform rotating shaft, the other end of the platform rotating shaft passes through the bearing, the bearing frame connected to the bearing. The beneficial effects are: the present invention can make corresponding angle adjustment according to the actual road conditions to ensure that the platform is always in a balanced state, and as a device placed on a moving object, it has the function of isolating the disturbance of the moving object.
Description
The application is a divisional application with the name of 'intelligent vehicle carrier balance self-stabilization device and verification method' of application number 2016112606882,
application date2016, 12 months and 30 days.
Technical Field
The invention relates to the field of vehicle-mounted transportation, in particular to an intelligent vehicle carrier balancing and self-stabilizing device with an orthogonal four-bar mechanism.
Background
With the continuous development of national economy, the technical level of various industries is continuously improved, and the stability of transportation means becomes the focus of attention of people. The demand for the stable platform is increased, and particularly for the express transportation industry with higher transportation condition requirements, the integrity and the safety of transported goods are kept. Traffic accidents and economic losses brought by transportation can be greatly reduced. Therefore, the research of the balance self-stabilization device has strong practical and theoretical guiding significance.
Compared with the foreign countries, the development and development of the stable platform in China are nearly ten years later than the advanced countries in the world, the inertial element used by the independently developed stable platform has the problems of low precision and the like, and the embedded technology can not keep up with the actual requirement. In addition, the research history of China is short in this respect, and generally lags behind developed countries in Europe and America. However, with the continuous progress and improvement of the research of domestic inertial elements, electronic technology and digital technology, a plurality of fields such as mechanical design technology, mechanism dynamics and kinematics, sensor technology, data acquisition technology, signal analysis and processing technology, modern control technology and the like are continuously perfected. Research on stable platforms is also gaining more and more attention, and the gap between the stable platforms and advanced countries in the world is gradually narrowing.
Disclosure of Invention
In order to realize that the self-stabilizing device makes corresponding angle adjustment according to the condition of an actual road surface and ensure that the platform is always in a balanced state, the invention provides the intelligent vehicle carrier balance self-stabilizing device. The technical scheme is as follows:
an intelligent vehicle carrier balance self-stabilization device comprises an orthogonal four-bar mechanism, a chassis, a platform support, a platform, a universal joint frame, a universal joint and a 3D support base, wherein the orthogonal four-bar mechanism comprises a linear motor, an electric telescopic cylinder, an electric cylinder connecting rod, a platform rotating shaft, a bearing and a bearing frame, the linear motor is connected with the electric cylinder connecting rod through the electric telescopic cylinder, one end of the electric cylinder connecting rod is movably connected with the chassis, the other end of the electric cylinder connecting rod is movably connected with one end of the connecting rod, the other end of the connecting rod is movably connected with one end of the platform rotating shaft, the other end of the platform rotating shaft penetrates through the bearing to be connected with the universal joint, the universal joint frame is arranged outside the universal joint and is connected with the platform, and the universal joint frame is connected with the 3D support base through the platform, the 3D pillar base is installed on the chassis.
Furthermore, the number of the orthogonal four-bar mechanisms is 2, and platform rotating shafts of the two groups of orthogonal four-bar mechanisms are perpendicular to each other.
Further, the linear motor is a 24V direct current linear motor with the stroke of 150 mm.
Furthermore, the 3D pillar base is fixed on the chassis through a flange plate.
Furthermore, 4 omnidirectional wheels are arranged below the chassis.
Furthermore, the universal joint is formed by two ball pin pairs which are embedded and connected with each other at an angle of 90 degrees.
Further, the bearing is a KFL08 bearing.
Further, the device also comprises an SDB support, and the linear motor is connected with the chassis through the SDB support.
The invention also relates to an intelligent vehicle carrier balance self-stability verification method, which comprises the following steps:
s1, limiting the platform angles theta and X by adopting the following relational expression4The variation relationship of (1):
wherein X4Is the length of the link rod beyond the horizontal line passing through the top of the platform strut, L4Is the length of the connecting rod, theta is the included angle between the platform and the horizontal line, theta2Is the included angle between the connecting rod and the horizontal line;
s2, defining the auxiliary angle theta by adopting the following relational expression2And X3The variation relationship of (1):
wherein X3The distance from the connecting point of the connecting rod and the electric cylinder to the intersection point of the horizontal line passing through the top point of the platform support and the extension line of the connecting rod of the electric cylinder, L5Is the distance, θ, from the intersection of the connecting rod and the platform to the intersection of the platform strut and the platform3Is the included angle between the connecting rod of the electric cylinder and the horizontal plane;
s3, limiting the rotation angle theta of the driving part by adopting the following relational expression3And X2The variation relationship of (1):
wherein X2Is the distance from the connecting point of the connecting rod and the connecting rod of the electric cylinder to the intersection point of the extension line of the connecting rod and the base of the 3D pillar, L3Is the length of the electric telescopic cylinder;
s4, defining the height H and the auxiliary angle theta of the platform strut by adopting the following relational expression2The variation relationship of (1):
s5, defining the auxiliary angle theta by adopting the following relational expression2Angle theta with the platform and angle theta of rotation of the driving member3The relationship of (1):
wherein theta is5The included angle between the straight line passing through the connecting point of the connecting rod and the electric cylinder and the connecting point of the electric telescopic cylinder and the chassis and the horizontal line;
s6, defining the relation between the linear motor elongation L and the included angle theta between the platform and the horizontal line according to the relation of S1-S5:
Wherein L is1Is the distance from the intersection point of the electric telescopic cylinder and the chassis to the intersection point of the electric cylinder connecting rod and the chassis, L6Is the length of the connecting rod of the electric cylinder.
The invention has the beneficial effects that:
the intelligent vehicle carrier balance self-stabilization device can make corresponding angle adjustment according to the actual road surface condition, ensures that the platform is always in a balanced state, is used as equipment placed on a moving object, and has the function of isolating the disturbance of the moving object.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic view of the gimbal structure of the present invention;
FIG. 3 is a schematic diagram of a platform coordinate system in
embodiment3 of the present invention;
FIG. 4 is a diagram showing a motion analysis in
embodiment3 of the present invention;
FIG. 5 is a kinematic engineering diagram in
embodiment3 of the present invention;
FIG. 6 is a graph of velocity analysis in example 3 of the present invention;
FIG. 7 is a dynamic diagram of the simulated trolley ascending slope in
embodiment3 of the invention;
fig. 8 is a graph showing the relationship between time t and the turning angular velocity of the head of the trolley in
embodiment3 of the present invention.
Wherein: 1. the device comprises a chassis, 2. a platform support, 3. a platform, 4. a universal joint frame, 5. a universal joint, 6.3D support bases, 7. a linear motor, 8. an electric telescopic cylinder, 9. an electric cylinder connecting rod, 10. a connecting rod, 11. a platform rotating shaft, 12. a bearing, 13. a bearing frame, 14 and an SDB support.
Detailed Description
Example 1:
an intelligent vehicle carrier balance self-stabilization device comprises an orthogonal four-bar mechanism, a chassis, a platform support, a platform, a universal joint frame, a universal joint and a 3D support base, wherein the orthogonal four-bar mechanism comprises a linear motor, an electric telescopic cylinder, an electric cylinder connecting rod, a platform rotating shaft, a bearing and a bearing frame, the linear motor is connected with the electric cylinder connecting rod through the electric telescopic cylinder, one end of the electric cylinder connecting rod is movably connected with the chassis, the other end of the electric cylinder connecting rod is movably connected with one end of the connecting rod, the other end of the connecting rod is movably connected with one end of the platform rotating shaft, the other end of the platform rotating shaft penetrates through the bearing to be connected with the universal joint, the universal joint frame is arranged outside the universal joint and is connected with the platform, and the universal joint frame is connected with the 3D support base through the platform, the 3D pillar base is installed on the chassis.
The orthogonal four-bar mechanism quantity is 2 groups, and two sets of orthogonal four-bar mechanism's platform rotation axis mutually perpendicular, linear electric motor is stroke 150mm, 24V direct current linear electric motor, the 3D pillar base passes through the ring flange to be fixed on the chassis, 4 omni wheels of chassis below installation, the universal joint is by two ball pin pairs each other 90 degrees inlay the connection and constitute, the bearing adopts the bearing that the model is KFL08, still includes the SDB support, linear electric motor pass through the SDB support with the chassis is connected.
An intelligent vehicle carrier balance self-stability verification method comprises the following steps:
s1, limiting the platform angles theta and X by adopting the following relational expression4The variation relationship of (1):
wherein X4Is the length of the link rod beyond the horizontal line passing through the top of the platform strut, L4Is the length of the connecting rod, theta is the included angle between the platform and the horizontal line, theta2Is the included angle between the connecting rod and the horizontal line;
s2, defining the auxiliary angle theta by adopting the following relational expression2And X3The variation relationship of (1):
wherein X3The distance from the connecting point of the connecting rod and the electric cylinder to the intersection point of the horizontal line passing through the top point of the platform support and the extension line of the connecting rod of the electric cylinder, L5Is the distance, θ, from the intersection of the connecting rod and the platform to the intersection of the platform strut and the platform3Is the included angle between the connecting rod of the electric cylinder and the horizontal plane;
s3, limiting the rotation angle theta of the driving part by adopting the following relational expression3And X2The variation relationship of (1):
wherein X2Is the distance from the connecting point of the connecting rod and the connecting rod of the electric cylinder to the intersection point of the extension line of the connecting rod and the base of the 3D pillar, L3Is the length of the electric telescopic cylinder;
s4, defining the height H and the auxiliary angle theta of the platform strut by adopting the following relational expression2The variation relationship of (1):
s5, defining the auxiliary angle theta by adopting the following relational expression2Angle theta with the platform and angle theta of rotation of the driving member3The relationship of (1):
wherein theta is5The included angle between the straight line passing through the connecting point of the connecting rod and the electric cylinder and the connecting point of the electric telescopic cylinder and the chassis and the horizontal line;
s6, defining the relation between the linear motor elongation L and the included angle theta between the platform and the horizontal line according to the relation of S1-S5:
Wherein L is1Is the distance from the intersection point of the electric telescopic cylinder and the chassis to the intersection point of the electric cylinder connecting rod and the chassis, L6Is the length of the connecting rod of the electric cylinder.
Example 2:
an intelligent vehicle carrier balance self-stabilization device comprises an orthogonal four-bar mechanism, a chassis, a platform support, a platform, a universal joint frame, a universal joint and a 3D support base, wherein the orthogonal four-bar mechanism comprises a linear motor, an electric telescopic cylinder, an electric cylinder connecting rod, a platform rotating shaft, a bearing and a bearing frame, the linear motor is connected with the electric cylinder connecting rod through the electric telescopic cylinder, one end of the electric cylinder connecting rod is movably connected with the chassis, the other end of the electric cylinder connecting rod is movably connected with one end of the connecting rod, the other end of the connecting rod is movably connected with one end of the platform rotating shaft, the other end of the platform rotating shaft penetrates through the bearing to be connected with the universal joint, the universal joint frame is arranged outside the universal joint and is connected with the platform, and the universal joint frame is connected with the 3D support base through the platform, the 3D pillar base is installed on the chassis.
The orthogonal four-bar mechanism quantity is 2 groups, and two sets of orthogonal four-bar mechanism's platform rotation axis mutually perpendicular, linear electric motor is stroke 150mm, 24V direct current linear electric motor, the 3D pillar base passes through the ring flange to be fixed on the chassis, 4 omni wheels of chassis below installation, the universal joint is by two ball pin pairs each other 90 degrees inlay the connection and constitute, the bearing adopts the bearing that the model is KFL08, still includes the SDB support, linear electric motor pass through the SDB support with the chassis is connected.
Each ball pin pair is provided with a bearing and a shaft which are connected with the bearing frame to form a rotating body, and the range of the swinging angle in the xy-axis plane can be 20-160 degrees. If a swinging rod with the fixed length L is connected to the universal joint, a fixed-point scanning experiment is carried out, the range of the area S can be obtained, the variation range of the spatial rotation angle and the inclination angle of the platform can also be determined, and the platform does not have any dead point when swinging within the range of 20-160 degrees.
Wherein alpha is the gimbal swing angle range.
The universal joint formed by connecting the bearings can ensure that the platform can swing more stably in the adjusting process. The smoothness and sensitivity of the whole mechanism are increased. The gimbal mechanism performs the function of moving the platform in both the x and y directions, which is indispensable to the overall system.
Example 3:
the balance self-stabilization device of the intelligent vehicle carrier, which is described in
embodiment1, adopts the following method to verify the balance of the intelligent vehicle carrier.
The linear motor elongation and the platform angle change relationship:
the motion of the platform under the non-inertial system is analyzed by adopting two coordinate systems, as shown in figure 3, the coordinate systems are fixed on a mechanism carrier, the origin of the coordinate systems is coincident with the origin of a ground coordinate system, the x axis points to the extending direction of the
linear motor1, the y axis points to the extending direction of the
linear motor2, an O-xyz coordinate system changes along with the terrain of a road surface, the origin of the coordinate system O _ xyz is coincident with the origin of the platform under the balanced state, and the motion of the platform around the x axis and the y axis of the coordinate system is called rotation and lateral deviation.
The whole mechanism converts the linear displacement of the linear motor into the angular displacement of the platform, and the conversion is realized through the four-bar mechanism. When the vehicle-mounted platform moves on a road, two-dimensional coupling between shakes can be caused, the platform is arranged on a four-bar mechanism, so that the rotation of the platform in the x-axis direction is mainly provided by a linear motor in the y-axis direction, and similarly, the lateral deviation in the y-axis direction is provided by a linear motor in the x-axis direction, so that the platform and the linear motor have coupling between two degrees of freedom. The object can be ensured to move on the platform stably.
The following table was obtained by a number of experiments and data analysis:
road conditions | Flat ground | Ascending slope | Downhill slope | Right side inclined upward slope | Left side inclined upward | Right inclined downhill | Left side inclined downward slope |
x axis | Without rotation | Right rotation | Rotate left | Right rotation | Right rotation | Rotate left | Rotate left |
y axis | Without lateral deviation | Without lateral deviation | Without lateral deviation | Front lateral deviation | Rear lateral deviation | Front lateral deviation | Rear lateral deviation |
The relationship between the elongation of the linear motor and the platform angle can be known through calculation, and a certain corresponding geometric relationship exists between the elongation of the linear motor and the platform angle, which can be known through the attached figures 4 and 5.
In Δ DCE, the platform angles θ and X can be found4The variation relationship of (1):
in Δ BEF, the assist angle θ can be found2And X3The variation relationship of (1):
in Δ ABG and Δ BEF, the rotation angle θ of the driving member can be obtained3And X2The relationship of (1):
the calculation of the fixed-length support A can obtain:
in Δ ABI and Δ BIG, canTo find the auxiliary angle theta2Angle theta with the platform and angle theta of rotation of the driving member3The relationship of (1):
the relationship between the linear motor elongation L and the platform angle theta can be obtained by the formula:
wherein:
relationship between speed and acceleration of linear motor and platform when moving:
the driving element of the vehicle-mounted mobile self-stabilizing platform is a linear motor, the movement speed of the linear motor directly influences the speed of the angular displacement change when the platform is coupled, and therefore in order to ensure that the reaction rate of the platform reaches the reaction rate when an actual automobile runs, the reaction rate of the linear motor and the conversion relation between the linear motor and the platform need to be analyzed. To know whether the motion speed provided by the linear motor meets the reaction speed required by the platform.
The relationship between the angular displacement degree of the analysis platform and the motion speed of the linear motor can be known from the attached figure 6The motion effect of the linear motor acts on the active part AB and makes a circular motion with the fixed point A as the center of the circle, resulting in an angle theta3The angle change of the connecting rod CB is acted by the motion effect of the driving part AB, and the connecting rod CB makes the connecting rod CD rotate around the circle center to a fixed point D with the radius of L5Circular arc motion.
In order to further carry out calculation and analysis on the mechanism, the motion speed of the linear motor and the platform speed v are obtainedθThe magnitude relationship of (1). The following coordinate system is established and each member is expressed as a rod vector.
The complex vector form of the structural closed vector equation,
using Euler's formula eiθSeparating the real part and the imaginary part of 2-1 by cos theta + isin theta to obtain:
L3cos(π-θ3)+L4cosθ2=L2+L5cos(π-θ)
L3sin(π-θ3)+L4sinθ2=L5sin(π-θ)
from this equation, two unknown azimuth angles theta and theta can be obtained2When to solve for theta3When theta should be adjusted2The elimination can be as follows:
L4=L5 2+L3 2+L2 2-2L3L5cos(θ-θ3)-2L2L5cosθ+2L2L3cosθ3
finishing to obtain:
the same principle is that:
wherein:
A=L4+L1cosθ3
B=-L1sinθ3
i.e. the displacement S the moving point on the side link CD has traveled:
S=L5θ
velocity vθComprises the following steps:
the included angle theta between the driving part AB and the x-axis of the coordinate system3Angular velocity of
And a linear motor
The relationship of (1):
the formula is referred to as follows:
velocity and acceleration relationships between vehicle motion and platform rotational displacement:
the vehicle-mounted platform is mainly applied to automobiles, so the requirement on the platform response speed is very high. Only when the speed of the platform coupling rotation angle is far greater than the speed of the automobile running pitch angle, the platform can be ensured to be adjusted to a changed angle in an effective time, so that the platform is kept balanced all the time. In order to analyze the relationship between the running speed of the automobile and the angular speed of the platform turning angle, the motion state of the automobile when ascending is simulated, as can be seen from fig. 7, the length of the automobile body is assumed to be J when the automobile ascends, the running speed when the automobile ascends is assumed to be V (m/s), and the ascending slope angle is α, which can be obtained by analysis and calculation:
wherein ω is the angular velocity;
the speed V of the turning angle of the head of the automobile just on the slope can be calculated through a coefficientZ(m/s)。
Wherein the coefficient gamma is obtained by Matlab data simulation.
By comparison, the angular velocity v of the platformθAnd the speed V of the turning angle of the head of the automobile when the automobile goes up a slopeZThe magnitude relation of the two speeds directly influences whether the platform reacts in the effective time, and if the reaction of the vehicle-mounted platform is required to be ensured, namely the angular velocity v of the platform isθSpeed V greater than or equal to the steering angle of the vehicle headZ. The relation between the reaction speed of the linear motor and the speed of the automobile when ascending a slope can be known through the formula 2-2.
The analysis of the attached figure 8 shows that the relationship between the turning speed of the head of the trolley and the time is simulated under the assumption that the uphill slope angle of the trolley is 30 degrees, the length of the trolley body is 8m, and the constant-speed running speed is 7 m/s. By reading the figure, the turning angular velocity v of the locomotivezThe variation interval is 100-480 mm/s, and according to the analysis, the rotating angular speed of the platform can reach 120-490 mm/s. And the data comparison shows that the turning speed of the platform meets the turning speed of the vehicle head.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (1)
1. An intelligent vehicle carrier balancing and self-stabilizing device with an orthogonal four-bar mechanism is characterized by comprising: the device comprises an orthogonal four-bar mechanism, a chassis (1), a platform support (2), a platform (3), a universal joint frame (4), a universal joint (5) and a 3D support base (6), wherein the orthogonal four-bar mechanism comprises a linear motor (7), an electric telescopic cylinder (8), an electric cylinder connecting rod (9), a connecting rod (10), a platform rotating shaft (11), a bearing (12) and a bearing frame (13), the linear motor (7) is connected with the electric cylinder connecting rod (9) through the electric telescopic cylinder (8), one end of the electric cylinder connecting rod (9) is movably connected with the chassis (1), the other end of the electric cylinder connecting rod is movably connected with one end of the connecting rod (10), the other end of the connecting rod (10) is movably connected with one end of the platform rotating shaft (11), and the other end of the platform rotating shaft (11) penetrates through the bearing (12) to be connected with the universal joint (5, a universal joint frame (4) is arranged outside the universal joint (5), the universal joint frame (4) is connected with the platform (3), the universal joint frame (4) is connected with the 3D pillar base (6) through a platform pillar (2), and the 3D pillar base (6) is installed on the chassis (1); the number of the orthogonal four-bar mechanisms is 2, and platform rotating shafts of the two groups of orthogonal four-bar mechanisms are mutually vertical; the universal joint (5) is formed by two ball pin pairs which are embedded and connected with each other at an angle of 90 degrees.
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CN109131037A (en) | 2019-01-04 |
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